Verification method and device for rack position of whole vehicle model

Abstract

The application provides a kind of verification method and device for rack position of whole vehicle model, it is related to automobile design technical field, the method is by obtaining the current time parameter of whole vehicle model, the transfer function of whole vehicle model and preset target deviation, and according to the current time parameter to determine the first rack position, according to the transfer function of whole vehicle model and the current steering wheel torque in current time parameter, determine the second rack position, finally can be based on the first rack position, second rack position and preset target deviation to the rack position of whole vehicle model is verified.Because whole vehicle model is built on test bench, the rack position of whole vehicle model can be verified in the stage of test bench test, avoid the disassembly debugging of whole vehicle model after verification fails, can achieve the effect of reducing verification time.

Description

Technical Field

[0001] This application relates to the field of automotive design technology, specifically to a method and apparatus for verifying the position of a rack in a vehicle model. Background Technology

[0002] When designing a vehicle, each model (such as the vehicle model, steering model, etc.) needs to be designed separately to ensure that each model meets the design requirements. After the design of each model is completed, each model needs to be installed on the vehicle for road testing to verify the rack position and driver's operating feel, thereby verifying the stability and safety of the vehicle model.

[0003] However, if the models are installed on vehicles for road tests, there may be cases where the stability and safety requirements are not met after the road tests. In such cases, the relevant models need to be disassembled and readjusted, which increases the verification time. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, this application provides a method and apparatus for verifying the rack position of a complete vehicle model to solve the above-mentioned technical problems.

[0005] This application provides a method for verifying the rack position of a complete vehicle model, including:

[0006] The current parameters of the vehicle model, the transfer function of the vehicle model, and the preset target deviation are obtained. The transfer function is used to characterize the relationship between the steering wheel torque and the rack position. The vehicle model is built on a test bench.

[0007] The position of the first rack is determined based on the current time parameters;

[0008] The position of the second rack is determined based on the vehicle model transfer function and the current steering wheel torque in the current moment parameters;

[0009] The rack position of the vehicle model is verified based on the first rack position, the second rack position, and the preset target deviation.

[0010] In one embodiment of the present invention, determining the position of the first rack based on the current time parameter includes:

[0011] The rack calculation position is determined based on the steering parameters in the current time parameters;

[0012] The position of the first rack is determined based on the rack's calculated position and the vehicle parameters in the current time parameters.

[0013] In one embodiment of the present invention, determining the rack calculation position based on the steering parameter in the current time parameter includes:

[0014] The rack calculation position is determined based on the steering parameters and steering formula in the current time parameters. The steering formula includes:

[0015]

[0016] Wherein, the I T Let w be the steering wheel rotational inertia, k be the steering wheel angle, k be the stiffness from the steering wheel to the steering gear, i be the gear ratio from the rack to the steering wheel, x1 be the calculated position of the rack, and d be the steering wheel rotational inertia. T d is the column damping, d is the steering wheel stiffness, and T is the driver's hand torque.

[0017] In one embodiment of the present invention, the vehicle parameters in the current time parameters include steering gear mass, first coefficient of tire and rack, steering wheel inertia, distance between the front and rear wheels on the same side in the vehicle model, vehicle speed, second coefficient of tire and rack, vehicle mass, distance between the vehicle center of gravity and the ground, wheel mass, and rack interference force.

[0018] In one embodiment of the present invention, determining the position of the first rack based on the rack's calculated position and the vehicle parameters in the current time parameters includes:

[0019] The position of the first rack is determined based on the rack's calculated position, the vehicle parameters in the current time parameters, and the vehicle model formula. The vehicle model formula includes:

[0020]

[0021] Wherein, m s The mass of the steering gear, x1 is the calculated position of the rack, c is the first coefficient between the tire and the rack, I is the steering wheel inertia, L is the distance between the front and rear wheels on the same side in the vehicle model, v is the vehicle speed, c2 is the second coefficient between the tire and the rack, x2 is the position of the first rack, and m v For the mass of the vehicle, the L r The distance m is the distance between the vehicle's center of gravity and the ground. w For the mass of the wheel, the F D This is the rack interference force.

[0022] In one embodiment of the present invention, verifying the rack position of the vehicle model based on the first rack position, the second rack position, and the preset target deviation includes:

[0023] Determine the positional difference between the first rack position and the second rack position;

[0024] When the position difference is less than or equal to the target deviation, the rack position verification of the vehicle model is determined to be successful.

[0025] When the position difference is greater than the target deviation, the rack position verification of the vehicle model is determined to have failed.

[0026] In one embodiment of the present invention, the vehicle model includes a steering model, a vehicle model, a vehicle integration unit, and an electronic control unit.

[0027] To achieve the above and other related objectives, this application provides a verification device for the rack position of a complete vehicle model, comprising:

[0028] The acquisition module is used to acquire the current parameters of the vehicle model, the transfer function of the vehicle model, and the preset target deviation. The transfer function is used to characterize the relationship between the steering wheel torque and the rack position. The vehicle model is built on a test bench.

[0029] The first determining module is used to determine the position of the first rack based on the current time parameter;

[0030] The second determining module is used to determine the position of the second rack based on the vehicle model transfer function and the current steering wheel torque in the current time parameters;

[0031] The verification module is used to verify the rack position of the whole vehicle model based on the first rack position, the second rack position, and the preset target deviation.

[0032] In one embodiment of the present invention, the first determining module includes:

[0033] The first determining unit is used to determine the rack calculation position based on the steering parameter in the current time parameter;

[0034] The second determining unit is used to determine the position of the first rack based on the rack's calculated position and the vehicle parameters in the current time parameters.

[0035] In one embodiment of the present invention, the first determining unit is further configured to:

[0036] The rack calculation position is determined based on the steering parameters and steering formula in the current time parameters. The steering formula includes:

[0037]

[0038] Wherein, the I T Let w be the steering wheel rotational inertia, k be the steering wheel angle, k be the stiffness from the steering wheel to the steering gear, i be the gear ratio from the rack to the steering wheel, x1 be the calculated position of the rack, and d be the steering wheel rotational inertia. Td is the column damping, d is the steering wheel stiffness, and T is the driver's hand torque.

[0039] As described above, the method and apparatus for verifying the rack position of a complete vehicle model provided in this application have the following advantages:

[0040] Beneficial effects:

[0041] This application discloses a method for verifying the rack position of a vehicle model. The method obtains the current-time parameters of the vehicle model, its transfer function, and a preset target deviation. Based on the current-time parameters, the first rack position is determined. Based on the vehicle model's transfer function and the current steering wheel torque in the current-time parameters, the second rack position is determined. Finally, the rack position of the vehicle model can be verified based on the first rack position, the second rack position, and the preset target deviation. Since the transfer function characterizes the relationship between steering wheel torque and rack position, the theoretical second rack position can be determined based on the transfer function, and the actual first rack position can be determined based on the current-time parameters. The rack position can then be verified using the first and second rack positions. Furthermore, since the vehicle model is built on a test bench, the rack position can be verified during the bench testing phase, avoiding the need for disassembly and debugging of the vehicle model after verification failure, thus reducing verification time.

[0042] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0044] Figure 1 This is a flowchart illustrating a method for verifying the rack position of a vehicle model, as shown in an exemplary embodiment of this application.

[0045] Figure 2 This is a schematic diagram illustrating the change of rack position with vehicle speed in an exemplary embodiment of this application;

[0046] Figure 3 This is a block diagram illustrating a complete vehicle model system as shown in an exemplary embodiment of this application;

[0047] Figure 4 This is a block diagram illustrating a verification device for the rack position of a complete vehicle model, as shown in an exemplary embodiment of this application. Detailed Implementation

[0048] The embodiments of this 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 this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be understood that the preferred embodiments are only for illustrating this application and are not intended to limit the scope of protection of this application.

[0049] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0050] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0051] Please see Figure 1 , Figure 1 This is a flowchart illustrating a method for verifying the rack position of a vehicle model, as shown in an exemplary embodiment of this application. (Reference) Figure 1 It can be seen that the verification method for the rack position of this vehicle model can include:

[0052] Step S110: Obtain the current time parameters of the vehicle model, the transfer function of the vehicle model, and the preset target deviation.

[0053] The transfer function is used to characterize the relationship between steering wheel torque and rack position, and the vehicle model is built on a test bench.

[0054] In one embodiment of this application, when verifying the rack position of the vehicle model, the current time parameters of the vehicle model, the transfer function of the vehicle model, and the preset target deviation can be obtained. The current time parameters of the vehicle model can be determined based on the vehicle speed and steering wheel torque during the vehicle bench test. The method for verifying the rack position of the vehicle model in this application is performed on a bench, meaning that after each model design is completed, the rack position of the vehicle model can be verified on a bench, avoiding the situation where model adjustments are time-consuming after verification failure when each model is placed on the vehicle. In this embodiment of the application, an electric power steering (EPS) system can be used to provide auxiliary torque to the vehicle to assist in steering.

[0055] In one embodiment of this application, the preset target deviation can be set by the operator according to the actual situation. That is, the deviation can be the rack position deviation value that the operator feels is acceptable when holding the steering wheel to turn.

[0056] In one embodiment of this application, the vehicle model can be equivalent to a second-order closed-loop system, and the transfer function of the second-order closed-loop system can be determined based on the inherent parameters of the vehicle model. The transfer function of the second-order closed-loop system can be:

[0057]

[0058] In one embodiment of this application, the vehicle model may include a steering model, a vehicle model, a vehicle integrated / integration unit (VIU), and an electronic control unit (ECU). The vehicle model may include a steering wheel, steering gear, motor, steering rack, tie rods, and tires. The steering model may include a steering wheel, steering gear, and tires. The steering gear, controlled by the motor, transmits torque to the tie rods, and ultimately to the tires. The frictional torque exerted by the tires on the ground is transmitted to the tie rods, which in turn transmit it to the steering gear, ultimately affecting the motor torque.

[0059] Step S120: Determine the position of the first rack based on the parameters at the current time.

[0060] In one embodiment of this application, the position of the first rack can be determined based on the current time parameter.

[0061] In an exemplary embodiment, step S120, which determines the position of the first rack based on the current time parameter, may include steps S121 and S122.

[0062] Step S121: Determine the rack calculation position based on the steering parameters and steering formula in the current time parameters.

[0063] In one embodiment of this application, the steering model can be equivalent to a mass spring-damped model, thereby determining the steering formula as follows:

[0064]

[0065] Among them, I T Let be the moment of inertia of the steering wheel, w be the steering wheel angle, k be the stiffness from the steering wheel to the steering gear (steering column stiffness + intermediate shaft stiffness), i be the gear ratio from the rack to the steering wheel, x1 be the calculated position of the rack, and d be the moment of inertia of the steering wheel. T d is the column damping, d is the steering wheel stiffness, and T is the driver's hand torque. Let x1 be the first derivative with respect to time. Let w be the first derivative of w with respect to time. Let w be the second derivative of w with respect to time.

[0066] In one embodiment of this application, the steering parameters in the current moment parameters may include steering wheel moment of inertia, steering wheel angle, steering wheel-to-steering gear stiffness, rack-to-steering wheel transmission ratio, column damping, steering wheel stiffness, and driver's hand torque.

[0067] In one embodiment of this application, a steering wheel disturbance force (i.e., simulating the disturbance of the steering wheel to different road bumps) can be applied to the steering model, thereby changing the steering wheel angle and the driver's hand torque to simulate different working conditions.

[0068] Step S122: Determine the position of the first rack based on the rack's calculated position, the vehicle parameters in the current time parameters, and the vehicle model formula.

[0069] The formula for the complete vehicle model includes:

[0070]

[0071] Where, m s Let x1 be the mass of the steering gear, c be the first coefficient between the tire and the rack, I be the steering wheel inertia, L be the distance between the front and rear wheels on the same side in the vehicle model, v be the vehicle speed, c2 be the second coefficient between the tire and the rack, and x2 be the position of the first rack. v For the vehicle's mass, L r The distance between the vehicle's center of gravity and the ground, in meters. w For the mass of the wheel, F D This is the rack interference force. Let x1 be the second derivative with respect to time. Let x2 be the first derivative with respect to time. x² is the second derivative of x² with respect to time.

[0072] In one embodiment of this application, This can represent the rack force determined based on the rack's calculated position. This can represent the force transmitted from the tire to the rack. It can represent inertial force.

[0073] In one embodiment of this application, a defined disturbance force (i.e., rack disturbance force) can be applied to the vehicle model in the whole vehicle model to verify the stability of the whole vehicle model.

[0074] In one embodiment of this application, a stress sensor can be placed on the tire and the rack. A force is applied to the tire to obtain the tire force and the rack force. The quotient of the rack force and the tire force can be used as the first coefficient of the tire and the rack.

[0075] In one embodiment of this application, the frictional force on the tire and the force exerted by the frictional force on the rack can be determined by a sensor. The quotient of the force exerted by the frictional force on the rack and the frictional force on the tire can be used as a second coefficient between the tire and the rack.

[0076] In one embodiment of this application, the vehicle parameters in the current time parameters include steering gear mass, first coefficient of tire and rack, steering wheel inertia, distance between the front and rear wheels on the same side in the vehicle model, vehicle speed, second coefficient of tire and rack, vehicle mass, distance between the vehicle center of gravity and the ground, wheel mass, and rack interference force.

[0077] Step S130: Determine the position of the second rack based on the vehicle model transfer function and the current steering wheel torque in the current parameters.

[0078] In one embodiment of this application, the position of the second rack can be determined based on the vehicle model transfer function and the current steering wheel torque in the current time parameters.

[0079] Step S140: Verify the rack position of the vehicle model based on the first rack position, the second rack position, and the preset target deviation.

[0080] In one embodiment of this application, the rack position of the vehicle model can be verified based on the first rack position, the second rack position, and the target deviation to determine whether the design of the vehicle model meets the design requirements, that is, whether the vehicle model can obtain the correct steering rack position with the input current steering wheel torque.

[0081] In an exemplary embodiment, step S140, which verifies the rack position of the vehicle model based on the first rack position, the second rack position, and the preset target deviation, may include steps S141 to S143.

[0082] Step S141: Determine the position difference between the first rack position and the second rack position.

[0083] The position difference can be the absolute value of the difference between the positions of the first rack and the second rack.

[0084] In one embodiment of this application, the positional difference between the first rack position and the second rack position can be determined. The first rack position can be determined based on the parameters of the vehicle model, and the second rack position can be determined based on the transfer function of the vehicle model.

[0085] Step S142: When the position difference is less than or equal to the target deviation, the rack position of the whole vehicle model is verified successfully.

[0086] In one embodiment of this application, when the position difference is less than or equal to the target deviation, all parameters of the vehicle model meet the design requirements, and it can be determined that the rack position verification of the vehicle model is successful. The rack can be a steering rack.

[0087] Step S143: When the position difference is greater than the target deviation, the rack position verification of the whole vehicle model is determined to have failed.

[0088] In one embodiment of this application, when the position difference is greater than the target deviation, the parameters of the vehicle model do not meet the design requirements, and it can be determined that the rack position verification of the vehicle model has failed. The operator needs to adjust the parameters of the vehicle model to make the rack position verification of the vehicle model successful.

[0089] like Figure 2 The diagram shown illustrates the change in rack position with vehicle speed according to an exemplary embodiment of this application. Calibrated based on motor performance, the horizontal axis scale increases from left to right, and the vertical axis scale increases from bottom to top. The rack position can decrease as vehicle speed increases. The relationship between rack speed (the first derivative of rack position with respect to time) and vehicle speed, and the relationship between rack acceleration (the second derivative of position with respect to time) and vehicle speed, can be correlated with… Figure 2 The rack position shown is consistent with the trend of vehicle speed change.

[0090] Figure 3 This is a block diagram of a vehicle model system provided in an exemplary embodiment of this application.

[0091] In summary, the method of this application obtains the current time parameters of the vehicle model, the transfer function of the vehicle model, and a preset target deviation. It then determines the position of the first rack based on the current time parameters, and determines the position of the second rack based on the vehicle model's transfer function and the current steering wheel torque in the current time parameters. Finally, the rack position of the vehicle model can be verified based on the first rack position, the second rack position, and the preset target deviation. Since the transfer function characterizes the relationship between steering wheel torque and rack position, the theoretical second rack position can be determined based on the transfer function, and the actual first rack position can be determined based on the current time parameters. The rack position can then be verified based on the first and second rack positions. Furthermore, since the vehicle model is built on a test bench, the rack position of the vehicle model can be verified during the bench testing phase, avoiding the need for disassembly and debugging of the vehicle model after verification failure, thus reducing verification time.

[0092] Figure 4 This is a block diagram illustrating a verification device for the rack position of a complete vehicle model, as shown in an exemplary embodiment of this application.

[0093] like Figure 4 As shown, the exemplary vehicle model rack position verification device 400 includes:

[0094] The acquisition module 410 is used to acquire the current parameters of the vehicle model, the transfer function of the vehicle model, and the preset target deviation. The transfer function is used to characterize the relationship between the steering wheel torque and the rack position. The vehicle model is built on a test bench.

[0095] The first determining module 420 is used to determine the position of the first rack based on the parameters at the current time.

[0096] The second determining module 430 is used to determine the position of the second rack based on the vehicle model transfer function and the current steering wheel torque in the current moment parameters.

[0097] The verification module 440 is used to verify the rack position of the whole vehicle model based on the first rack position, the second rack position, and the preset target deviation.

[0098] In another exemplary embodiment, the first determining module may include:

[0099] The first determining unit is used to determine the rack calculation position based on the steering parameters in the current time parameters;

[0100] The second determining unit is used to determine the position of the first rack based on the rack's calculated position and the vehicle parameters in the current time parameters.

[0101] In another exemplary embodiment, the first determining unit may also be used to:

[0102] Based on the steering parameters and steering formula in the current parameters, the rack calculation position is determined. The steering formula includes:

[0103]

[0104] Among them, I T Let be the moment of inertia of the steering wheel, w be the steering wheel angle, k be the stiffness from the steering wheel to the steering gear, i be the gear ratio from the rack to the steering wheel, x1 be the calculated position of the rack, and d be the moment of inertia of the steering wheel. T d is the column damping, d is the steering wheel stiffness, and T is the driver's hand torque.

[0105] It should be noted that the vehicle model rack position verification device and the vehicle model rack position verification method provided in the above embodiments belong to the same concept. The specific operation methods of each module and unit have been described in detail in the method embodiments and will not be repeated here. In practical applications, the vehicle model rack position verification device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0106] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0107] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0108] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for verifying the position of a rack in a vehicle model, characterized in that, The verification method for the rack position of the vehicle model includes: The current parameters of the vehicle model, the transfer function of the vehicle model, and the preset target deviation are obtained. The transfer function is used to characterize the relationship between the steering wheel torque and the rack position. The vehicle model is built on a test bench. The position of the first rack is determined based on the current time parameters; The position of the second rack is determined based on the vehicle model transfer function and the current steering wheel torque in the current moment parameters; The rack position of the whole vehicle model is verified based on the first rack position, the second rack position, and the preset target deviation; Determining the position of the first rack based on the current time parameter includes: The rack calculation position is determined based on the steering parameters in the current time parameters. The steering parameters include the steering wheel moment of inertia, steering wheel angle, steering wheel to steering gear stiffness, rack to steering wheel transmission ratio, column damping, steering wheel stiffness, and driver's hand torque. The position of the first rack is determined based on the rack's calculated position and the vehicle parameters in the current time parameters. The vehicle parameters include the steering gear mass, the first coefficient between the tire and the rack, the steering wheel inertia, the distance between the front and rear wheels on the same side in the vehicle model, the vehicle speed, the second coefficient between the tire and the rack, the vehicle's mass, the distance between the vehicle's center of gravity and the ground, the wheel mass, and the rack interference force.

2. The method for verifying the rack position of a vehicle model according to claim 1, characterized in that, Determining the rack calculation position based on the steering parameter in the current time parameters includes: The rack calculation position is determined based on the steering parameters and steering formula in the current time parameters. The steering formula includes: ； Among them, the The moment of inertia of the steering wheel, the For the steering wheel angle, the The stiffness from the steering wheel to the steering gear, the The gear ratio from rack to steering wheel, the The position of the rack is calculated, the For tubular damping, For steering wheel stiffness, This refers to the driver's hand torque.

3. The method for verifying the rack position of a vehicle model according to claim 1, characterized in that, Determining the position of the first rack based on the rack's calculated position and the vehicle parameters in the current time parameters includes: The position of the first rack is determined based on the rack's calculated position, the vehicle parameters in the current time parameters, and the vehicle model formula. The vehicle model formula includes: ； Among them, the For the mass of the steering gear, the The position of the rack is calculated, the The first coefficient between the tire and the rack, the For the steering wheel inertia, the The distance between the front and rear wheels on the same side in the vehicle model is described. For vehicle speed, the The second coefficient for the tire and rack, the For the position of the first rack, the For the mass of the vehicle, the The distance between the vehicle's center of gravity and the ground, the For the mass of the wheel, the This is the rack interference force.

4. The method for verifying the rack position of a vehicle model according to claim 1, characterized in that, The verification of the rack position of the vehicle model based on the first rack position, the second rack position, and the preset target deviation includes: Determine the positional difference between the first rack position and the second rack position; When the position difference is less than or equal to the target deviation, the rack position verification of the vehicle model is determined to be successful. When the position difference is greater than the target deviation, the rack position verification of the vehicle model is determined to have failed.

5. The method for verifying the rack position of a vehicle model according to any one of claims 1 to 4, characterized in that, The vehicle model includes a steering model, a vehicle model, a vehicle integration unit, and an electronic control unit.

6. A device for verifying the position of a rack in a vehicle model, characterized in that, The verification device for the rack position of the vehicle model includes: The acquisition module is used to acquire the current parameters of the vehicle model, the transfer function of the vehicle model, and the preset target deviation. The transfer function is used to characterize the relationship between the steering wheel torque and the rack position. The vehicle model is built on a test bench. The first determining module is used to determine the position of the first rack based on the current time parameter; The second determining module is used to determine the position of the second rack based on the vehicle model transfer function and the current steering wheel torque in the current time parameters; The verification module is used to verify the rack position of the whole vehicle model based on the first rack position, the second rack position, and the preset target deviation. The first determining module includes: The first determining unit is used to determine the rack calculation position based on the steering parameters in the current time parameters. The steering parameters include the steering wheel rotational inertia, steering wheel angle, steering wheel to steering gear stiffness, rack to steering wheel transmission ratio, column damping, steering wheel stiffness, and driver's hand torque. The second determining unit is used to determine the position of the first rack based on the rack's calculated position and the vehicle parameters in the current time parameters. The vehicle parameters include the steering gear mass, the first coefficient between the tire and the rack, the steering wheel inertia, the distance between the front and rear wheels on the same side in the vehicle model, the vehicle speed, the second coefficient between the tire and the rack, the vehicle's mass, the distance between the vehicle's center of gravity and the ground, the wheel mass, and the rack interference force.

7. The verification device for the rack position of a complete vehicle model according to claim 6, characterized in that, The first determining unit is further configured to: The rack calculation position is determined based on the steering parameters and steering formula in the current time parameters. The steering formula includes: ； Among them, the The moment of inertia of the steering wheel, the For the steering wheel angle, the The stiffness from the steering wheel to the steering gear, the The gear ratio from rack to steering wheel, the The position of the rack is calculated, the For tubular damping, For steering wheel stiffness, This refers to the driver's hand torque.

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