Compensation Torque Determination Method, Device and Electronic Equipment

Abstract

The present application provides a method, device and electronic device for determining a compensation torque, relating to the technical field of automotive assisted driving. The method includes obtaining the lateral acceleration, vehicle speed, steering wheel torque, motor target torque and rack speed of a target vehicle, then determining a compensation basic torque based on the lateral acceleration, vehicle speed and steering wheel torque, and determining a compensation center torque based on the lateral acceleration, vehicle speed, steering wheel torque, motor target torque and rack speed. Finally, the compensation torque is determined according to the compensation basic torque and the compensation center torque. By determining the compensation torque according to the obtained vehicle-related parameters, torque compensation can be performed according to the actual state and performance of the vehicle, assisting the vehicle user in steering, and the effect of improving the applicability of the compensation torque determination method can be achieved.

Description

Technical Field

[0001] This application relates to the technical field of automotive assisted driving, and particularly relates to a method, device, and electronic device for determining a compensation torque. Background Art

[0002] As one of the key systems of an automobile, the steering system directly affects the vehicle's handling stability, comfort, and driving active safety. The Electric Power Steering (EPS) system is a power steering system that relies on an electric motor to provide a compensation torque. The electric power steering system eliminates the hydraulic pump, hydraulic pipeline, and steering column valve body structure of the hydraulic power steering system, and directly transmits the compensation torque generated by the motor to the steering system through a speed reducer and a pure mechanical method, which can reduce the driver's steering burden.

[0003] In a related art method for determining a compensation torque, by presetting the mapping relationship of vehicle speed - rotational speed - compensation torque, the compensation torque can be determined according to the obtained current vehicle speed and current rotational speed when the target vehicle is steering. However, the mapping relationship of vehicle speed - rotational speed - compensation torque is calibrated subjectively by an operator, and there may be a situation where vehicle users are not adapted to the compensation torque when steering the vehicle, resulting in poor applicability of the compensation torque determination method. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, this application provides a method, device, and electronic device for determining a compensation torque to solve the above technical problems.

[0005] A method for determining a compensation torque provided by this application includes:

[0006] Obtain the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack rotational speed of the target vehicle;

[0007] Determine a compensation basic torque based on the lateral acceleration, the vehicle speed, and the steering wheel torque;

[0008] Determine a compensation center torque based on the lateral acceleration, the vehicle speed, the steering wheel torque, the motor target torque, and the rack rotational speed;

[0009] Determine the compensation torque according to the compensation basic torque and the compensation center torque.

[0010] In an embodiment of the present invention, the obtaining the lateral acceleration of the target vehicle includes:

[0011] Determine a target characteristic coefficient among a plurality of vehicle characteristic coefficients according to the vehicle speed and the mapping relationship between the vehicle speed and the vehicle characteristic coefficient, and determine a first lateral acceleration according to the target characteristic coefficient and the rack force;

[0012] Determine a target first weight among a plurality of weights according to the vehicle speed and the mapping relationship between the vehicle speed and the first weight, determine an intermediate lateral acceleration according to the steering wheel angle, the vehicle speed, the ratio of the steering wheel angle to the front wheel steering angle, and the wheelbase between the front and rear wheels of the target vehicle, and determine a second lateral acceleration according to the target first weight and the intermediate lateral acceleration;

[0013] Determine a target second weight among a plurality of second weights according to the vehicle speed and the mapping relationship between the vehicle speed and the second weight, and determine a third lateral acceleration according to the target second weight and the sensor lateral acceleration;

[0014] Perform weighted summation on the first lateral acceleration, the second lateral acceleration, and the third lateral acceleration to obtain the lateral acceleration of the target vehicle.

[0015] In an embodiment of the present invention, the determining the intermediate lateral acceleration according to the steering wheel angle, the vehicle speed, the ratio of the steering wheel angle to the front wheel steering angle, and the wheelbase between the front and rear wheels of the target vehicle includes:

[0016] Determine the intermediate lateral acceleration according to the steering wheel angle, the vehicle speed, the ratio of the steering wheel angle to the front wheel steering angle, the wheelbase between the front and rear wheels of the target vehicle, and the lateral acceleration calculation formula;

[0017] The lateral acceleration calculation formula includes:

[0018]

[0019] Wherein, γ is the intermediate lateral acceleration, k is the ratio of the steering wheel angle to the front wheel steering angle, θ is the steering wheel angle, v is the vehicle speed, and L is the wheelbase between the front and rear wheels of the target vehicle.

[0020] In an embodiment of the present invention, the determining the compensation basic torque based on the lateral acceleration, the vehicle speed, and the steering wheel torque includes:

[0021] Determine the mapping relationship between the steering wheel torque and the basic torque corresponding to the vehicle speed;

[0022] Determine a target basic torque among a plurality of basic torques according to the steering wheel torque and the mapping relationship between the steering wheel torque and the basic torque;

[0023] Determine a target torque coefficient among multiple torque coefficients according to the mapping relationship between the lateral acceleration and the lateral acceleration-torque coefficient;

[0024] Determine the product of the target basic torque and the target torque coefficient as the compensation basic torque.

[0025] In an embodiment of the present invention, the determining the compensation center torque based on the lateral acceleration, the vehicle speed, the steering wheel torque, the motor target torque, and the rack rotation speed includes:

[0026] Determine a reference coefficient according to the rack rotation speed and the lateral acceleration;

[0027] Determine the mapping relationship between the lateral acceleration and the lateral acceleration-center position coefficient corresponding to the vehicle speed;

[0028] Determine a target center position coefficient among multiple center position coefficients according to the lateral acceleration and the mapping relationship between the lateral acceleration and the lateral acceleration-center position coefficient;

[0029] Determine a target torque coefficient among multiple torque coefficients according to the steering wheel torque and the mapping relationship between the steering wheel torque and the torque coefficient;

[0030] Determine the product of the motor target torque, the target center position coefficient, the target torque coefficient, and the reference coefficient as the intermediate torque.

[0031] In an embodiment of the present invention, the determining the reference coefficient according to the rack rotation speed and the lateral acceleration includes:

[0032] Determine the rotation direction of the rack according to the rack rotation speed, and determine the direction of the lateral acceleration according to the lateral acceleration;

[0033] When the rotation direction of the rack is the same as the direction of the lateral acceleration, the reference coefficient is a first preset value;

[0034] When the rotation direction of the rack is opposite to the direction of the lateral acceleration, the reference coefficient is a second preset value.

[0035] In an embodiment of the present invention, after determining the product of the motor target torque, the target slip coefficient, the target torque coefficient, and the reference coefficient as the intermediate torque, the method further includes:

[0036] Determine the mapping relationship between the lateral acceleration and the lateral acceleration-slip coefficient corresponding to the vehicle speed;

[0037] Determine a target slip coefficient among multiple slip coefficients according to the lateral acceleration and the mapping relationship between the lateral acceleration and the lateral acceleration-slip coefficient;

[0038] Take the product of the rack rotation speed and the target slip coefficient as the defined change value, and take the opposite number of the defined change value and the defined change value as the threshold of the intermediate torque;

[0039] Determine the compensated center torque according to the intermediate torque and the threshold of the intermediate torque.

[0040] In an embodiment of the present invention, the determining the compensation torque according to the compensation basic torque and the compensated center torque includes:

[0041] Determine the torque difference between the compensation basic torque and the compensated center torque;

[0042] Determine the torque difference as the compensation torque.

[0043] To achieve the above object and other related objects, the present application provides a compensation torque determination device, including:

[0044] A data acquisition module, configured to acquire the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack rotation speed of the target vehicle;

[0045] A basic torque determination module, configured to determine a compensation basic torque based on the lateral acceleration, the vehicle speed, and the steering wheel torque;

[0046] A center torque determination module, configured to determine a compensated center torque based on the lateral acceleration, the vehicle speed, the steering wheel torque, the motor target torque, and the rack rotation speed;

[0047] A compensation torque determination module, configured to determine a compensation torque according to the compensation basic torque and the compensated center torque.

[0048] To achieve the above object and other related objects, the present application further provides an electronic device, the electronic device includes:

[0049] One or more processors;

[0050] A storage device, configured to store one or more programs, when the one or more programs are executed by the one or more processors, enabling the electronic device to implement the compensation torque determination method described in any one of the foregoing embodiments.

[0051] To achieve the above object and other related objects, the present application further provides a computer-readable storage medium, on which a computer program is stored, when the computer program is executed by a processor of a computer, enabling the computer to execute the compensation torque determination method described in any one of the foregoing embodiments.

[0052] As described above, a method, an apparatus, and an electronic device for determining a compensation torque provided by this application have the following

[0053] Advantageous effects:

[0054] In a method for determining a compensation torque in this application, the method obtains the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed of a target vehicle, and then determines a compensation basic torque based on the lateral acceleration, vehicle speed, and steering wheel torque, and determines a compensation center torque based on the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed. Finally, the compensation torque is determined according to the compensation basic torque and the compensation center torque. According to the obtained vehicle-related parameters, the compensation torque can be determined, torque compensation can be performed according to the actual state and performance of the vehicle, and the vehicle user can be assisted in steering, so as to achieve the effect of improving the applicability of the method for determining the compensation torque.

[0055] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application. Obviously, the accompanying drawings in the following description are only some embodiments of this application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. In the drawings:

[0057] Figure 1 is a flowchart of a method for determining a compensation torque shown in an exemplary embodiment of this application;

[0058] Figure 2 is a system block diagram for determining lateral acceleration shown in an exemplary embodiment of this application;

[0059] Figure 3 is a system block diagram for determining a compensation basic torque shown in an exemplary embodiment of this application;

[0060] Figure 4 is a system block diagram for determining a compensation center torque shown in an exemplary embodiment of this application;

[0061] Figure 5 is a system block diagram for determining a compensation torque shown in an exemplary embodiment of this application;

[0062] Figure 6 is a block diagram of a device for determining a compensation torque shown in an exemplary embodiment of this application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0063] The embodiments of the present application will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, rather than for limiting the protection scope of the present application.

[0064] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present application in a schematic manner. Therefore, only the components related to the present application are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and ratio of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0065] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present application. However, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present application difficult to understand.

[0066] Please refer to Figure 1 , Figure 1 which is a flowchart of a compensation torque determination method shown in an exemplary embodiment of the present application. Referring to Figure 1 it can be seen that the compensation torque determination method may include:

[0067] Step S110, obtaining the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed of the target vehicle.

[0068] In an embodiment of the present application, when the steering wheel of the target vehicle needs to be steered left or right at a certain angle, or when the target vehicle is in the process of starting from a stationary state, due to the influence of motor assist inertia and / or system friction, the operating feel of the driver of the target vehicle may be affected to a certain extent. At this time, the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed of the target vehicle can be obtained to determine the compensation torque, which can enhance the sense of the center position of the steering wheel of the target vehicle, make the motor commutation process smoother and more symmetrical, and avoid the situation of center position sense drift. The lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed can all be the current data of the target vehicle. The vehicle speed of the target vehicle can be obtained according to the speed sensor installed on the target vehicle, the steering wheel torque can be obtained according to the steering wheel torque sensor installed on the target vehicle, and the motor target torque can be obtained by looking up a table according to the current rack speed. Looking up the table means that according to the current rack speed, the motor target torque corresponding to the current rack speed can be determined in the pre-stored relationship table of rack speed - motor target torque. The motor target torque can also be referred to as the motor target moment.

[0069] In an exemplary embodiment, the process of obtaining the lateral acceleration of the target vehicle in step S110 may include steps S111 to S114.

[0070] Step S111, according to the vehicle speed and the mapping relationship between the vehicle speed and the vehicle characteristic coefficient, determine the target characteristic coefficient among multiple vehicle characteristic coefficients, and determine the first lateral acceleration according to the target characteristic coefficient and the rack force.

[0071] In an embodiment of the present application, the rack force can be estimated according to the transmission torque and the motor torque.

[0072] Step S112, according to the vehicle speed and the mapping relationship between the vehicle speed and the first weight, determine the target first weight among multiple weights, determine the intermediate lateral acceleration according to the steering wheel angle, vehicle speed, ratio of the steering wheel angle to the front wheel steering angle, and wheelbase between the front and rear wheels of the target vehicle, and determine the second lateral acceleration according to the target first weight and the intermediate lateral acceleration.

[0073] Determine the intermediate lateral acceleration according to the steering wheel angle, vehicle speed, ratio of the steering wheel angle to the front wheel steering angle, wheelbase between the front and rear wheels of the target vehicle, and the lateral acceleration calculation formula.

[0074] The lateral acceleration calculation formula includes:

[0075]

[0076] Among them, γ is the intermediate lateral acceleration, k is the ratio of the steering wheel angle to the front wheel steering angle, θ is the steering wheel angle, v is the vehicle speed, and L is the wheelbase between the front and rear wheels of the target vehicle.

[0077] Step S113: Determine the target second weight among multiple second weights according to the vehicle speed and the mapping relationship between the vehicle speed and the second weight, and determine the third lateral acceleration according to the target second weight and the sensor lateral acceleration.

[0078] In an embodiment of the present application, the first weight and the second weight can be in an opposite relationship.

[0079] Step S114: Perform weighted summation on the first lateral acceleration, the second lateral acceleration, and the third lateral acceleration to obtain the lateral acceleration of the target vehicle.

[0080] In an embodiment of the present application, the first lateral acceleration, the second lateral acceleration, and the third lateral acceleration can be weighted and summed according to a preset weighting ratio set by the operator to obtain the lateral acceleration of the target vehicle.

[0081] Exemplarily, the operator can pre-set different preset weighting ratios according to different driving styles (that is, the followability of the driver's hand feeling when the vehicle steers). Before determining the lateral acceleration of the target vehicle, the vehicle-mounted system of the target vehicle can pre-display the driving styles corresponding to the multiple preset weighting ratios set by the operator on the vehicle display screen, and the preset weighting ratio for calculating the lateral acceleration can be determined according to the selection of the driver of the target vehicle.

[0082] Figure 2 It is a system block diagram for determining the lateral acceleration provided by an embodiment of the present application.

[0083] Step S120: Determine the compensation basic torque based on the lateral acceleration, the vehicle speed, and the steering wheel torque.

[0084] In an embodiment of the present application, the compensation basic torque can be determined based on the lateral acceleration, the vehicle speed, and the steering wheel torque.

[0085] In an exemplary embodiment, the process of step S120 for determining the compensation basic torque based on the lateral acceleration, the vehicle speed, and the steering wheel torque may include steps S121 to S124.

[0086] Step S121: Determine the mapping relationship between the steering wheel torque and the basic torque corresponding to the vehicle speed.

[0087] Step S122: Determine the target basic torque among multiple basic torques according to the steering wheel torque and the mapping relationship between the steering wheel torque and the basic torque.

[0088] Step S123: Determine a target torque coefficient from multiple torque coefficients according to the lateral acceleration and the mapping relationship between the lateral acceleration and the torque coefficient.

[0089] Step S124: Determine the compensated basic torque as the product of the target basic torque and the target torque coefficient.

[0090] Figure 3 This is a system block diagram for determining the compensated basic torque provided by an embodiment of the present application.

[0091] Step S130: Determine the compensated center torque based on the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed.

[0092] In an embodiment of the present application, the compensated center torque can be determined based on the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed.

[0093] In an exemplary embodiment, the process of step S130 for determining the compensated center torque based on the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed may include step S131 and step S139.

[0094] Step S131: Determine a reference coefficient according to the rack speed and the lateral acceleration.

[0095] In an embodiment of the present application, the rotation direction of the rack can be determined according to the rack speed, and the direction of the lateral acceleration can be determined according to the lateral acceleration. When the rotation direction of the rack is the same as the direction of the lateral acceleration, the reference coefficient is a first preset value. When the rotation direction of the rack is opposite to the direction of the lateral acceleration, the reference coefficient is a second preset value.

[0096] In an embodiment of the present application, when the rotation direction of the steering wheel gear rack in the target vehicle is the same as the direction of the lateral acceleration, the reference coefficient is a first preset value. Both the rotation speed of the steering wheel gear rack and the lateral acceleration carry symbols (i.e., plus or minus signs) representing their directions. When the rotation speed of the steering wheel gear rack and the lateral acceleration are both positive or both negative, it can be determined that the rotation direction of the steering wheel gear rack is the same as the direction of the lateral acceleration.

[0097] Exemplarily, the first preset value can be 0.

[0098] When the rotation direction of the steering wheel gear rack in the target vehicle is different from the direction of the lateral acceleration, the reference coefficient is a second preset value.

[0099] In an embodiment of the present application, when the rotation direction of the steering wheel rack in the target vehicle is not the same as the direction of the lateral acceleration, that is, when the rotation direction of the steering wheel rack in the target vehicle is opposite to the direction of the lateral acceleration, the reference coefficient is the second preset value. When one of the rotational speed of the steering wheel rack and the lateral acceleration is positive and the other is negative, it can be determined that the rotation direction of the steering wheel rack is opposite to the direction of the lateral acceleration.

[0100] Exemplarily, the second preset value may be 1.

[0101] Step S132, determine the mapping relationship between the lateral acceleration and the center position coefficient corresponding to the vehicle speed.

[0102] Step S133, determine the target center position coefficient among multiple center position coefficients according to the lateral acceleration and the mapping relationship between the lateral acceleration and the center position coefficient.

[0103] Step S134, determine the target torque coefficient among multiple torque coefficients according to the steering wheel torque and the mapping relationship between the steering wheel torque and the torque coefficient.

[0104] Step S135, determine the intermediate torque by multiplying the motor target torque, the target center position coefficient, the target torque coefficient, and the reference coefficient.

[0105] In an embodiment of the present application, the product of the motor target torque, the target center position coefficient, the target torque coefficient, and the reference coefficient can be determined as the intermediate torque.

[0106] Step S136, determine the mapping relationship between the lateral acceleration and the slip coefficient corresponding to the vehicle speed.

[0107] Step S137, determine the target slip coefficient among multiple slip coefficients according to the lateral acceleration and the mapping relationship between the lateral acceleration and the slip coefficient.

[0108] Step S138, use the product of the rack rotational speed and the target slip coefficient as the limiting change value, and use the opposite number of the limiting change value and the limiting change value as the threshold of the intermediate torque.

[0109] In an embodiment of the present application, after determining the limiting change value, the limiting change value can be multiplied by -1 to obtain the opposite number of the limiting change value.

[0110] Step S139, determine the compensation center torque according to the intermediate torque and the threshold of the intermediate torque.

[0111] In an embodiment of the present application, when the intermediate torque is within the threshold range of the intermediate torque, the compensated central torque = the intermediate torque; when the intermediate torque is greater than the high threshold, the compensated central torque = the high threshold; when the intermediate torque is less than the low threshold, the compensated central torque = the low threshold.

[0112] Figure 4 This is a system block diagram for determining the compensated central torque provided by an embodiment of the present application.

[0113] Step S140: Determine the compensation torque according to the compensation base torque and the compensated central torque.

[0114] In an embodiment of the present application, the compensation torque can be determined according to the compensation base torque and the compensated central torque, so that the driver of the vehicle can have a relatively stable steering wheel feel control under different road surfaces and driving conditions.

[0115] In an exemplary embodiment, the process of step S140 for determining the compensation torque according to the compensation base torque and the compensated central torque may include step S141 and step S142.

[0116] Step S141: Determine the torque difference between the compensation base torque and the compensated central torque.

[0117] In an embodiment of the present application, the torque difference between the compensation base torque and the compensated central torque can be determined.

[0118] Step S142: Determine the torque difference as the compensation torque.

[0119] In an embodiment of the present application, the torque interpolation can be determined as the compensation torque.

[0120] In an embodiment of the present application, after step S142, the compensation torque can be limited. That is, the operator can preset the torque limit in advance. When the compensation torque is less than or equal to the torque limit, the compensation torque can be output as the final compensation torque, so that the servo motor in the electric power steering system works according to the final compensation torque. When the compensation torque is greater than the torque limit, the torque limit can be output as the final compensation torque, so that the servo motor in the electric power steering system works according to the final compensation torque. Setting the torque limit can avoid the situation where the sudden change of the compensation torque causes the sudden change of the steering feeling and affects the driving experience.

[0121] Figure 5 This is a system block diagram for determining the compensation torque provided by an embodiment of the present application.

[0122] In the embodiments of the present application, the mapping relationships can all be mapping relationships determined according to pre-calibrated data.

[0123] In summary, the method according to the embodiments of the present application determines a compensation basic torque based on the lateral acceleration, vehicle speed, and steering wheel torque of the target vehicle, determines a compensation center torque based on the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack rotation speed, and finally determines a compensation torque according to the compensation basic torque and the compensation center torque. By determining the compensation torque according to the obtained vehicle-related parameters, torque compensation can be performed according to the actual state and performance of the vehicle, assisting the vehicle user in steering, and achieving the effect of improving the applicability of the compensation torque determination method.

[0124] Figure 6 It is a block diagram of a compensation torque determination device shown in an exemplary embodiment of the present application. As Figure 6 shown, the exemplary compensation torque determination device 600 includes:

[0125] A data acquisition module 610, configured to acquire the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack rotation speed of the target vehicle.

[0126] A basic torque determination module 620, configured to determine a compensation basic torque based on the lateral acceleration, vehicle speed, and steering wheel torque.

[0127] A center torque determination module 630, configured to determine a compensation center torque based on the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack rotation speed.

[0128] A compensation torque determination module 640, configured to determine a compensation torque according to the compensation basic torque and the compensation center torque.

[0129] It should be noted that the compensation torque determination device provided in the above embodiments belongs to the same concept as the compensation torque determination method provided in the above embodiments. The specific manners in which each module and unit perform operations have been described in detail in the method embodiments and will not be elaborated here. In practical applications, the compensation torque determination device provided in the above embodiments may, according to needs, allocate the above functions to different functional modules, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here either.

[0130] The embodiments of the present application further provide an electronic device, including: one or more processors; a storage device, configured to store one or more programs, and when the one or more programs are executed by the one or more processors, enable the electronic device to implement the compensation torque determination method provided in each of the above embodiments.

[0131] It should be noted that the computer-readable medium shown in the embodiments of the present application may be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may, for example, be a system, device, or apparatus of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable computer program is carried. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, device, or apparatus. The computer program contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0132] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Among them, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0133] The units involved in the embodiments described in this application can be implemented in software or in hardware, and the described units can also be provided in a processor. Among them, the names of these units do not constitute a limitation on the units themselves in some cases.

[0134] Another aspect of this application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor of a computer, the computer is caused to execute the compensation torque determination method provided in each of the above embodiments. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist alone without being assembled into the electronic device.

[0135] Another aspect of this application also provides a computer program product or a computer program. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the compensation torque determination method provided in each of the above embodiments.

[0136] The above embodiments are only used to exemplarily illustrate the principles and effects of this application, rather than to limit this application. Any person familiar with this technology can make modifications or changes to the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for determining a compensation torque, characterized in that, The compensation torque determination method includes: Obtaining the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed of the target vehicle; Determining a compensation basic torque based on the lateral acceleration, the vehicle speed, and the steering wheel torque; Determining a compensation center torque based on the lateral acceleration, the vehicle speed, the steering wheel torque, the motor target torque, and the rack speed; Determining a compensation torque according to the compensation basic torque and the compensation center torque; The determining the compensation center torque based on the lateral acceleration, the vehicle speed, the steering wheel torque, the motor target torque, and the rack speed includes: Determining a reference coefficient according to the rack speed and the lateral acceleration; Determining the mapping relationship between the lateral acceleration and the center position coefficient corresponding to the vehicle speed; Determining a target center position coefficient from multiple center position coefficients according to the lateral acceleration and the mapping relationship between the lateral acceleration and the center position coefficient; Determining a target torque coefficient from multiple torque coefficients according to the steering wheel torque and the mapping relationship between the steering wheel torque and the torque coefficient; Taking the product of the motor target torque, the target center position coefficient, the target torque coefficient, and the reference coefficient as the intermediate torque.

2. The method for determining a compensation torque according to claim 1, characterized in that, The obtaining the lateral acceleration of the target vehicle includes: Determining a target characteristic coefficient from multiple vehicle characteristic coefficients according to the vehicle speed and the mapping relationship between the vehicle speed and the vehicle characteristic coefficient, and determining a first lateral acceleration according to the target characteristic coefficient and the rack force; Determining a target first weight from multiple weights according to the vehicle speed and the mapping relationship between the vehicle speed and the first weight, determining an intermediate lateral acceleration according to the steering wheel angle, the vehicle speed, the ratio of the steering wheel angle to the front wheel steering angle, and the wheelbase between the front and rear wheels of the target vehicle, and determining a second lateral acceleration according to the target first weight and the intermediate lateral acceleration; Determining a target second weight from multiple second weights according to the vehicle speed and the mapping relationship between the vehicle speed and the second weight, and determining a third lateral acceleration according to the target second weight and the sensor lateral acceleration; Performing weighted summation on the first lateral acceleration, the second lateral acceleration, and the third lateral acceleration to obtain the lateral acceleration of the target vehicle.

3. The method for determining a compensation torque according to claim 2, characterized in that, The determining the intermediate lateral acceleration according to the steering wheel angle, the vehicle speed, the ratio of the steering wheel angle to the front wheel steering angle, and the wheelbase between the front and rear wheels of the target vehicle includes: Determining the intermediate lateral acceleration according to the steering wheel angle, the vehicle speed, the ratio of the steering wheel angle to the front wheel steering angle, the wheelbase between the front and rear wheels of the target vehicle, and the lateral acceleration calculation formula; The lateral acceleration calculation formula includes: Wherein, γ is the intermediate lateral acceleration, k is the ratio of the steering wheel angle to the front wheel steering angle, θ is the steering wheel angle, v is the vehicle speed, and L is the wheelbase between the front and rear wheels of the target vehicle.

4. The method for determining a compensation torque according to claim 1, characterized in that, The determining the compensation basic torque based on the lateral acceleration, the vehicle speed, and the steering wheel torque includes: Determine the mapping relationship between the steering wheel torque corresponding to the vehicle speed and the base torque; Determine the target base torque among multiple base torques according to the steering wheel torque and the mapping relationship between the steering wheel torque and the base torque; Determine the target torque coefficient among multiple torque coefficients according to the lateral acceleration and the mapping relationship between the lateral acceleration and the torque coefficient; Determine the product of the target base torque and the target torque coefficient as the compensation base torque.

5. The method for determining a compensation torque according to claim 1, characterized in that, The determining the reference coefficient according to the rack speed and the lateral acceleration includes: Determine the rotation direction of the rack according to the rack speed, and determine the direction of the lateral acceleration according to the lateral acceleration; When the rotation direction of the rack is the same as the direction of the lateral acceleration, the reference coefficient is a first preset value; When the rotation direction of the rack is opposite to the direction of the lateral acceleration, the reference coefficient is a second preset value.

6. The method for determining a compensation torque according to claim 1, characterized in that, After determining the product of the motor target torque, the target center position coefficient, the target torque coefficient, and the reference coefficient as the intermediate torque, the method further includes: Determine the mapping relationship between the lateral acceleration and the slip coefficient corresponding to the vehicle speed; Determine the target slip coefficient among multiple slip coefficients according to the lateral acceleration and the mapping relationship between the lateral acceleration and the slip coefficient; Take the product of the rack speed and the target slip coefficient as the limiting change value, and take the opposite number of the limiting change value and the limiting change value as the threshold of the intermediate torque; Determine the compensation center torque according to the intermediate torque and the threshold of the intermediate torque.

7. The method for determining the compensation torque according to claim 1, wherein, The determining the compensation torque according to the compensation base torque and the compensation center torque includes: Determine the torque difference between the compensation base torque and the compensation center torque; Determine the torque difference as the compensation torque.

8. A device for determining the compensation torque, wherein, The compensation torque determining device includes: A data acquisition module for acquiring the lateral acceleration, vehicle speed, steering wheel torque, motor target torque, and rack speed of the target vehicle; A base torque determining module for determining the compensation base torque based on the lateral acceleration, the vehicle speed, and the steering wheel torque; A center torque determining module for determining the compensation center torque based on the lateral acceleration, the vehicle speed, the steering wheel torque, the motor target torque, and the rack speed; A compensation torque determining module for determining the compensation torque according to the compensation base torque and the compensation center torque; The center torque determining module is specifically used for: Determine the reference coefficient according to the rack speed and the lateral acceleration; Determine the mapping relationship between the lateral acceleration and the center position coefficient corresponding to the vehicle speed; Determine the target center position coefficient among multiple center position coefficients according to the lateral acceleration and the mapping relationship between the lateral acceleration and the center position coefficient; Determine the target torque coefficient among multiple torque coefficients according to the steering wheel torque and the mapping relationship between the steering wheel torque and the torque coefficient; Determine the product of the motor target torque, the target center position coefficient, the target torque coefficient, and the reference coefficient as the intermediate torque.

9. An electronic device, wherein, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the compensation torque determination method according to any one of claims 1 to 7.

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