Compensation control method, device, vehicle, equipment and medium for vehicle deviation

Abstract

The present invention provides a vehicle deviation compensation control method, apparatus, vehicle, equipment, and medium for implementing vehicle deviation compensation control during driving. The vehicle deviation compensation control method includes: after activating a deviation compensation function, determining whether a preset deviation compensation condition is met; if the preset deviation compensation condition is met, determining a deviation compensation torque based on the current driver's hand torque and the current vehicle speed, and performing compensation control based on the deviation compensation torque.

Description

Technical Field

[0001] The present invention is used in the field of vehicle control technology, and more specifically relates to a compensation control method, device, vehicle, equipment and medium for vehicle deviation. Background Art

[0002] Vehicle deviation occurs when a car, while traveling straight on a flat road, veers to one side, causing the line connecting the front and rear axle centers to align with the centerline of the driving trajectory. Factors influencing vehicle deviation can be categorized as short-term and long-term. Short-term factors primarily include tire pressure fluctuations, road surface excitation, and crosswinds, while long-term factors primarily include chassis attenuation and wheel alignment deviations. Vehicle deviation can affect driving safety, economy, and handling. Therefore, ensuring vehicle deviation is essential.

[0003] CN 114013500 A provides a control method for suppressing vehicle deviation based on electric steering. This method uses vehicle posture signals on a bus to determine whether the vehicle is deviating. Based on the degree of deviation, different steering compensation torques are actively applied to suppress deviation. CN 215244801 U provides a control system for vehicle braking deviation compensation. This system analyzes the vehicle's gravity distribution and adjusts the braking force of each wheel, thereby reducing the yaw torque generated by the four wheels relative to the vehicle center during braking, thereby improving the vehicle's straight-line driving ability during braking.

[0004] The above solution is aimed at compensating for deviation in specific situations (such as when the relevant signal exceeds the threshold or when braking), and no method for compensating for deviation during the entire driving process has been found. Summary of the Invention

[0005] The present invention provides a compensation control method, device, vehicle, equipment and medium for achieving compensation control of the vehicle when the vehicle deviates during driving.

[0006] The technical solution of the present invention is:

[0007] The present invention provides a compensation control method for a vehicle when it is running off the track, comprising:

[0008] After the deviation compensation function is activated, it is determined whether the preset deviation compensation conditions are met;

[0009] If the preset deviation compensation conditions are met, the deviation compensation torque is determined based on the current driver's hand torque, the current vehicle speed and the last calculated short-term compensation torque, and compensation control is performed according to the deviation compensation torque.

[0010] Preferably, the step of determining the deviation compensation torque based on the current driver's hand torque, the current vehicle speed and the last calculated short-term compensation torque includes:

[0011] determining a short-term compensation torque and a long-term compensation torque based on a current driver hand torque and a last calculated short-term compensation torque;

[0012] Determining a first compensation torque based on the short-term compensation torque, the long-term compensation torque, and the current vehicle speed;

[0013] A deviation compensation torque is determined based on the first compensation torque and a preset compensation torque limit.

[0014] Preferably, the step of determining the short-term compensation torque and the long-term compensation torque based on the current driver hand torque and the short-term compensation torque calculated last time includes:

[0015] determining a short-term compensation torque based on a preset short-term compensation slope and a current driver hand torque;

[0016] determining a long-term compensation torque based on a preset long-term compensation slope and a current driver hand torque;

[0017] If the direction of the current driver's hand torque is the same as the direction of the last calculated short-term compensation torque and the duration of the same torque is greater than the first preset duration, the preset short-term compensation slope is a positive value;

[0018] If the direction of the current driver's hand torque is opposite to the direction of the last calculated short-term compensation torque and the duration of the opposite direction is greater than the second preset time, the preset short-term compensation slope is a negative value;

[0019] Preset positive long-term compensation slope.

[0020] Preferably, the step of determining the first compensation torque based on the short-term compensation torque, the long-term compensation torque and the current vehicle speed includes:

[0021] Determine the speed ratio based on the current vehicle speed;

[0022] A first compensation torque is determined based on the short-term compensation torque, the long-term compensation torque, and the speed ratio.

[0023] Preferably, based on the current vehicle speed, the step of determining the speed ratio includes:

[0024] When the current vehicle speed is less than or equal to the preset speed, the speed ratio is 0;

[0025] When the current vehicle speed is greater than the preset speed, the speed ratio is positively correlated with the current vehicle speed.

[0026] Preferably, the conditions for starting the deviation compensation function are: the EPS system of the vehicle is in normal working state and the deviation compensation function enable switch is turned on.

[0027] Preferably, the preset deviation compensation conditions are:

[0028] The vehicle speed signal validity is valid;

[0029] The driver's hand torque signal validity is valid;

[0030] Steering wheel angle signal validity is valid;

[0031] The validity of the steering wheel angular velocity signal is valid;

[0032] The acceleration signal validity is valid;

[0033] The current vehicle speed is ≥ the preset speed;

[0034] The current driver's hand torque ≥ the preset hand torque;

[0035] The current steering wheel angle is greater than or equal to the first preset steering wheel angle or the current steering wheel angle is less than or equal to the second preset steering wheel angle;

[0036] The current steering wheel angular velocity is less than or equal to the preset steering wheel angular velocity;

[0037] The current vehicle longitudinal acceleration is less than or equal to the first preset acceleration;

[0038] The current vehicle lateral acceleration is ≤ the second preset acceleration.

[0039] The present invention also provides a compensation control device for a vehicle when it deviates from the vehicle, comprising:

[0040] The enabling judgment module is used to judge whether the preset deviation compensation conditions are met after the deviation compensation function is started;

[0041] The enabling execution module is used to determine the deviation compensation torque based on the current driver's hand torque, the current vehicle speed and the last calculated short-term compensation torque if the preset deviation compensation conditions are met, and perform compensation control according to the deviation compensation torque.

[0042] Preferably, the enabling execution module includes:

[0043] a first determining unit, configured to determine a short-term compensation torque and a long-term compensation torque based on a current driver hand torque and a last calculated short-term compensation torque;

[0044] a second determining unit, configured to determine a first compensation torque based on the short-term compensation torque, the long-term compensation torque, and a current vehicle speed;

[0045] The third determining unit is configured to determine the deviation compensation torque based on the first compensation torque and a preset compensation torque limit.

[0046] Preferably, the first determining unit includes:

[0047] a first determining subunit, configured to determine a short-term compensation torque based on a preset short-term compensation slope and a current driver hand torque;

[0048] a second determining subunit, configured to determine a long-term compensation torque based on a preset long-term compensation slope and a current driver hand torque;

[0049] If the direction of the current driver's hand torque is the same as the direction of the last calculated short-term compensation torque and the duration of the same torque is greater than the first preset duration, the preset short-term compensation slope is a positive value;

[0050] If the direction of the current driver's hand torque is opposite to the direction of the last calculated short-term compensation torque and the duration of the opposite direction is greater than the second preset time, the preset short-term compensation slope is a negative value;

[0051] Preset positive long-term compensation slope.

[0052] Preferably, the second determining unit includes:

[0053] A third determining subunit is configured to determine a speed ratio based on a current vehicle speed;

[0054] The fourth determining subunit is configured to determine a first compensation torque based on the short-term compensation torque, the long-term compensation torque, and the speed ratio.

[0055] Preferably, the third determining subunit is specifically configured to:

[0056] When the current vehicle speed is less than or equal to the preset speed, the speed ratio is 0;

[0057] When the current vehicle speed is greater than the preset speed, the speed ratio is positively correlated with the current vehicle speed.

[0058] The present invention also provides a vehicle, comprising the above-mentioned compensation control device for when the vehicle deviates.

[0059] The present invention also provides a control device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the compensation control method for vehicle deviation as described above are implemented.

[0060] The present invention also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the compensation control method for vehicle deviation as described above are implemented.

[0061] The beneficial effects of the present invention are:

[0062] For short-term vehicle deviation (e.g., tire pressure fluctuations, crosswind effects) or long-term deviation (e.g., wheel alignment deviation), the system determines the duration of deviation compensation conditions and the relationship between the previously calculated short-term compensation torque and the current driver's hand torque to calculate the required deviation compensation torque. This deviation compensation torque is used to correct for misalignment between the centerline of the front and rear axles and the centerline of the driving trajectory. The integration of short-term and long-term compensation torques, along with the rapid compensation and elimination of short-term compensation torque, effectively addresses most deviation scenarios. This prevents misjudgments from causing abnormal forces to persist when no compensation is needed, or prevents the compensation torque from persisting after the influencing factors have resolved. During the compensation process, the vehicle can be corrected without the driver having to operate the steering wheel, preventing or even preventing further deviation, ensuring safe driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 Flowchart of the compensation control method for vehicle deviation in this embodiment;

[0064] Figure 2 2 is a functional module framework diagram of the EPS system in this embodiment;

[0065] Figure 3 This is a logic flow chart for enabling the deviation compensation function in this embodiment;

[0066] Figure 4 This is a logic flow chart of the enabling judgment module in this embodiment;

[0067] Figure 5 It is the speed ratio interpolation diagram in this embodiment. DETAILED DESCRIPTION

[0068] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0069] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0070] An embodiment of the present invention provides a compensation control method for a vehicle when it deviates. Specifically, when the vehicle deviates during driving, the EPS system of the vehicle performs torque compensation. The vehicle can be corrected without the driver having to operate the steering wheel, thereby preventing or avoiding the vehicle from continuing to deviate, thereby ensuring the vehicle's driving safety.

[0071] In this embodiment, the compensation control method for the vehicle when it deviates is performed by the vehicle's EPS system. Figure 2 In the embodiment of the present invention, the EPS system divides the vehicle deviation compensation function into two parts to realize vehicle deviation compensation control. The first part is an enabling judgment module, and the second part is an enabling execution module.

[0072] like Figure 1 , the method in this embodiment specifically includes:

[0073] Step S10: After the deviation compensation function is activated, it is determined whether a preset deviation compensation condition is met.

[0074] The enabling determination module executes the above-mentioned step S10.

[0075] In this embodiment, the conditions for starting the deviation compensation function are composed of the following two parts: the EPS system functions normally; and the deviation compensation enabling switch is turned on.

[0076] The deviation compensation enable switch can be a hardware switch or a soft switch.

[0077] When the above two conditions are met at the same time, the deviation compensation function is activated.

[0078] After the deviation compensation enable switch is turned on, the enable judgment module repeatedly judges the relevant signals. When the conditions are met, the enable execution module outputs the compensation torque value according to the corresponding functional logic; when the conditions are not met, the enable execution module will set the compensation torque value to 0, that is, no torque compensation will be performed.

[0079] The above-mentioned related signals include vehicle speed signal, vehicle speed signal validity, driver's hand torque, steering wheel angle, steering wheel angular velocity, vehicle longitudinal acceleration, vehicle lateral acceleration, wheel speed signal validity, steering wheel angle signal validity, steering wheel angular velocity signal validity, driver's hand torque signal validity, acceleration signal validity, etc.

[0080] Specifically, such as Figure 3 As shown, in this embodiment, the enabling judgment logic of the enabling judgment module to start the deviation compensation function is as follows:

[0081] Step S101 , detecting whether the deviation compensation enabling switch is on. If it is on, jumping to step S102 , otherwise continuously detecting whether the deviation compensation enabling switch is on.

[0082] Step S102 , detecting whether the EPS system functions normally. If so, the process jumps to step S103 , otherwise, the process jumps to step S105 .

[0083] Step S103: The deviation compensation function is enabled, that is, the ability determination module starts working.

[0084] Step S104 , detecting whether the EPS system functions normally. If the EPS system functions normally, the process jumps to step S105 ; otherwise, the process jumps to step S106 .

[0085] Step S105, detect whether the deviation compensation function is turned off. If it is turned off, jump to step S108, otherwise jump to step S103, and the deviation compensation function continues to be enabled.

[0086] Step S106: If an EPS system malfunction is detected in steps S102 and S103, the system waits for the EPS system to return to normal in this step. After the waiting period is 5 message cycles (calibrable), the process jumps to step S107.

[0087] Step S107, detecting whether the deviation compensation enabling switch is turned off, if it is off, jumping to step S108, if it is off, jumping to step S102.

[0088] Step S108: When the deviation compensation enabling switch is turned off, the enabling execution module and the enabling judgment module stop working.

[0089] In summary, in the enabling logic of the deviation compensation function, before the deviation function is enabled, it is necessary to determine whether the deviation compensation enable switch and EPS system function meet the requirements. If not, the enable state cannot be entered or exited.

[0090] After the deviation compensation function is enabled, the enabling judgment module repeatedly judges the relevant signals to determine whether the preset deviation compensation conditions are met.

[0091] The relevant signals include vehicle speed signal, vehicle speed signal validity, driver's hand torque, steering wheel angle, steering wheel angular velocity, vehicle longitudinal acceleration, vehicle lateral acceleration, steering wheel angle signal validity, steering wheel angular velocity signal validity, driver's hand torque signal validity and acceleration signal validity, etc.

[0092] The relevant signals are defined as follows:

[0093]

[0094] like Figure 4 As shown, the operation logic of the enable judgment module is as follows:

[0095] In step S301, the enabling judgment module obtains relevant signals, and then proceeds to step S302.

[0096] In step S302, the enabling judgment module judges the acquired signal to confirm whether it meets the threshold condition. If so, the process proceeds to step S303; otherwise, the acquired signal is re-detected.

[0097] Step S303: The built-in timer of the enabling judgment module starts timing, which is represented by T.

[0098] Step S304 , determining whether the timer T is ≥ 2S, and whether the signal still meets the threshold condition during the timing. If so, jump to step S305 , otherwise, jump to step S302 .

[0099] Step S305: enabling the execution module to start working.

[0100] Step S306, determining whether the signal obtained during the operation of the enabling execution module still meets the threshold condition. If so, jump to step S305 and enable the execution module to continue working; otherwise, jump to step S307.

[0101] Step S307: The enabling execution module stops working, and then jumps to step S302.

[0102] The specific requirements for the threshold conditions in steps S301 to S308 are as follows:

[0103] 1) The vehicle speed signal validity is valid;

[0104] 2) The driver's hand torque signal validity is valid;

[0105] 3) The steering wheel angle signal validity is valid;

[0106] 4) The steering wheel angular velocity signal is valid;

[0107] 5) The acceleration signal validity is valid;

[0108] 6) The current vehicle speed is ≥ 45 km / h (preset speed);

[0109] 7) The current driver's hand torque is ≥ 2.5Nm (preset hand torque);

[0110] 8) The current steering wheel angle is ≥10° (first preset steering wheel angle) or the current steering wheel angle is ≤30° (second preset steering wheel angle);

[0111] 9) The current steering wheel angular velocity is ≤ 3° / s (preset steering wheel angular velocity);

[0112] 10) The current vehicle longitudinal acceleration is ≤ 5m / s 2 (first preset acceleration);

[0113] 11) The current vehicle lateral acceleration is ≤ 3m / s 2 (Second preset acceleration).

[0114] The conditions from 6) to 11) can be calibrated and modified according to the actual vehicle conditions.

[0115] In summary, when the conditions are met, the enabling execution module works and outputs the specific value of the deviation compensation torque according to the corresponding functional logic; when the conditions are not met, the enabling execution module cannot be activated or the enabling execution module stops working, and the value of the deviation compensation torque is set to 0, that is, no torque compensation is performed.

[0116] Step S20: If the preset deviation compensation conditions are met, the deviation compensation torque is determined based on the current driver's hand torque, the current vehicle speed and the last calculated short-term compensation torque, and compensation control is performed according to the deviation compensation torque.

[0117] The enabling execution module executes the above step S20 , wherein the enabling execution module further divides the deviation compensation into long-term compensation and short-term compensation, which correspond to the long-term compensation torque and the short-term compensation torque respectively.

[0118] The enabling execution module identifies whether the direction of the current driver's hand torque is the same as the direction of the short-term compensation torque calculated last time. If the directions are the same, the compensation gain is added; otherwise, the compensation gain is subtracted. The calculation formula is:

[0119] A. Short-term compensation slope = ± short-term compensation upper limit / first growth time

[0120] B. Long-term compensation slope = long-term compensation upper limit / second growth time

[0121] C. First short-term compensation torque = current driver's hand torque * short-term compensation slope

[0122] D. Short-term compensation torque = first short-term compensation torque + current driver's hand torque

[0123] E. Long-term compensation torque = (current driver hand torque + first short-term compensation torque) * long-term compensation slope

[0124] F. Deviation compensation torque = (long-term compensation torque + short-term compensation torque) * speed ratio

[0125] Regarding the short-term compensation upper limit value and the long-term compensation upper limit value, both are pre-calibrated maximum compensation torques; the first growth time is the time taken for the short-term compensation torque to increase from 0 to the short-term compensation upper limit value, and the second growth time is the time taken for the long-term compensation torque to increase from 0 to the long-term compensation upper limit value; if the direction of the current driver's hand torque is the same as the direction of the short-term compensation torque calculated last time, the short-term compensation slope is positive; if the direction of the driver's hand torque is opposite to the direction of the short-term compensation torque calculated last time, the short-term compensation slope is negative.

[0126] In summary, the deviation compensation torque in the embodiment of the present invention is composed of a short-term compensation torque and a long-term compensation torque, and the composition thereof has a certain mathematical relationship. The integration of the short-term compensation torque and the long-term compensation torque can effectively prevent the vehicle from deviation.

[0127] like Figure 1 The following is the logic flow chart of the enable execution module:

[0128] Step S201 , obtaining the current driver's hand torque and the short-term compensation torque calculated last time.

[0129] Step S202 , determining whether the current driver's hand torque is the same as the short-term compensation torque calculated last time; if not, jumping to step S203 - 1 ; otherwise, jumping to step S203 - 2 .

[0130] Step S203-1, determine whether the duration of the current driver's hand torque being different from the short-term compensation torque calculated last time is greater than the second preset time length. If not, continue to wait until the duration of the current driver's hand torque being different from the short-term compensation torque calculated last time is greater than the second preset time length, and jump to step S204-1.

[0131] Step S203-2, determine whether the duration of the current driver's hand torque being the same as the short-term compensation torque calculated last time is greater than the first preset time length. If not, continue waiting until the duration of the current driver's hand torque being the same as the short-term compensation torque calculated last time is greater than the first preset time length, and jump to step S204-2.

[0132] Step S204-1: If the direction of the current driver's hand torque is opposite to the direction of the short-term compensation torque calculated last time, calculate the short-term compensation slope, and the short-term compensation slope = -short-term compensation upper limit / first growth time, and jump to S505.

[0133] Step S204-2: If the direction of the current driver's hand torque is the same as the direction of the short-term compensation torque calculated last time, calculate the short-term compensation slope, and the short-term compensation slope = short-term compensation upper limit / first growth time, and jump to S505.

[0134] Step S205 , calculate the first short-term compensation torque, and the first short-term compensation torque=short-term compensation slope*current driver hand torque, and jump to step S206 .

[0135] Step S206 , calculate the short-term compensation torque, and the short-term compensation torque=the first short-term compensation torque+the current driver's hand torque, and jump to step S207 .

[0136] Step S207 , calculating the long-term compensation slope, where the long-term compensation slope=the long-term compensation upper limit / the second growth time, and then jumping to step S208 .

[0137] Step S208 , calculate the long-term compensation torque, and the long-term compensation torque=short-term compensation torque*long-term compensation slope, and jump to step S209 .

[0138] In step S209 , the speed ratio is calculated using an interpolation method, and the process then proceeds to step S210 .

[0139] Step S210 , calculating the first compensation torque, where the first compensation torque=(long-term compensation torque+short-term compensation torque)*speed ratio, and then jumping to step S211 .

[0140] Step S211, determine whether the first compensation torque is greater than the preset compensation torque limit (the preset compensation torque limit refers to the maximum value of the compensation torque. Since the compensation torque cannot be infinitely large and may affect the feel, a maximum value of the compensation torque is pre-calibrated). If it is greater, jump to step S212-1, otherwise jump to step S212-2.

[0141] Step S212-1: the deviation compensation torque = the preset compensation torque limit, jump to step S213.

[0142] Step S212-2: the deviation compensation torque = the first compensation torque, jump to step S213.

[0143] Step S213: Send the deviation compensation torque to the EPS system.

[0144] In steps S201 to S213, the first preset duration, the second preset duration, the short-term compensation upper limit, the long-term compensation upper limit, the first growth time, the second growth time, and the preset compensation torque limit are recommended values. After actual vehicle testing, they can well match most passenger cars. At the same time, these values ​​are also calibration values. Different models can be calibrated and modified. The following are recommended values:

[0145] (1) The first preset duration and the second preset duration = 2s;

[0146] (2) Short-term compensation upper limit = 1.5 Nm;

[0147] (3) First growth time = 15s;

[0148] (4) Long-term compensation upper limit = 1.5Nm;

[0149] (5) Second growth time = 15s;

[0150] (6) Preset compensation torque limit = 1.5Nm.

[0151] In summary, the enabling execution module will output the corresponding deviation compensation torque according to the above logic. The deviation compensation torque includes short-term compensation torque and long-term compensation torque, and there is a certain composition relationship between the two.

[0152] like Figure 5 As shown, this is a speed ratio interpolation diagram, which can be changed according to the actual vehicle situation. In this embodiment, when the current vehicle speed is less than or equal to the preset speed, the speed ratio is 0; when the current vehicle speed is greater than the preset speed, the speed ratio is positively correlated with the current vehicle speed.

[0153] In summary, in step S20, the step of determining the deviation compensation torque based on the current driver's hand torque, the current vehicle speed, and the last calculated short-term compensation torque includes:

[0154] determining a short-term compensation torque and a long-term compensation torque based on a current driver hand torque and a last calculated short-term compensation torque;

[0155] Determining a first compensation torque based on the short-term compensation torque, the long-term compensation torque, and the current vehicle speed;

[0156] A deviation compensation torque is determined based on the first compensation torque and a preset compensation torque limit.

[0157] The steps of determining the short-term compensation torque and the long-term compensation torque based on the current driver hand torque and the short-term compensation torque calculated last time include:

[0158] determining a short-term compensation torque based on a preset short-term compensation slope and a current driver hand torque;

[0159] determining a long-term compensation torque based on a preset long-term compensation slope and a current driver hand torque;

[0160] If the direction of the current driver's hand torque is the same as the direction of the last calculated short-term compensation torque and the duration of the same torque is greater than the first preset duration, the preset short-term compensation slope is a positive value;

[0161] If the direction of the current driver's hand torque is opposite to the direction of the last calculated short-term compensation torque and the duration of the opposite direction is greater than the second preset time, the preset short-term compensation slope is a negative value;

[0162] Preset positive long-term compensation slope.

[0163] The step of determining the first compensation torque based on the short-term compensation torque, the long-term compensation torque and the current vehicle speed includes:

[0164] Determine the speed ratio based on the current vehicle speed;

[0165] A first compensation torque is determined based on the short-term compensation torque, the long-term compensation torque, and the speed ratio.

[0166] Preferably, based on the current vehicle speed, the step of determining the speed ratio includes:

[0167] When the current vehicle speed is less than or equal to the preset speed, the speed ratio is 0;

[0168] When the current vehicle speed is greater than the preset speed, the speed ratio is positively correlated with the current vehicle speed.

[0169] The above method of this embodiment, when the vehicle deviates during driving, compensates for the torque through the vehicle's EPS system, and corrects the vehicle without the driver having to operate the steering wheel, preventing or avoiding the vehicle from continuing to deviate, thereby ensuring the vehicle's driving safety.

[0170] The present invention also provides a compensation control device for a vehicle when it deviates from the vehicle, comprising:

[0171] The enabling judgment module is used to judge whether the preset deviation compensation conditions are met after the deviation compensation function is started;

[0172] The enabling execution module is used to determine the deviation compensation torque based on the current driver's hand torque, the current vehicle speed and the last calculated short-term compensation torque if the preset deviation compensation conditions are met, and perform compensation control according to the deviation compensation torque.

[0173] Preferably, the enabling execution module includes:

[0174] a first determining unit, configured to determine a short-term compensation torque and a long-term compensation torque based on a current driver hand torque and a last calculated short-term compensation torque;

[0175] a second determining unit, configured to determine a first compensation torque based on the short-term compensation torque, the long-term compensation torque, and a current vehicle speed;

[0176] The third determining unit is configured to determine the deviation compensation torque based on the first compensation torque and a preset compensation torque limit.

[0177] Preferably, the first determining unit includes:

[0178] a first determining subunit, configured to determine a short-term compensation torque based on a preset short-term compensation slope and a current driver hand torque;

[0179] a second determining subunit, configured to determine a long-term compensation torque based on a preset long-term compensation slope and a current driver hand torque;

[0180] If the direction of the current driver's hand torque is the same as the direction of the last calculated short-term compensation torque and the duration of the same torque is greater than the first preset duration, the preset short-term compensation slope is a positive value;

[0181] If the direction of the current driver's hand torque is opposite to the direction of the last calculated short-term compensation torque and the duration of the opposite direction is greater than the second preset time, the preset short-term compensation slope is a negative value;

[0182] Preset positive long-term compensation slope.

[0183] Preferably, the second determining unit includes:

[0184] A third determining subunit is configured to determine a speed ratio based on a current vehicle speed;

[0185] The fourth determining subunit is configured to determine a first compensation torque based on the short-term compensation torque, the long-term compensation torque, and the speed ratio.

[0186] Preferably, the third determining subunit is specifically configured to:

[0187] When the current vehicle speed is less than or equal to the preset speed, the speed ratio is 0;

[0188] When the current vehicle speed is greater than the preset speed, the speed ratio is positively correlated with the current vehicle speed.

[0189] The above-mentioned device in this embodiment is a device that is identical to the method described above, and can achieve the same technical effect as the above-mentioned method. When the vehicle deviates during driving, the EPS system of the vehicle is used to compensate for the torque, and the vehicle can be corrected without the driver having to operate the steering wheel, thereby preventing or avoiding the vehicle from continuing to deviate, thereby ensuring the driving safety of the vehicle.

[0190] The present invention also provides a vehicle, comprising the above-mentioned compensation control device for when the vehicle deviates.

[0191] The present invention also provides a control device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the compensation control method for vehicle deviation as described above are implemented.

[0192] The present invention also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the compensation control method for vehicle deviation as described above are implemented.

[0193] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A compensation control method for a vehicle when it is running off the track, characterized in that: include: After the deviation compensation function is activated, it is determined whether the preset deviation compensation conditions are met; If the preset deviation compensation conditions are met, the deviation compensation torque is determined based on the current driver's hand torque, the current vehicle speed and the last calculated short-term compensation torque, and compensation control is performed according to the deviation compensation torque; The steps of determining the deviation compensation torque based on the current driver's hand torque, the current vehicle speed, and the last calculated short-term compensation torque include: determining a short-term compensation torque and a long-term compensation torque based on a current driver hand torque and a last calculated short-term compensation torque; Determining a first compensation torque based on the short-term compensation torque, the long-term compensation torque, and the current vehicle speed; The steps of determining the deviation compensation torque based on the first compensation torque and the preset compensation torque limit; and determining the short-term compensation torque and the long-term compensation torque based on the current driver hand torque and the last calculated short-term compensation torque include: determining a short-term compensation torque based on a preset short-term compensation slope and a current driver hand torque; determining a long-term compensation torque based on a preset long-term compensation slope and a current driver hand torque; If the direction of the current driver's hand torque is the same as the direction of the last calculated short-term compensation torque and the duration of the same torque is greater than the first preset duration, the preset short-term compensation slope is a positive value; If the direction of the current driver's hand torque is opposite to the direction of the last calculated short-term compensation torque and the duration of the opposite direction is greater than the second preset time, the preset short-term compensation slope is a negative value; Preset positive long-term compensation slope.

2. The compensation control method for vehicle deviation according to claim 1, characterized in that: The step of determining the first compensation torque based on the short-term compensation torque, the long-term compensation torque and the current vehicle speed includes: Determine the speed ratio based on the current vehicle speed; A first compensation torque is determined based on the short-term compensation torque, the long-term compensation torque, and the speed ratio.

3. The compensation control method for vehicle deviation according to claim 2, characterized in that: Based on the current vehicle speed, the steps for determining the speed ratio include: When the current vehicle speed is less than or equal to the preset speed, the speed ratio is 0; When the current vehicle speed is greater than the preset speed, the speed ratio is positively correlated with the current vehicle speed.

4. The compensation control method for vehicle deviation according to claim 1, characterized in that: The conditions for starting the deviation compensation function are: the vehicle's EPS system is in normal working condition and the deviation compensation function enable switch is turned on.

5. The compensation control method for vehicle deviation according to claim 1, characterized in that: The preset deviation compensation conditions are: The vehicle speed signal validity is valid; The driver's hand torque signal validity is valid; Steering wheel angle signal validity is valid; The validity of the steering wheel angular velocity signal is valid; The acceleration signal validity is valid; The current vehicle speed is ≥ the preset speed; The current driver's hand torque ≥ the preset hand torque; The current steering wheel angle is greater than or equal to the first preset steering wheel angle or the current steering wheel angle is less than or equal to the second preset steering wheel angle; The current steering wheel angular velocity is less than or equal to the preset steering wheel angular velocity; The current vehicle longitudinal acceleration is less than or equal to the first preset acceleration; The current vehicle lateral acceleration is ≤ the second preset acceleration.

6. A compensation control device for a vehicle deviation, characterized in that: include: The enabling judgment module is used to judge whether the preset deviation compensation conditions are met after the deviation compensation function is started; an enabling execution module, configured to determine a deviation compensation torque based on a current driver hand torque, a current vehicle speed, and a previously calculated short-term compensation torque if a preset deviation compensation condition is met, and perform compensation control according to the deviation compensation torque; Enable execution modules include: a first determining unit, configured to determine a short-term compensation torque and a long-term compensation torque based on a current driver hand torque and a last calculated short-term compensation torque; a second determining unit, configured to determine a first compensation torque based on the short-term compensation torque, the long-term compensation torque, and a current vehicle speed; The third determining unit is configured to determine the deviation compensation torque based on the first compensation torque and a preset compensation torque limit. The first determining unit includes: a first determining subunit, configured to determine a short-term compensation torque based on a preset short-term compensation slope and a current driver hand torque; a second determining subunit, configured to determine a long-term compensation torque based on a preset long-term compensation slope and a current driver hand torque; If the direction of the current driver's hand torque is the same as the direction of the last calculated short-term compensation torque and the duration of the same torque is greater than the first preset duration, the preset short-term compensation slope is a positive value; If the direction of the current driver's hand torque is opposite to the direction of the last calculated short-term compensation torque and the duration of the opposite direction is greater than the second preset time, the preset short-term compensation slope is a negative value; Preset positive long-term compensation slope.

7. The compensation control device for vehicle deviation according to claim 6, characterized in that: The second determining unit includes: A third determining subunit is configured to determine a speed ratio based on a current vehicle speed; The fourth determining subunit is configured to determine a first compensation torque based on the short-term compensation torque, the long-term compensation torque, and the speed ratio.

8. The compensation control device for vehicle deviation according to claim 7, characterized in that: The third determining subunit is specifically configured to: When the current vehicle speed is less than or equal to the preset speed, the speed ratio is 0; When the current vehicle speed is greater than the preset speed, the speed ratio is positively correlated with the current vehicle speed.

9. A vehicle, characterized in that: The device comprises the compensation control device for vehicle deviation as claimed in any one of claims 6 to 8.

10. A control device, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the compensation control method for vehicle deviation as described in any one of claims 1 to 5.

11. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the compensation control method for vehicle deviation as described in any one of claims 1 to 5 are implemented.

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