An electronic power steering compensation control method, device, equipment and medium

Abstract

The application discloses an electronic power-assisted steering compensation control method, device, equipment and medium. The method comprises the following steps: acquiring a basic assist current curve according to different vehicle speeds, different steering angles and different input torques under a standard working condition; determining a vehicle working condition torque judgment parameter threshold according to a vehicle working condition recognition parameter threshold under the standard working condition; acquiring an actual input torque when the vehicle working condition recognition parameter threshold is within a certain range; identifying a vehicle working condition according to the actual input torque and the vehicle working condition torque judgment parameter threshold; determining an electronic assist compensation current under different vehicle working conditions; determining an electronic assist compensation current under the vehicle working condition according to the identified vehicle working condition and the electronic assist compensation current under different vehicle working conditions; and determining an electronic assist correction current under the vehicle working condition according to the electronic assist compensation current under the vehicle working condition and the basic assist current curve. The scheme realizes the purpose that the steering assist feeling difference is small and the steering control feeling is strong under different loads or different road conditions.

Description

Technical Field

[0001] This invention relates to the field of electronic power steering technology, and more particularly to an electronic power steering compensation control method, device, equipment, and medium. Background Technology

[0002] With the development of new technologies such as electrification and intelligentization in commercial vehicles, more and more commercial vehicles are equipped with recirculating ball EPS (Electric Power Steering) systems. Compared with traditional hydraulic power steering systems, these systems can achieve speed-sensitive power assistance and active self-centering, improving steering feel. However, for commercial vehicles with independent suspension, using recirculating ball EPS would result in a complex steering system layout and increased costs. Therefore, a rack and pinion EPS steering system is a more reasonable solution.

[0003] However, rack and pinion EPS is currently mostly used in passenger cars, and its electric steering control strategy is also mainly designed for passenger car operating conditions. It is not entirely suitable for commercial vehicles, especially light commercial vehicles. Typically, the steering system layout of light commercial vehicles differs from that of passenger cars. The steering gear is located behind the steering wheel, with an angle transmission connecting to it. The torque applied by the driver to the steering wheel must pass through the drive shaft and angle transmission before being transmitted to the rack and pinion EPS steering gear, which then provides steering assistance. Because the operating conditions of commercial vehicles differ from those of passenger cars—such as significant variations in load (empty / full) and different road conditions—the required steering torque from the EPS steering gear varies under different loads and road conditions. This results in significant differences in driver feel under different operating conditions, affecting steering control. Summary of the Invention

[0004] This invention provides an electronic power steering compensation control method, device, equipment, and medium to achieve small differences in steering assist feel and strong steering control under different loads or road conditions.

[0005] In a first aspect, embodiments of the present invention provide an electronic power steering compensation control method, the method comprising: Under standard operating conditions, basic assist current curves are obtained based on different vehicle speeds, steering angles, and input torques. Under the standard operating conditions, the vehicle operating condition torque judgment parameter threshold is determined based on the vehicle operating condition identification parameter threshold; wherein, the vehicle operating condition identification parameter threshold includes first vehicle speed information, second vehicle speed information, first steering angle information, and second steering angle information; When the vehicle operating condition identification parameter threshold is within the specified range, the actual input torque is obtained. The vehicle operating condition is identified based on the actual input torque and the vehicle operating torque judgment parameter threshold. Determine the electronic power steering compensation current under different vehicle operating conditions; The electronic power assist compensation current under the vehicle operating condition is determined based on the identified vehicle operating condition and the electronic power assist compensation current under the different vehicle operating conditions. The electronic power assist correction current under the vehicle operating conditions is determined based on the electronic power assist compensation current under the vehicle operating conditions and the basic power assist current curve.

[0006] Optionally, under standard operating conditions, the threshold values ​​for judging vehicle operating torque are determined based on the threshold values ​​for vehicle operating condition identification parameters, including: Under the standard operating conditions, when the steering gear angle is between the first steering angle information and the second steering angle information, and when the vehicle speed is between the first vehicle speed information and the second vehicle speed information, the first input torque information is determined based on the first steering angle information; and the second input torque information is determined based on the second steering angle information. The first input torque threshold information is determined based on the first input torque information; the second input torque threshold information is determined based on the second input torque information; and the torque difference threshold information is determined based on the difference between the first input torque threshold information and the second input torque threshold information. The threshold values ​​for the vehicle operating torque judgment parameter are the first input torque threshold information, the second input torque threshold information, and the torque difference threshold information.

[0007] Optionally, identifying vehicle operating conditions based on the actual input torque and the vehicle operating torque judgment parameter threshold includes: When the actual input torque is greater than the second input torque threshold information, or when the actual input torque is less than the first input torque threshold information, the vehicle operating condition is identified as a non-standard operating condition.

[0008] Optionally, determine the electronic power steering compensation current under different vehicle operating conditions, including: Under the standard operating conditions, compensation calibration parameters are also determined based on the vehicle operating condition identification parameter thresholds; wherein, the compensation calibration parameters include standard input torque parameters and standard vehicle speed parameters; Based on the basic assist current curve, the standard input torque parameter, and the standard vehicle speed parameter, determine the electronic power assist speed compensation coefficient curve at different vehicle speeds; Within the threshold of the vehicle operating condition identification parameters, the compensation current value under different vehicle operating conditions is determined based on the actual input torque under different vehicle operating conditions and the standard input torque parameters. The electronic power steering current compensation under different vehicle conditions is determined based on the electronic power steering speed compensation coefficient curves at different vehicle speeds and the compensation current values ​​under different vehicle operating conditions.

[0009] Optionally, under standard operating conditions, compensation calibration parameters are further determined based on the vehicle operating condition identification parameter thresholds; wherein, the compensation calibration parameters include standard input torque parameters and standard vehicle speed parameters; including: Under the standard operating conditions, when the steering angle is between the first steering angle information and the second steering angle information, and when the vehicle speed is between the first vehicle speed information and the second vehicle speed information, the standard vehicle speed parameter is determined based on the first vehicle speed information and the second vehicle speed information; the first input torque information is determined based on the first steering angle information; the second input torque information is determined based on the second steering angle information; and the standard input torque parameter is determined based on the first input torque information and the second input torque information.

[0010] Optionally, the method further includes: Obtain the angular velocity of the steering gear input shaft; The steering wheel rotational inertia, steering shaft rotational inertia, angular transmission inertia, drive shaft rotational inertia, and steering gear input angular velocity are used to determine the steering gear input shaft fluctuation torque: Determine the electronic assist torque fluctuation compensation current curves under different fluctuating torques; The steering input torque fluctuation compensation current is determined based on the steering input shaft fluctuation torque and the electronic power assist torque fluctuation compensation current curve. The steering gear input torque fluctuation compensation current is used to compensate for different input torques and the actual input torque.

[0011] Secondly, embodiments of the present invention also provide an electronic power steering compensation control device, the device comprising: The first acquisition module is used to acquire the basic assist current curve under standard operating conditions based on different vehicle speeds, different steering angles and different input torques. The first determining module is used to determine the vehicle operating condition torque judgment parameter threshold based on the vehicle operating condition identification parameter threshold under the standard operating condition; wherein, the vehicle operating condition identification parameter threshold includes first vehicle speed information, second vehicle speed information, first steering angle information, and second steering angle information; The second acquisition module is used to acquire the actual input torque when the vehicle operating condition identification parameter threshold is within the specified range. The identification module is used to identify the vehicle operating condition based on the actual input torque and the vehicle operating torque judgment parameter threshold. The second determining module is used to determine the electric power assist compensation current under different vehicle operating conditions. The third determining module is used to determine the electronic power assist compensation current under the vehicle operating condition based on the identified vehicle operating condition and the electronic power assist compensation current under the different vehicle operating conditions. The correction module is used to determine the electronic power assist correction current under the vehicle operating conditions based on the electronic power assist compensation current under the vehicle operating conditions and the basic power assist current curve.

[0012] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the electronic power steering compensation control method described in the first aspect.

[0013] Fourthly, embodiments of the present invention also provide a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer instructions, which are used to cause a processor to execute the electronic power steering compensation control method described in the first aspect.

[0014] In this embodiment of the invention, under standard operating conditions, a basic power steering current curve is obtained based on different vehicle speeds, steering angles, and input torques. Under standard operating conditions, a vehicle operating condition torque judgment parameter threshold is determined based on vehicle operating condition identification parameter thresholds. These thresholds include first vehicle speed information, second vehicle speed information, first steering angle information, and second steering angle information. When the torque is within the vehicle operating condition identification parameter threshold range, the actual input torque is obtained. The vehicle operating condition is identified based on the actual input torque and the vehicle operating condition torque judgment parameter thresholds. The electronic power steering compensation current under different vehicle operating conditions is determined. The electronic power steering compensation current under different vehicle operating conditions is determined based on the identified vehicle operating conditions and the electronic power steering compensation current under different vehicle operating conditions. The electronic power steering correction current under different vehicle operating conditions is determined based on the electronic power steering compensation current under different vehicle operating conditions and the basic power steering current curve. This achieves the goal of minimizing differences in steering assist feel under different loads or road conditions and providing strong steering control. Attached Figure Description

[0015] Figure 1 This is a flowchart of an electronic power steering compensation control method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the electric power steering system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the rack and pinion EPS (Electric Power Steering) structure provided in an embodiment of the present invention; Figure 4 This is a flowchart of an electronic power steering compensation control method provided in an embodiment of the present invention; Figure 5This is a flowchart of an electronic power steering compensation control method provided in an embodiment of the present invention; Figure 6 This is a flowchart of an electronic power steering compensation control device provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0017] Figure 1 This is a flowchart of an electronic power steering compensation control method provided by an embodiment of the present invention. This embodiment is applicable to electronic power steering control under different operating conditions. The method can be executed by an electronic power steering compensation control device, such as... Figure 1 As shown, the method specifically includes the following steps: S110. Under standard operating conditions, obtain the basic assist current curve according to different vehicle speeds, different steering angles and different input torques; in, Figure 2 This is a schematic diagram of the electric power steering system provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the rack and pinion EPS (Electric Power Steering) structure provided in an embodiment of the present invention; as shown. Figure 2-3 As shown, the electric power steering system mainly consists of a steering wheel 10, a steering shaft 20, an angle steering gear 30, a drive shaft 40, and a rack and pinion EPS 50. The rack and pinion EPS 50 mainly consists of a steering gear (mechanical part) 51, a motor 52, a controller 53, and a torque angle sensor 54. Generally, the hand torque applied by the driver to the steering wheel 10 needs to be transmitted to the rack and pinion EPS 50 through the steering shaft 20, the angle steering gear 30, and the drive shaft 40. The controller 53 in the rack and pinion EPS 50 detects the steering wheel input torque, the steering wheel angle signal, and the vehicle speed signal sent by the vehicle through the torque angle sensor 54. Combined with the calibrated basic assist current curve, it obtains the basic assist current of the motor. By controlling the magnitude of the basic assist current, it controls the output torque of the motor to achieve steering assistance.

[0018] In this embodiment, the standard operating condition can be understood as a specific operating condition selected by the user. Specifically, the standard operating condition can be any operating condition such as a vehicle fully loaded on a dry road or a vehicle fully loaded on a wet road. Under the standard operating condition, a basic assist current curve is obtained based on different vehicle speeds, different steering angles (different steering angles are measured by the torque angle sensor 54), and different input torques (different input torques are measured by the torque angle sensor 54), so that the vehicle can drive under the standard operating condition according to the basic assist current curve.

[0019] S120. Under standard working conditions, the threshold for judging the torque of the vehicle working condition is determined based on the threshold for vehicle working condition identification parameters. Among them, the vehicle operating condition identification parameter thresholds include the first vehicle speed information V a1 Second vehicle speed information V a2 First turning information S a1 and the second turning information S a2 The threshold values ​​for vehicle operating condition identification parameters are selected by comprehensively considering vehicle driving safety and the user's most frequently used steering behaviors.

[0020] Under standard operating conditions, when the steering wheel angle is at the first steering angle information S a1 and the second turning information S a2 Between, and when the vehicle speed is at the first vehicle speed information V a1 and second vehicle speed information V a2 During this period, based on the first turning angle information S a1 Determine the first input torque information M a1 According to the second turning angle information S a2 Determine the second input torque information M a2 (Under standard operating conditions, the relationship between rotation angle information and input torque information is unique.) And based on the first input torque information M a1 Determine the first input torque threshold information M a1’ According to the second input torque information M a2 Determine the second input torque threshold information M a2’ Specifically: M a1阈 =η1* M a1 M a2阈 =η2* M a2 Where η1, η2, and η3 are threshold coefficients; Among them, the first input torque information M a1 Second input torque threshold information M a2 and torque difference threshold information M is used as the threshold parameter for judging the torque under vehicle operating conditions.

[0021] S130. When the vehicle operating condition identification parameter threshold is within the range, obtain the actual input torque; Among them, during vehicle operation, if the vehicle operating condition identification parameter threshold is within the range, that is, when the steering wheel angle is at the first steering angle information S a1 and the second turning information S a2 Between, and when the vehicle speed is at the first vehicle speed information V a1 and second vehicle speed information V a2 In between, obtain a specific actual input torque, or multiple actual input torques.

[0022] S140. Identify vehicle operating conditions by determining parameter thresholds based on actual input torque and vehicle operating torque. Specifically, when the actual input torque M differs from the vehicle operating condition torque judgment parameter threshold determined based on the vehicle operating condition identification parameter threshold under standard operating conditions, it can be determined that the vehicle is in a non-standard operating condition. Specifically, when the actual input torque is a specific input torque, when the actual input torque M is greater than the second input torque threshold information Ma2 threshold, or when the actual input torque M is less than the first input torque threshold information Ma1 threshold, the vehicle operating condition is identified as non-standard. S150, Determine the electronic power assist compensation current under different vehicle operating conditions; Among them, the electronic power steering compensation current under different vehicle operating conditions is the electronic power steering compensation current calibrated according to different vehicle operating conditions; the electronic power steering compensation current corresponding to different vehicle operating conditions makes the actual input torque restore to the input torque corresponding to different vehicle speeds and different steering angles under standard vehicle conditions, so as to ensure that the steering wheel operation feel is the same under different vehicle operating conditions.

[0023] S160. Determine the electronic power assist compensation current under the vehicle operating conditions based on the identified vehicle operating conditions and the electronic power assist compensation current under different vehicle operating conditions. Specifically, the electronic power assist compensation current under the vehicle operating condition is determined based on the vehicle operating condition identified in step S140 and the electronic power assist compensation current under different vehicle operating conditions determined in step S150. The electronic power assist compensation current can be positive or negative; no specific limitation is made here.

[0024] S170. Determine the electronic power assist correction current under vehicle operating conditions based on the electronic power assist compensation current and basic power assist current curves under vehicle operating conditions.

[0025] In this embodiment, the electronic power steering correction current output under the vehicle's operating conditions is sent to the motor, which can control the motor's output torque. This not only provides steering assistance but also restores the actual input torque to the corresponding input torque under different vehicle speeds and steering angles under standard vehicle conditions. This ensures that the steering wheel's handling feel remains consistent under different vehicle operating conditions. Thus, this embodiment achieves the goal of minimizing differences in steering assistance feel under different loads or road conditions and providing a strong steering handling feel.

[0026] Optionally, based on the above embodiments, the determination of the electronic power steering compensation current under different vehicle operating conditions can be further refined. Figure 4 This is a flowchart of another electronic power steering compensation control method provided in an embodiment of the present invention, such as... Figure 4 As shown, the method includes the following steps: S210. Under standard operating conditions, obtain the basic assist current curve according to different vehicle speeds, different steering angles and different input torques; S211. Under standard operating conditions, the vehicle operating condition torque judgment parameter threshold is determined based on the vehicle operating condition identification parameter threshold; wherein, the vehicle operating condition identification parameter threshold includes first vehicle speed information, second vehicle speed information, first steering angle information, and second steering angle information; S212. When the vehicle operating condition identification parameter threshold is within the range, obtain the actual input torque; S213. Identify vehicle operating conditions by determining parameter thresholds based on actual input torque and vehicle operating torque. S214. Under standard operating conditions, compensation calibration parameters are also determined based on the vehicle operating condition identification parameter thresholds; among them, the compensation calibration parameters include standard input torque parameters and standard vehicle speed parameters. Specifically, the vehicle operating condition identification parameter thresholds include the first vehicle speed information V. a1 Second vehicle speed information V a2 First turning information S a1 and the second turning information S a2 The threshold values ​​for vehicle operating condition identification parameters can be selected by comprehensively considering vehicle driving safety and the user's most frequently used steering behaviors. For example, the first vehicle speed information is determined to be 30 km / h; the second vehicle speed information is 35 km / h; and the first steering angle information is S. a1 20° ， The second turning angle information is S. a2 It is 20°; in some cases, the first vehicle speed information V a1 With the second vehicle speed information V a2 Almost identical; First corner information S a1 and the second turning information S a2 Almost identical.

[0027] Under standard operating conditions, when the steering gear angle is at the first steering angle information S a1 and the second turning information S a2 Between, and when the vehicle speed is at the first vehicle speed information V a1 and second vehicle speed information V a2 In between, according to the first vehicle speed information V a1 and second vehicle speed information V a2 Determine the standard vehicle speed parameter V 标; and based on the first input torque information M a1 Determine the first input torque threshold information M a1’ According to the second input torque information M a2 Determine the second input torque threshold information M a2’ According to the first input torque threshold information M a1 and the second input torque threshold information M a2 Determine the standard input torque parameter M 标 Specifically: M 标 =η4(M a1 +M a2 ) / 2 V 标 =η5(V a1 +V a2 ) / 2 Among them, η4 and η5 are adjustable coefficients, which can be determined based on the whole vehicle test and can be in the range of 0.99-1.1.

[0028] S215. Based on the basic assist current curve and standard input torque parameter M 标 Standard vehicle speed parameter V 标 Determine the electronic power steering speed compensation coefficient curves at different vehicle speeds; Among them, based on the basic assist current curves determined under standard operating conditions for different vehicle speeds, steering angles, and input torques, when the input torque is the standard input torque parameter M 标 The basic assist current I' at different vehicle speeds was determined; simultaneously, based on the basic assist current curves determined under standard operating conditions for different vehicle speeds, steering angles, and input torques, when the input torque is the standard input torque parameter M... 标， The vehicle speed is the standard vehicle speed parameter V. 标 Determine the basic standard assist current I 标 '; Based on the basic assist current I' and the basic standard assist current I at different vehicle speeds 标 The ratio of ' to ' determines the electronic power steering speed compensation coefficient curve K at different vehicle speeds. v ; K v = I' / I' 标 S216. Within the threshold of vehicle operating condition identification parameters, based on the actual input torque and standard input torque parameter M under different vehicle operating conditions. 标 Determine the compensation current value under different vehicle operating conditions; Specifically, the compensation current value under different vehicle operating conditions is the value when the vehicle speed is at the first vehicle speed information V during vehicle operation. a1 and second vehicle speed information V a2Between, and the steering gear angle is at the first steering angle information S a1 and the second turning information S a2 Between these points, the actual input torque under different vehicle operating conditions is restored to the standard input torque parameter M determined under the standard operating condition. 标 Required compensation current value I 标 .

[0029] S217. Determine the electronic power assist compensation current under different vehicle operating conditions based on the electronic power assist speed compensation coefficient curve at different vehicle speeds and the compensation current value under different vehicle operating conditions.

[0030] Among them, the electronic power steering compensation current I under different vehicle operating conditions 补 for: I 补 = K v *I 标 Among them, K v Electronic power steering speed compensation coefficient curves at different vehicle speeds; I 标 To restore the actual input torque under different vehicle operating conditions to the standard input torque parameter M determined under standard operating conditions. 标 Required compensation current value I 标 .

[0031] S218. Determine the electronic power assist compensation current under the vehicle operating conditions based on the identified vehicle operating conditions and the electronic power assist compensation current under different vehicle operating conditions. S219. Determine the electronic power assist correction current under vehicle operating conditions based on the electronic power assist compensation current and basic power assist current curves under vehicle operating conditions.

[0032] In this embodiment, the vehicle operating condition is identified by judging the actual input torque and the vehicle operating torque parameter threshold; and based on the electronic power steering speed compensation coefficient curve at different vehicle speeds and within the vehicle operating condition identification parameter threshold, the actual input torque and standard input torque parameter M under different vehicle conditions are used. 标 The compensation current value under different vehicle operating conditions is determined, and the electronic power steering compensation current under different vehicle operating conditions is determined. Then, based on the identified vehicle operating conditions and the electronic power steering compensation current under different vehicle operating conditions, the electronic power steering correction current under different vehicle operating conditions is determined. In this way, the steering wheel handling feel is the same under different vehicle operating conditions, and adaptive control of steering assist under different operating conditions is achieved.

[0033] Optionally, based on the above embodiments, further optimizations can be made. Figure 5 This is a flowchart of another electronic power steering compensation control method provided in an embodiment of the present invention, such as... Figure 5As shown, the method includes the following steps: S310, compensates for different input torques and actual input torques based on the steering gear input torque fluctuation compensation current.

[0034] Among them, such as Figure 2 As shown, the hand torque applied by the driver to the steering wheel 10 must pass through the steering shaft 20, the angle steering gear 30, and the drive shaft 40 before being transmitted to the rack and pinion EPS 50. Due to the influence of the rotational inertia of the angle steering gear 30 and the drive shaft 40, the torque detected by the torque angle sensor 54 on the rack and pinion EPS (steering gear) 50 cannot reflect the actual steering wheel hand torque, and torque fluctuations will occur, affecting the feel. This embodiment compensates for different input torques and the actual input torque based on the steering gear input torque fluctuation compensation current, so as to eliminate the influence of the rotational inertia of each steering control transmission mechanism of the steering wheel 10, the angle steering shaft 20, the angle steering gear 30, and the drive shaft 40 on the input torque.

[0035] Specifically, the compensation current compensates for different input torques and the actual input torque based on the fluctuation of the steering gear input torque, including: 1) Obtain the angular velocity w of the steering gear input shaft; 2) Based on the rotational inertia of steering wheel 10, angular steering shaft 20, angular steering gear 30, drive shaft 40, and steering gear input angular velocity w, determine the steering gear input shaft fluctuation torque: Among them, the moment of inertia of the steering control transmission mechanism such as the vehicle's steering wheel 10, angular steering shaft 20, angular steering gear 30, and drive shaft 40 are the basic properties of each component and can be obtained through measurement; the steering gear input angular velocity w can be measured by the torque angle sensor 54. Based on the moment of inertia of the steering wheel, the moment of inertia of the angular steering shaft, the moment of inertia of the angular steering gear, the moment of inertia of the drive shaft, and the input angular velocity of the steering gear, the fluctuation torque of the steering gear input shaft is determined as follows: M 惯 =(J1+J2+J3+J4)*dω / dt Where J1 is the moment of inertia of the steering wheel, J2 is the moment of inertia of the angular steering shaft, J3 is the moment of inertia of the angular steering gear, J4 is the moment of inertia of the drive shaft, ω is the input angular velocity of the steering gear, and t is time.

[0036] 3) Determine the electronic assist torque fluctuation compensation current curve under different fluctuating torque conditions; Among them, the electronic power steering torque fluctuation compensation current under different fluctuation torques can be obtained through calibration; the electronic power steering torque fluctuation compensation current under different fluctuation torques can compensate for the influence of the rotational inertia of steering control transmission mechanisms such as steering wheel, angular steering shaft, angular steering gear and drive shaft on the input torque.

[0037] 4) Determine the steering gear input torque fluctuation compensation current based on the steering gear input shaft fluctuation torque and electronic power steering torque fluctuation compensation current curves; Among them, the steering input torque fluctuation compensation current can compensate for the influence of the current fluctuation torque caused by the rotational inertia of the steering control transmission mechanism such as the steering wheel, angular steering shaft, angular steering gear and drive shaft on the input torque.

[0038] 5) Compensate the steering gear input torque fluctuation compensation current to different input torques and the actual input torque.

[0039] By compensating the steering input torque fluctuation current to different input torques and actual input torques, accurate results can be obtained for different input torques and actual input torques, which can then be used to accurately determine the basic power assist curve and identify vehicle operating conditions.

[0040] S320. Under standard operating conditions, the basic assist current curve is obtained based on different vehicle speeds and different input torques after compensation. S330. Under standard operating conditions, the threshold values ​​for judging vehicle operating torque are determined based on the threshold values ​​for vehicle operating condition identification parameters; wherein, the threshold values ​​for vehicle operating condition identification parameters include first vehicle speed information, second vehicle speed information, first steering angle information, and second steering angle information. S340. When the vehicle operating condition identification parameter threshold is within the range, obtain the compensated actual input torque; S350: Identify vehicle operating conditions by judging parameter thresholds based on actual input torque and vehicle operating torque. S360, Determine the electronic power assist compensation current under different vehicle operating conditions; S370. Determine the electronic power assist compensation current under the vehicle operating conditions based on the identified vehicle operating conditions and the electronic power assist compensation current under different vehicle operating conditions. S380. Determine the electronic power assist correction current under vehicle operating conditions based on the electronic power assist compensation current and basic power assist current curves under vehicle operating conditions.

[0041] In this embodiment, based on the above embodiments, the influence of the rotational inertia of the steering control transmission mechanism such as the steering wheel, angular steering shaft, angular steering gear and drive shaft on the input torque is further eliminated, thereby accurately obtaining different input torques and actual input torques, so as to accurately determine the basic power assist curve and identify the vehicle operating conditions, and further improve the reliability of adaptive steering control under different operating conditions.

[0042] This invention also provides an electronic power steering compensation control device, which can execute the electronic power steering compensation method provided in any embodiment of this invention, and has the corresponding functional modules and beneficial effects of the method. Figure 6This is a schematic diagram of the structure of an electronic power steering compensation control device provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the device includes: The first acquisition module is used to acquire the basic assist current curve under standard operating conditions based on different vehicle speeds, different steering angles and different input torques. The first determining module is used to determine the vehicle operating condition torque judgment parameter threshold based on the vehicle operating condition identification parameter threshold under standard operating conditions; wherein, the vehicle operating condition identification parameter threshold includes first vehicle speed information, second vehicle speed information, first steering angle information and second steering angle information; The second acquisition module is used to acquire the actual input torque when it is within the threshold of the vehicle operating condition identification parameters; The identification module is used to identify vehicle operating conditions by judging parameter thresholds based on the actual input torque and vehicle operating torque. The second determining module is used to determine the electric power assist compensation current under different vehicle operating conditions. The third determining module is used to determine the electronic power assist compensation current under the vehicle operating conditions based on the identified vehicle operating conditions and the electronic power assist compensation current under different vehicle operating conditions. The correction module is used to determine the electronic power assist correction current under vehicle operating conditions based on the electronic power assist compensation current and basic power assist current curves under vehicle operating conditions.

[0043] Optional, the first determining module is specifically used for: Under the standard operating conditions, when the steering gear angle is between the first steering angle information and the second steering angle information, and when the vehicle speed is between the first vehicle speed information and the second vehicle speed information, the first input torque information is determined based on the first steering angle information; and the second input torque information is determined based on the second steering angle information. The first input torque threshold information is determined based on the first input torque information; the second input torque threshold information is determined based on the second input torque information; and the torque difference threshold information is determined based on the difference between the first input torque threshold information and the second input torque threshold information. The threshold values ​​for the vehicle operating torque judgment parameter are the first input torque threshold information, the second input torque threshold information, and the torque difference threshold information.

[0044] Optional, the recognition module is specifically used for: When the actual input torque is greater than the first input torque threshold information, or when the actual input torque is less than the first input torque threshold information, the vehicle operating condition is identified as a non-standard operating condition.

[0045] Optionally, the recognition module is also specifically used for: When the vehicle operating condition identification parameter threshold is within the specified range, the actual input torque fluctuation value is obtained. When the actual input torque fluctuation is less than the torque difference threshold, the vehicle operating condition is identified as a non-standard operating condition.

[0046] Optionally, the second determining module includes: The compensation calibration parameter unit is used to determine compensation calibration parameters based on the vehicle operating condition identification parameter threshold under the standard operating condition; wherein, the compensation calibration parameters include standard input torque parameters and standard vehicle speed parameters; The compensation coefficient determination unit is used to determine the electronic power steering speed compensation coefficient curve at different vehicle speeds based on the basic assist current curve, the standard input torque parameter, and the standard vehicle speed parameter. The compensation current value determination unit is used to determine the compensation current value under different vehicle conditions based on the actual input torque under different vehicle conditions and the standard input torque parameter within the threshold of the vehicle operating condition identification parameter. The electronic power assist current compensation unit is used to determine the electronic power assist current compensation under different vehicle operating conditions based on the electronic power assist speed compensation coefficient curves at different vehicle speeds and the compensation current values ​​under different vehicle operating conditions.

[0047] Optionally, the compensation calibration parameter unit is specifically used for: Under the standard operating conditions, when the steering angle is between the first steering angle information and the second steering angle information, and when the vehicle speed is between the first vehicle speed information and the second vehicle speed information, the standard vehicle speed parameter is determined based on the first vehicle speed information and the second vehicle speed information; the first input torque information is determined based on the first steering angle information; the second input torque information is determined based on the second steering angle information; and the standard input torque parameter is determined based on the first input torque information and the second input torque information.

[0048] Optionally, the device may also include a torque ripple compensation module; Torque ripple compensation module, specifically used for Obtain the angular velocity of the steering gear input shaft; The steering wheel rotational inertia, angular steering shaft rotational inertia, angular steering gear rotational inertia, drive shaft rotational inertia, and steering gear input angular velocity are used to determine the steering gear input shaft fluctuation torque: Determine the electronic assist torque fluctuation compensation current curves under different fluctuating torques; The steering input torque fluctuation compensation current is determined based on the steering input shaft fluctuation torque and the electronic power assist torque fluctuation compensation current curve. The steering gear input torque fluctuation compensation current is used to compensate for different input torques and the actual input torque.

[0049] Figure 7This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, such as... Figure 7 As shown, the device includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of processors 70 in the device can be one or more. Figure 7 Taking a processor 70 as an example; the processor 70, memory 71, input device 72, and output device 73 in the device can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0050] The memory 71, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the electronic power steering compensation control method in this embodiment of the invention. The processor 70 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 71, thereby implementing the aforementioned electronic power steering compensation control method.

[0051] The memory 71 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 71 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 71 may further include memory remotely located relative to the processor 70, which can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0052] Input device 72 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the device. Output device 73 may include display devices such as a display screen.

[0053] This invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform an electronic power steering compensation control method, the method comprising: Under standard operating conditions, basic assist current curves are obtained based on different vehicle speeds, steering angles, and input torques. Under the standard operating condition, the vehicle operating condition torque judgment parameter threshold is determined based on the vehicle operating condition identification parameter threshold; wherein, the vehicle operating condition identification parameter threshold includes first vehicle speed information, second vehicle speed information, first steering angle information, and second steering angle information; When the vehicle operating condition identification parameter threshold is within the specified range, the actual input torque is obtained. The vehicle operating condition is identified based on the actual input torque and the vehicle operating torque judgment parameter threshold. Determine the electronic power steering compensation current under different vehicle operating conditions; The electronic power assist compensation current under the vehicle operating condition is determined based on the identified vehicle operating condition and the electronic power assist compensation current under the different vehicle operating conditions. The electronic power assist correction current under the vehicle operating conditions is determined based on the electronic power assist compensation current under the vehicle operating conditions and the basic power assist current curve.

[0054] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the electronic power steering compensation control method provided in any embodiment of the present invention.

[0055] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0056] It is worth noting that in the embodiments of the search device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0057] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. An electronic power steering compensation control method, characterized in that, include: Under standard operating conditions, basic assist current curves are obtained based on different vehicle speeds, steering angles, and input torques. Under the standard operating conditions, the vehicle operating condition torque judgment parameter threshold is determined based on the vehicle operating condition identification parameter threshold; wherein, the vehicle operating condition identification parameter threshold includes first vehicle speed information, second vehicle speed information, first steering angle information, and second steering angle information; When the vehicle operating condition identification parameter threshold is within the specified range, the actual input torque is obtained. The vehicle operating condition is identified based on the actual input torque and the vehicle operating torque judgment parameter threshold. Determine the electronic power steering compensation current under different vehicle operating conditions; The electronic power assist compensation current under the vehicle operating condition is determined based on the identified vehicle operating condition and the electronic power assist compensation current under the different vehicle operating conditions. The electronic power assist correction current under the vehicle operating conditions is determined based on the electronic power assist compensation current under the vehicle operating conditions and the basic power assist current curve.

2. The electronic power steering compensation control method according to claim 1, characterized in that, Under standard operating conditions, the threshold values ​​for judging vehicle operating torque are determined based on the vehicle operating condition identification parameter threshold values, including: Under the standard operating conditions, when the vehicle speed is between the first vehicle speed information and the second vehicle speed information, and when the steering angle is between the first steering angle information and the second steering angle information, the first input torque information is determined based on the first steering angle information; and the second input torque information is determined based on the second steering angle information. The first input torque threshold information is determined based on the first input torque information; the second input torque threshold information is determined based on the second input torque information; and the torque difference threshold information is determined based on the difference between the first input torque threshold information and the second input torque threshold information. The threshold values ​​for the vehicle operating torque judgment parameter are the first input torque threshold information, the second input torque threshold information, and the torque difference threshold information.

3. The electronic power steering compensation control method according to claim 2, characterized in that, Identifying vehicle operating conditions based on the actual input torque and the vehicle operating torque threshold parameters includes: When the actual input torque is greater than the second input torque threshold information, or when the actual input torque is less than the first input torque threshold information, the vehicle operating condition is identified as a non-standard operating condition.

4. The electronic power steering compensation control method according to claim 1, characterized in that, Determine the electronic power steering compensation current under different vehicle operating conditions, including: Under the standard operating conditions, compensation calibration parameters are also determined based on the vehicle operating condition identification parameter thresholds; wherein, the compensation calibration parameters include standard input torque parameters and standard vehicle speed parameters; Based on the basic assist current curve, the standard input torque parameter, and the standard vehicle speed parameter, determine the electronic power assist speed compensation coefficient curve at different vehicle speeds; Within the threshold of the vehicle operating condition identification parameters, the compensation current value under different vehicle operating conditions is determined based on the actual input torque under different vehicle operating conditions and the standard input torque parameters. The electronic power steering compensation current under different vehicle conditions is determined based on the electronic power steering speed compensation coefficient curves at different vehicle speeds and the compensation current values ​​under different vehicle operating conditions.

5. The electronic power steering compensation control method according to claim 4, characterized in that, Under standard operating conditions, compensation calibration parameters are further determined based on the vehicle operating condition identification parameter thresholds; wherein, the compensation calibration parameters include standard input torque parameters and standard vehicle speed parameters; including: Under the standard operating conditions, when the vehicle speed is between the first vehicle speed information and the second vehicle speed information, and when the steering angle is between the first steering angle information and the second steering angle information, the standard vehicle speed parameter is determined based on the first vehicle speed information and the second vehicle speed information; the first input torque information is determined based on the first steering angle information; the second input torque information is determined based on the second steering angle information; and the standard input torque parameter is determined based on the first input torque information and the second input torque information.

6. The electronic power steering compensation control method according to claim 1, characterized in that, Also includes: Obtain the angular velocity of the steering gear input shaft; The steering wheel rotational inertia, steering shaft rotational inertia, angular transmission inertia, drive shaft rotational inertia, and steering gear input angular velocity are used to determine the steering gear input shaft fluctuation torque: Determine the electronic assist torque fluctuation compensation current curves under different fluctuating torques; The steering input torque fluctuation compensation current is determined based on the steering input shaft fluctuation torque and the electronic power assist torque fluctuation compensation current curve. The steering gear input torque fluctuation compensation current is used to compensate for different input torques and the actual input torque.

7. An electronic power steering compensation control device, characterized in that, include: The first acquisition module is used to acquire the basic assist current curve under standard operating conditions based on different vehicle speeds, different steering angles and different input torques. The first determining module is used to determine the vehicle operating condition torque judgment parameter threshold based on the vehicle operating condition identification parameter threshold under the standard operating condition; wherein, the vehicle operating condition identification parameter threshold includes first vehicle speed information, second vehicle speed information, first steering angle information, and second steering angle information; The second acquisition module is used to acquire the actual input torque when the vehicle operating condition identification parameter threshold is within the specified range. The identification module is used to identify the vehicle operating condition based on the actual input torque and the vehicle operating torque judgment parameter threshold. The second determining module is used to determine the electric power assist compensation current under different vehicle operating conditions. The third determining module is used to determine the electronic power assist compensation current under the vehicle operating condition based on the identified vehicle operating condition and the electronic power assist compensation current under the different vehicle operating conditions. The correction module is used to determine the electronic power assist correction current under the vehicle operating conditions based on the electronic power assist compensation current under the vehicle operating conditions and the basic power assist current curve.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the electronic power steering compensation control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the electronic power steering compensation control method according to any one of claims 1-6.

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