Method and device for determining assist torque, vehicle and storage medium

Abstract

The application relates to a boost torque determination method and device, a vehicle and a storage medium, and relates to the technical field of communication. The method comprises the following steps: in response to a failure signal of a torque sensor, acquiring vehicle speed information, vehicle rotation angle information, a torque weight coefficient and actual lateral acceleration of the vehicle. According to the vehicle speed information and the vehicle rotation angle information, the target lateral acceleration of the vehicle is determined. According to a preset corresponding relationship, the vehicle speed weight coefficient corresponding to the vehicle speed information is determined. According to the target lateral acceleration, the torque weight coefficient, the actual lateral acceleration and the vehicle speed weight coefficient, the target boost torque is determined, and the target boost torque is used for controlling the steering of the vehicle at the current moment. Therefore, in the case that the torque sensor fails, the rotation angle information of the vehicle can be acquired through the rotation angle sensor, and the boost torque can be determined through the rotation angle information of the vehicle, so that the power steering is realized.

Description

Technical Field

[0001] This application relates to the field of communication technology, specifically to a method, device, vehicle, and storage medium for determining assist torque. Background Technology

[0002] An electric power steering system is a power steering system that directly relies on an electric motor to provide auxiliary torque. It typically consists of a torque sensor, a steering angle sensor, a vehicle speed sensor, a power steering motor, a reduction gear, and an electronic control unit. The electronic control unit obtains the driver's hand force signal through the torque sensor and the steering wheel angle signal through the steering angle sensor. Combined with information such as vehicle speed, it determines the magnitude of the assist torque, thereby completing real-time control of the power steering.

[0003] However, if the torque sensor fails, the electronic control unit will not be able to obtain the driver's hand force signal, making it impossible to determine the magnitude of the assist torque, thus causing power steering to fail. Summary of the Invention

[0004] This application provides a method, apparatus, vehicle, and storage medium for determining assist torque, to at least solve the technical problem in related technologies where the magnitude of the assist torque cannot be determined when the torque sensor fails, thus causing power steering to fail. The technical solution of this application is as follows:

[0005] According to a first aspect of this application, a method for determining assist torque is provided, the method being applied to a vehicle equipped with a torque sensor. The method includes: in response to a failure signal of the torque sensor, acquiring vehicle speed information, vehicle steering angle information, a torque weighting coefficient, and the vehicle's actual lateral acceleration for a current time period, the failure signal indicating a failure of the vehicle's torque sensor; determining a target lateral acceleration of the vehicle based on the vehicle speed information and the vehicle steering angle information; determining a vehicle speed weighting coefficient corresponding to the vehicle speed information based on a preset correspondence, the preset correspondence including multiple preset vehicle speed information and a preset vehicle speed weighting coefficient corresponding to each preset vehicle speed information; and determining a target assist torque based on the target lateral acceleration, the torque weighting coefficient, the actual lateral acceleration, and the vehicle speed weighting coefficient, the target assist torque being used to control the vehicle's steering for the current time period.

[0006] Based on the above technical means, in the event of torque sensor failure, the steering angle information of the vehicle can be obtained by steering angle sensor, and the assist torque can be determined by steering angle information to achieve power steering.

[0007] In one possible implementation, the vehicle turning angle information includes: steering wheel turning angle information and motor turning angle information. The aforementioned "determining the target lateral acceleration of the vehicle based on vehicle speed information and vehicle turning angle information" includes: determining the target turning angle information based on the steering wheel turning angle information and motor turning angle information. The target lateral acceleration of the vehicle is then determined based on the target turning angle information, vehicle speed information, and a preset power algorithm.

[0008] Based on the aforementioned technical means, this application can determine the target steering angle information based on steering wheel angle information and motor angle information, providing more reference information and improving the accuracy of the steering angle information. Furthermore, lateral acceleration can be calculated based on the steering angle information and vehicle speed information, further improving the accuracy of the lateral acceleration calculation.

[0009] In one possible implementation, the method for determining the assist torque further includes: obtaining an acceleration weighting coefficient, which is a weighting coefficient for the target lateral acceleration, and the acceleration weighting coefficient is greater than or equal to 0 and less than or equal to 1. The aforementioned "determining the target assist torque based on the target lateral acceleration, torque weighting coefficient, actual lateral acceleration, and vehicle speed weighting coefficient" includes: when the acceleration weighting coefficient is greater than 0 and less than 1, determining the target assist torque based on the target lateral acceleration, acceleration weighting coefficient, actual lateral acceleration, torque weighting coefficient, and vehicle speed weighting coefficient; when the acceleration weighting coefficient is 0, determining the target assist torque based on the actual lateral acceleration, torque weighting coefficient, and vehicle speed weighting coefficient; and when the acceleration weighting coefficient is 1, determining the target assist torque based on the target lateral acceleration, torque weighting coefficient, and vehicle speed weighting coefficient.

[0010] Based on the aforementioned technical means, in the event of torque sensor failure, the target assist torque can be determined based on the target lateral acceleration calculated from the steering angle information. In the event of failure of both the torque sensor and the steering angle sensor, the target assist torque can be determined through the actual lateral acceleration to achieve power steering.

[0011] In one possible implementation, the method for determining the assist torque further includes: acquiring historical assist torque and motor speed; determining a speed proportionality coefficient based on the motor speed and a preset speed, the speed proportionality coefficient being used to reflect the degree of abnormality in the motor's speed state; and determining a torque proportionality coefficient based on the historical assist torque and the preset torque, the torque proportionality coefficient being used to reflect the degree of abnormality in the motor's torque state. The torque weighting coefficient is a weighting coefficient determined based on the speed proportionality coefficient and the torque proportionality coefficient.

[0012] Based on the aforementioned technical means, this application can determine the torque weighting coefficient based on historical assist torque and motor speed information, thereby improving the accuracy of the torque weighting coefficient.

[0013] According to a second aspect provided in this application, an apparatus for determining assist torque is provided. The apparatus is applied to a vehicle equipped with a torque sensor. The apparatus includes an acquisition unit and a processing unit.

[0014] The acquisition unit, in response to a torque sensor failure signal, acquires vehicle speed information, vehicle steering angle information, torque weighting coefficient, and actual lateral acceleration for the current time period. The failure signal indicates that the vehicle's torque sensor has failed. The processing unit determines the target lateral acceleration of the vehicle based on the vehicle speed information and vehicle steering angle information. The processing unit further determines the vehicle speed weighting coefficient corresponding to the vehicle speed information according to a preset correspondence, which includes multiple preset vehicle speed information and a corresponding vehicle speed weighting coefficient for each preset vehicle speed information. The processing unit also determines the target assist torque based on the target lateral acceleration, torque weighting coefficient, actual lateral acceleration, and vehicle speed weighting coefficient. The target assist torque is used to control the vehicle's steering for the current time period.

[0015] In one possible implementation, the vehicle turning angle information includes: steering wheel turning angle information and motor turning angle information. Specifically, the processing unit is used to determine the target turning angle information based on the steering wheel turning angle information and the motor turning angle information. Specifically, the processing unit is used to determine the target lateral acceleration of the vehicle based on the target turning angle information, vehicle speed information, and a preset power algorithm.

[0016] In one possible implementation, the acquisition unit is further configured to acquire an acceleration weighting coefficient, which is a weighting coefficient for the target lateral acceleration, and the acceleration weighting coefficient is greater than or equal to 0 and less than or equal to 1. Specifically, the processing unit is configured to determine the target assist torque based on the target lateral acceleration, the acceleration weighting coefficient, the actual lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient when the acceleration weighting coefficient is greater than 0 and less than 1. Specifically, the processing unit is configured to determine the target assist torque based on the actual lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient when the acceleration weighting coefficient is 0. Specifically, the processing unit is configured to determine the target assist torque based on the target lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient when the acceleration weighting coefficient is 1.

[0017] In one possible implementation, the acquisition unit is further configured to acquire historical assist torque and motor speed. The processing unit is further configured to determine a speed proportionality coefficient based on the motor speed and a preset speed, the speed proportionality coefficient reflecting the degree of abnormality in the motor's speed state. The processing unit is also configured to determine a torque proportionality coefficient based on historical assist torque and a preset torque, the torque proportionality coefficient reflecting the degree of abnormality in the motor's torque state. The torque weighting coefficient is a weighting coefficient determined based on the speed proportionality coefficient and the torque proportionality coefficient.

[0018] According to a third aspect provided in this application, a vehicle is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the method of the first aspect described above and any possible implementation thereof.

[0019] According to a fourth aspect provided in this application, a computer-readable storage medium is provided that, when the instructions in the computer-readable storage medium are executed by a processor of a vehicle, enables the vehicle to perform the methods described in the first aspect and any possible implementation thereof.

[0020] According to the fifth aspect provided in this application, a computer program product is provided, the computer program product including computer instructions that, when executed on a vehicle, cause the vehicle to perform the method described in the first aspect and any possible implementation thereof.

[0021] Therefore, the above-mentioned technical features of this application have the following beneficial effects:

[0022] (1) In the event of a torque sensor failure, the vehicle's steering angle information can be obtained through the steering angle sensor, and the assist torque can be determined through the vehicle's steering angle information to achieve power steering.

[0023] (2) In the event of torque sensor failure, the target assist torque can be determined based on the target lateral acceleration calculated from the steering angle information. In the event of failure of both torque sensor and steering angle sensor, the target assist torque can be determined through the actual lateral acceleration to achieve power steering.

[0024] It should be noted that the technical effects of any of the implementation methods in aspects two through five can be found in the technical effects of the corresponding implementation methods in aspect one, and will not be repeated here.

[0025] 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

[0026] 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, and do not constitute an undue limitation of this application.

[0027] Figure 1 This is a schematic diagram of the architecture of a system for determining assist torque according to an exemplary embodiment;

[0028] Figure 2 This is a flowchart illustrating a method for determining assist torque according to an exemplary embodiment;

[0029] Figure 3 This is a flowchart illustrating another method for determining assist torque according to an exemplary embodiment;

[0030] Figure 4 This is a schematic diagram of a server architecture according to an exemplary embodiment;

[0031] Figure 5 This is a flowchart illustrating a method for determining lateral acceleration according to an exemplary embodiment;

[0032] Figure 6 This is a flowchart illustrating a method for determining a torque weighting coefficient according to an exemplary embodiment;

[0033] Figure 7 This is a flowchart illustrating a method for calculating a target assist torque according to an exemplary embodiment;

[0034] Figure 8 This is a flowchart illustrating a method for determining output torque according to an exemplary embodiment;

[0035] Figure 9 This is a flowchart illustrating another method for determining output torque according to an exemplary embodiment;

[0036] Figure 10 This is a block diagram illustrating a device for determining assist torque according to an exemplary embodiment;

[0037] Figure 11 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions of this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0039] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0040] Before providing a detailed description of the method for determining the assist torque in the embodiments of this application, the implementation environment and application scenarios of the embodiments of this application will be introduced first.

[0041] An electric power steering system is a power steering system that directly relies on an electric motor to provide auxiliary torque. It typically consists of a torque sensor, a steering angle sensor, a vehicle speed sensor, a power steering motor, a reduction gear, and an electronic control unit. The electronic control unit obtains the driver's hand force signal through the torque sensor and the steering wheel angle signal through the steering angle sensor. Combined with information such as vehicle speed, it determines the magnitude of the assist torque, thereby completing real-time control of the power steering.

[0042] However, if the torque sensor fails, the electronic control unit will not be able to obtain the driver's hand force signal, making it impossible to determine the magnitude of the assist torque, thus causing power steering to fail.

[0043] To address the aforementioned issues, this application provides a method for determining assist torque. The method includes: in response to a torque sensor failure signal, a server can acquire vehicle speed information, vehicle steering angle information, a torque weighting coefficient, and the vehicle's actual lateral acceleration. The failure information indicates that the vehicle's torque sensor has failed. The server can determine the vehicle's target lateral acceleration based on the vehicle speed information and vehicle steering angle information. The server can determine the vehicle speed weighting coefficient corresponding to the vehicle speed information based on a preset correspondence, which includes multiple preset vehicle speed information and a vehicle speed weighting coefficient corresponding to each vehicle speed information. The server can determine the target assist torque based on the target lateral acceleration, torque weighting coefficient, actual lateral acceleration, and vehicle speed weighting coefficient. The target assist torque is used to control the vehicle's steering during the current time period. Thus, in the event of a torque sensor failure, the vehicle's steering angle information can be acquired through a steering angle sensor, and the assist torque can be determined based on the vehicle's steering angle information to achieve power steering.

[0044] The implementation environment of the embodiments of this application is described below.

[0045] Figure 1This is a schematic diagram illustrating the architecture of a system for determining assist torque according to an exemplary embodiment, such as... Figure 1 As shown, the system for determining the assist torque includes: a server 101, a torque sensor 102, a steering angle sensor 103, a lateral acceleration sensor 104, and a vehicle speed sensor 105. The server 101 communicates with the torque sensor 102 via wired / wireless communication, with the steering angle sensor 103 via wired / wireless communication, with the lateral acceleration sensor 104 via wired / wireless communication, and with the vehicle speed sensor 105 via wired / wireless communication.

[0046] The server 101 can communicate with sensors (such as torque sensor 102, steering angle sensor 103, etc.). For example, the server 101 can acquire vehicle information from the sensors. Furthermore, the server 101 can process the vehicle information and store it.

[0047] It should be noted that the server can be a single physical server, or a server cluster consisting of multiple servers. Alternatively, the server cluster can be a distributed cluster. Alternatively, the server can be a cloud server. This application does not limit the specific implementation of the server.

[0048] The torque sensor 102 can send a failure signal to the server 101, which indicates that the vehicle's torque sensor has failed.

[0049] The steering angle sensor 103 can be used to acquire vehicle steering angle information, such as steering wheel angle information and motor angle information. The steering angle sensor 103 can also be used to send vehicle steering angle information to the server 101.

[0050] The lateral acceleration sensor 104 can be used to acquire the vehicle's actual lateral acceleration. The steering angle sensor 103 can also be used to send the vehicle's actual lateral acceleration to the server 101.

[0051] The vehicle speed sensor 105 can be used to acquire vehicle speed information. The steering angle sensor 103 can also be used to send vehicle speed information to the server 101.

[0052] For ease of understanding, the method for determining the assist torque provided in this application will be described in detail below with reference to the accompanying drawings. Figure 2 This is a flowchart illustrating a method for determining assist torque according to an exemplary embodiment, such as... Figure 2 As shown, the method includes the following steps:

[0053] S201. In response to the failure signal of the torque sensor, the server obtains the vehicle speed information, vehicle steering angle information, and actual lateral acceleration of the vehicle in the current time period.

[0054] The failure signal is used to indicate that the vehicle's torque sensor has failed.

[0055] In this embodiment, the torque sensor can send a failure signal to the server. The server can receive the failure signal from the torque sensor.

[0056] It should be noted that, in this embodiment of the application, the server receives the failure information of the torque sensor, which can determine that the vehicle's torque sensor has failed and the driver's hand force signal cannot be obtained.

[0057] In one possible implementation, in response to a failure signal from the torque sensor, the server can receive a first input command indicating the input of vehicle speed information, vehicle steering angle information, and the vehicle's actual lateral acceleration. In response to the first input command, the server can acquire the vehicle speed information, vehicle steering angle information, and the vehicle's actual lateral acceleration.

[0058] In another possible implementation, the server includes a vehicle speed signal processing module. In response to a torque sensor failure signal, the server can acquire multiple first vehicle speed signals and multiple vehicle speed validitys for the current time period via the vehicle speed sensor. Each first vehicle speed signal corresponds to one vehicle speed validity, and the vehicle speed validity reflects the accuracy of the first vehicle speed signal. The server can process the multiple first vehicle speed signals and multiple vehicle speed validitys through the vehicle speed signal processing module to obtain vehicle speed information.

[0059] Specifically, the server can determine at least one second vehicle speed signal from multiple first vehicle speed signals based on the validity of the vehicle speed corresponding to each first vehicle speed signal. The second vehicle speed signal is a first vehicle speed signal whose validity is greater than a preset validity threshold. The server can perform change rate limit processing and upper limit processing on each second vehicle speed signal to obtain multiple processed second vehicle speed signals. The server can determine a first average value based on the multiple processed second vehicle speed signals. The first average value can be used as the vehicle speed information.

[0060] It should be noted that in this embodiment, both vehicle speed signals and vehicle speed information can be represented by specific vehicle speed values. Each of the multiple vehicle speed signals undergoes rate-of-change limit processing and upper limit processing. Specifically, multiple vehicle speed signals are processed according to a preset vehicle speed range, removing speed signals lower than the minimum speed within the preset range and outputting speed signals higher than the maximum speed within the preset range at the maximum speed within the preset range. This avoids inaccurate speed signals due to vehicle speed sensor malfunctions and improves the accuracy of the vehicle speed signals.

[0061] In one possible design, vehicle steering angle information includes: steering wheel steering angle information and motor steering angle information.

[0062] In this embodiment, the server further includes a steering angle signal processing module. In response to a torque sensor failure signal, the server can acquire multiple first steering angle signals and multiple steering angle validitys within the current time period via the steering angle sensor. Each first steering angle signal corresponds to one steering angle validity, and the steering angle validity reflects the accuracy of the first steering angle signal. The server can process the multiple first steering angle signals and multiple steering angle validitys through the steering angle signal processing module to obtain vehicle steering angle information.

[0063] Specifically, the server can determine at least one second corner signal from multiple first corner signals based on the corner validity corresponding to each first corner signal. The second corner signal is a first corner signal whose corner validity is greater than a preset validity threshold. The server can filter each second corner signal to obtain multiple processed second corner signals. The server can determine a second average value based on the multiple processed second corner signals. The second average value is the average of the multiple processed second corner signals. The server can use the second average value as the vehicle corner information.

[0064] It should be noted that, in this embodiment, both the steering wheel angle information and the motor angle information can be determined using the above method. Filtering is performed on each of the multiple angle signals; that is, the multiple angle signals are processed according to a preset angle range to remove angle signals exceeding the preset range. This avoids inaccurate angle signals caused by malfunctions in the angle sensor and improves the accuracy of the angle signals.

[0065] In this embodiment, the server further includes a lateral acceleration signal processing module. In response to a failure signal from the torque sensor, the server can acquire multiple first acceleration signals and multiple acceleration validitys within the current time period via the lateral acceleration sensor. Each first acceleration signal corresponds to one acceleration validity, and the acceleration validity reflects the accuracy of the first acceleration. The server can process the multiple lateral acceleration signals and multiple acceleration validitys through the lateral acceleration signal processing module to obtain the actual lateral acceleration.

[0066] Specifically, the server can determine at least one second acceleration signal from multiple first acceleration signals based on the acceleration validity corresponding to each first acceleration signal. The second acceleration signal is a first acceleration signal whose acceleration validity is greater than a preset validity threshold. The server can filter each second acceleration signal to obtain multiple processed second acceleration signals. The server can determine a third average value based on the multiple processed second acceleration signals. The third average value is the average of the multiple processed second acceleration signals. The server can use the third average value as the actual lateral acceleration.

[0067] It should be noted that in this embodiment, each of the multiple acceleration signals is filtered, that is, the multiple acceleration signals are processed according to a preset acceleration range, the acceleration signals with accelerations lower than the minimum acceleration in the preset acceleration range are removed, and the acceleration signals with accelerations higher than the maximum acceleration in the preset acceleration range are output with the maximum acceleration. This avoids the situation where the acceleration signal is inaccurate due to the abnormality of the lateral acceleration sensor, and can improve the accuracy of the acceleration signal.

[0068] S202, The server obtains the torque weighting coefficient.

[0069] In one possible implementation, the server can receive a second input instruction for inputting torque weighting coefficients. In response to the second input instruction, the server can retrieve the torque weighting coefficients.

[0070] S203. The server determines the target lateral acceleration of the vehicle based on the vehicle speed information and the vehicle turning angle information.

[0071] The vehicle turning angle information includes: steering wheel turning angle information and motor turning angle information.

[0072] In one possible implementation, the server can determine the target steering angle information based on the steering wheel angle information and the motor angle information.

[0073] In one possible design, the server can determine the target steering angle by using the motor angle information as a base, plus the deviation between the steering wheel angle information and the motor angle information. The target steering angle information can be represented by Formula 1.

[0074] T = D + (FD) Formula 1.

[0075] Where T represents the target turning angle information, D represents the motor turning angle information, and F represents the steering wheel turning angle information.

[0076] In this embodiment of the application, the server can determine the initial lateral acceleration of the vehicle based on the target turning angle information, vehicle speed information, and a preset power algorithm.

[0077] In one possible design, the server can determine the front wheel steering angle based on the target steering angle information. The server can then determine the vehicle's initial lateral acceleration based on the front wheel steering angle information, vehicle speed information, and a preset power algorithm.

[0078] Specifically, the front wheel steering angle information can be represented by Formula 2.

[0079] Formula 2: β = k·θ

[0080] Where β represents the front wheel steering angle information, k represents the ratio of the steering wheel steering angle information to the front wheel steering angle information, and θ represents the steering wheel steering angle information.

[0081] The preset dynamic algorithm can be represented by Formula 3.

[0082] LatAcc=β×v 2 / (v 2 Formula 3 (+g×L).

[0083] Where LatAcc represents the initial lateral acceleration, β represents the front wheel steering angle, v represents the vehicle speed, g represents the gravitational acceleration, and L represents the vehicle wheelbase.

[0084] In this embodiment, the server can determine the corner weighting coefficient based on the target corner information using a corner lookup table algorithm. The server can determine the target lateral acceleration based on the initial lateral acceleration and the corner weighting coefficient.

[0085] Specifically, the server can multiply the initial lateral acceleration and the turning angle weighting coefficient to obtain the target lateral acceleration.

[0086] It should be noted that, in the embodiments of this application, the coefficients in the steering angle lookup table algorithm can be obtained through experimentation and adjusted through subsequent calibration processes. Steering wheel angle information and steering angle weight coefficients can be positively correlated. That is, the larger the steering wheel angle information, the larger the steering angle weight coefficient; the smaller the steering wheel angle information, the smaller the steering angle weight coefficient.

[0087] S204. The server determines the vehicle speed weight coefficient corresponding to the vehicle speed information based on the preset correspondence.

[0088] The preset correspondence includes multiple preset vehicle speed information and the vehicle speed weight coefficient corresponding to each preset vehicle speed information.

[0089] In one possible implementation, the server stores a preset mapping relationship. The server can determine the vehicle speed weight coefficient corresponding to the vehicle speed information based on the preset mapping relationship.

[0090] In another possible implementation, the server can determine the vehicle speed weighting coefficient based on the vehicle speed information using a vehicle speed lookup table algorithm.

[0091] S205. The server determines the target assist torque based on the target lateral acceleration, torque weighting coefficient, actual lateral acceleration, and vehicle speed weighting coefficient.

[0092] The target assist torque is used to control the vehicle's steering during the current period.

[0093] In this embodiment of the application, before the server determines the target assist torque based on the target lateral acceleration, torque weighting coefficient, actual lateral acceleration, and vehicle speed weighting coefficient, the server can obtain the acceleration weighting coefficient, which is the weighting coefficient of the target lateral acceleration.

[0094] The acceleration weighting coefficient is greater than or equal to 0 and less than or equal to 1.

[0095] Specifically, the server can determine the acceleration weighting coefficient based on the effectiveness of the steering wheel angle.

[0096] It should be noted that the acceleration weighting coefficient is not limited in this embodiment. Typically, the acceleration weighting coefficient ranges from [0, 1]. If the steering wheel angle validity is less than a preset validity threshold, it indicates that the steering angle sensor is malfunctioning, the vehicle steering angle information is inaccurate, or the vehicle steering angle information cannot be obtained; in this case, the acceleration weighting coefficient can be 0. If the steering wheel angle validity is greater than the preset validity threshold, it indicates that the steering angle sensor is functioning normally and can obtain vehicle steering angle information; in this case, the acceleration weighting coefficient can take any value from [0.7-1]. For example, the acceleration weighting coefficient can be 1. Another example is that the acceleration weighting coefficient can be 0.7. Yet another example is that the acceleration weighting coefficient can be 0.8.

[0097] In one possible implementation, after the server obtains the acceleration weighting coefficient, the server can determine the target assist torque based on the acceleration weighting coefficient, the target lateral acceleration, the torque weighting coefficient, the actual lateral acceleration, and the vehicle speed weighting coefficient.

[0098] Specifically, the target assist torque can be expressed by Formula 4.

[0099] B = (P × LatAcc + (1 - P) × A) × Q × R (Formula 4)

[0100] Where B represents the target assist torque, P represents the acceleration weighting coefficient, LatAcc represents the target lateral acceleration, A represents the actual lateral acceleration, Q represents the torque weighting coefficient, and R represents the vehicle speed weighting coefficient.

[0101] It should be noted that, in this embodiment, the target assist torque is calculated as follows: The target lateral acceleration is multiplied by the acceleration weighting coefficient P to obtain the first component. The actual lateral acceleration is multiplied by (1-P) to obtain the second component. The first and second components are added together to obtain the weighted lateral acceleration value. The weighted lateral acceleration value is multiplied by the torque weighting coefficient and then by the vehicle speed weighting coefficient to obtain the target assist torque.

[0102] In one possible design, with the acceleration weighting coefficient being 0, the server can determine the target assist torque based on the actual lateral acceleration, torque weighting coefficient, and vehicle speed weighting coefficient.

[0103] It should be noted that in this embodiment, the acceleration weighting coefficient P is 0, indicating that the steering angle sensor is malfunctioning and the vehicle steering angle information is inaccurate. Therefore, the target lateral acceleration calculated based on the vehicle steering angle information is inaccurate and cannot be used as reference information for determining the target assist torque. Thus, when both the torque sensor and the steering angle sensor are malfunctioning, the actual lateral acceleration can be used to determine the target assist torque, i.e., (1-P) = 1.

[0104] In another possible design, with the acceleration weighting coefficient being 1, the server can determine the target assist torque based on the target lateral acceleration, torque weighting coefficient, and vehicle speed weighting coefficient.

[0105] It should be noted that in this embodiment of the application, the acceleration weighting coefficient is 1, which indicates that the steering angle sensor is available and the vehicle steering angle information is accurate. Therefore, the target lateral acceleration calculated based on the vehicle steering angle information can be used as the reference information for the target assist torque, without the need to use the actual lateral acceleration as the reference information, i.e., (1-P) is 0.

[0106] In another possible design, when the acceleration weighting coefficient is greater than 0 or less than 1, the server can determine the target assist torque based on the target lateral acceleration, the acceleration weighting coefficient, the actual lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient.

[0107] It should be noted that in this embodiment, the acceleration weighting coefficient is (0,1), indicating that the steering angle sensor is available and the vehicle steering angle information is relatively accurate. Therefore, the target lateral acceleration calculated from the vehicle steering angle information and the actual lateral acceleration are used as reference information for determining the target assist torque, thereby improving the accuracy of determining the target assist torque.

[0108] Understandably, in response to a torque sensor failure signal, the server can acquire vehicle speed information, vehicle steering angle information, torque weighting coefficient, and the vehicle's actual lateral acceleration. The failure signal indicates that the torque sensor has failed. The server can determine the target lateral acceleration of the vehicle based on the vehicle speed and steering angle information. The server can also determine the vehicle speed weighting coefficient corresponding to the vehicle speed information based on a preset correspondence, which includes multiple preset vehicle speed information and their respective weighting coefficients. Finally, the server can determine the target assist torque based on the target lateral acceleration, torque weighting coefficient, actual lateral acceleration, and vehicle speed weighting coefficient. This target assist torque is used to control the vehicle's steering during the current time period. Thus, even in the event of a torque sensor failure, the steering angle information can be acquired using the steering angle sensor, and the assist torque can be determined based on this information to achieve power steering.

[0109] In some embodiments, the server can determine the output torque based on the target assist torque and control the motor output torque to achieve power steering.

[0110] In this embodiment, the server can determine the output torque based on whether the target assist torque is within a preset torque range. The preset torque range includes the minimum torque and the maximum torque.

[0111] In one possible design, the server includes a dead-zone control unit. If the target assist torque is less than the minimum torque within a preset torque range, the server can clear the target assist torque through the dead-zone control unit and not control the motor output torque.

[0112] In another possible design, the server also includes a torque limiting unit. If the target assist torque exceeds the maximum torque within a preset torque range, the server can use the maximum torque within the preset torque range as the output torque. The server can then control the motor to output the maximum torque.

[0113] In another possible design, if the target assist torque is within a preset torque range, the server can use the target assist torque as the output torque. The server can then control the motor to output the target assist torque.

[0114] It should be noted that, in this embodiment, the torque limiting unit can provide different limit conditions for different vehicle speeds based on a vehicle speed lookup table algorithm, ensuring the safety of the output torque. Furthermore, by ensuring that the torque output by the motor is within a preset torque range, the effectiveness of the output torque can be guaranteed.

[0115] In some embodiments, to ensure the accuracy of the torque weighting coefficient, such as Figure 3 As shown, before the server obtains the torque weighting coefficient (S202), the method for determining the assist torque may also include:

[0116] S301, The server obtains historical assist torque and motor speed.

[0117] In one possible implementation, the server can receive a third input instruction, which is used to input historical assist torque and motor speed.

[0118] It should be noted that, in the embodiments of this application, the historical assist torque can be the feedforward value of the assist torque, that is, the assist torque output in the previous control cycle.

[0119] S302. The server determines the speed ratio coefficient based on the motor speed and the preset speed.

[0120] Among them, the speed proportional coefficient is used to reflect the degree of abnormality in the motor's speed state.

[0121] In one possible implementation, the server can determine the ratio between the motor speed and the preset speed based on the motor speed and the preset speed. The server can then use this ratio as a speed scaling factor.

[0122] It should be noted that, in this embodiment, the preset speed can be the safe speed value of the motor. The speed proportionality coefficient is less than 1. The larger the difference between the speed information and the preset speed, the smaller the speed proportionality coefficient; the smaller the difference between the speed information and the preset speed, the larger the speed proportionality coefficient.

[0123] S303: The server determines the torque ratio coefficient based on historical assist torque and preset torque.

[0124] The torque proportionality coefficient is used to reflect the degree of abnormality in the torque state of the motor.

[0125] In one possible implementation, the server can determine the ratio between the historical assist torque and the preset torque based on the historical assist torque and the preset torque. The server can then use this ratio as a torque scaling factor.

[0126] It should be noted that, in this embodiment, the preset torque can be a safe torque value. The torque proportionality coefficient is less than 1. The larger the difference between the historical assist torque and the preset torque, the smaller the torque proportionality coefficient; the smaller the difference between the historical assist torque and the preset torque, the larger the torque proportionality coefficient.

[0127] In this embodiment, the server can determine the torque weighting coefficient by looking up a table based on the speed ratio coefficient and the torque ratio coefficient.

[0128] In other words, the torque weighting coefficient is a weighting coefficient determined based on the speed proportional coefficient and the torque proportional coefficient.

[0129] Understandably, the server can obtain historical assist torque and motor speed. Based on the motor speed and a preset speed, the server determines a speed ratio coefficient, which reflects the degree of abnormality in the motor's speed state. Similarly, based on historical assist torque and a preset torque, the server determines a torque ratio coefficient, which reflects the degree of abnormality in the motor's torque state. The torque weighting coefficient is a weighting coefficient determined based on the speed ratio coefficient and the torque ratio coefficient. Thus, determining the torque weighting coefficient using motor speed information and historical assist torque improves the accuracy of the torque weighting coefficient.

[0130] In some embodiments, such as Figure 4 As shown, Figure 4A schematic diagram of a server architecture is shown. The server may include: a cornering signal processing module, a vehicle speed signal processing module, a lateral acceleration signal processing module, a lateral acceleration calculation module, a target torque feedforward limit weighting module, a limp target torque calculation module, and a lost power assist arbitration module. The cornering signal processing module is connected to the lateral acceleration calculation module via wired / wireless connections; the vehicle speed signal processing module is connected to the lateral acceleration calculation module via wired / wireless connections; the vehicle speed signal processing module is connected to the limp target torque calculation module via wired / wireless connections; the lateral acceleration signal processing module is connected to the limp target torque calculation module via wired / wireless connections; the target torque feedforward limit weighting module is connected to the limp target torque calculation module via wired / wireless connections; and the limp target torque calculation module is connected to the lost power assist arbitration module via wired / wireless connections.

[0131] The corner signal processing module can be used to calculate the target corner information based on the motor corner information and the steering wheel corner information.

[0132] The vehicle speed signal processing module can be used to obtain vehicle speed information by filtering the vehicle speed signal.

[0133] The lateral acceleration calculation module can be used to calculate the target's lateral acceleration based on the target's turning angle information and vehicle speed information.

[0134] Specifically, such as Figure 5 The diagram illustrates a flowchart of a method for determining target lateral acceleration. The server, through a lateral acceleration calculation module, obtains the angle weighting coefficient based on the target turning angle information using an angle lookup table algorithm. The server then calculates the initial lateral acceleration using a preset dynamic algorithm based on the vehicle speed and target turning angle information. Finally, the server multiplies the angle weighting coefficient by the initial lateral acceleration and calculates the target lateral acceleration using a limit value.

[0135] The lateral acceleration calculation module can also be used to determine the acceleration weighting coefficient based on the validity of the steering wheel angle information.

[0136] The lateral acceleration signal processing module can be used to obtain the actual lateral acceleration from the lateral acceleration signal after filtering.

[0137] The target torque feedforward weighting module can be used to determine the torque weighting coefficient based on the assist torque and motor speed information from the previous control cycle.

[0138] Specifically, such as Figure 6The diagram illustrates a flowchart of a method for determining the torque weighting coefficient. The server can compare the motor speed with the safe speed using the target torque feedforward weighting module to determine the speed ratio coefficient. The server can also compare the historical assist torque with the safe target torque using the target torque feedforward weighting module to determine the torque ratio coefficient. Finally, the server can determine the torque weighting coefficient based on the speed ratio coefficient and the torque ratio coefficient using a torque lookup table algorithm.

[0139] The limp target torque calculation module can be used to determine the target assist torque based on the actual lateral acceleration, target lateral acceleration, acceleration weighting coefficient, torque weighting coefficient, and vehicle speed weighting coefficient.

[0140] Specifically, such as Figure 7 The diagram illustrates a flowchart of a method for calculating target assist torque. The server, through a limp-target torque calculation module, determines the vehicle speed weighting coefficient based on vehicle speed information using a speed lookup table algorithm. The server multiplies the target lateral acceleration by the acceleration weighting coefficient P to obtain the first component, and multiplies the actual lateral acceleration by (1-P) to obtain the second component. The server adds the first and second components to obtain the weighted acceleration. The server multiplies the weighted acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient to obtain the initial assist torque. The server processes the initial assist torque using a dead-zone control unit and a torque limit unit to obtain the target assist torque.

[0141] The lost assist arbitration module can be used to determine whether to use the limp target torque or the normal assist torque as the final output torque based on the validity signal from the torque sensor. For example... Figure 8 As shown, Figure 8 A flowchart illustrating a method for determining output torque is shown. The server, through a lost-assist arbitration module, performs anti-jitter and confirmation processing on the validity of the torque signal from the torque sensor, and then determines whether to use the target assist torque or the torque obtained during normal operation as the output torque. The server can also switch torque settings and perform rate-of-change control processing on the output torque through the lost-assist arbitration module. Furthermore, the server can perform torque change slope limit processing and upper / lower limit processing on the output torque through the lost-assist arbitration module to obtain the processed output torque (the torque requested by the motor).

[0142] The method for determining the output torque of this application will be described below with reference to specific embodiments. Figure 9The diagram illustrates a flowchart of another method for determining output torque. The server can determine if the torque sensor is faulty. If the torque sensor is not faulty, the server can use the target assist torque calculated under normal operating conditions as the output torque (i.e., obtaining the driver's hand force signal from the torque sensor, the steering wheel angle signal from the steering angle sensor, and combining this with vehicle speed and other information to determine the assist torque). If the torque sensor is faulty, the server can determine if the steering angle sensor is faulty. If the steering angle sensor is faulty, the server can use the target assist torque calculated based on the actual lateral acceleration as the output torque (i.e., when the acceleration weighting coefficient is 0, the server can determine the target assist torque based on the actual lateral acceleration, torque weighting coefficient, and vehicle speed weighting coefficient). If the steering angle sensor is not faulty, the server can use the target assist torque calculated based on the target lateral acceleration as the output torque (i.e., when the acceleration weighting coefficient is 1, the server can determine the target assist torque based on the target lateral acceleration, torque weighting coefficient, and vehicle speed weighting coefficient. Alternatively, when the acceleration weighting coefficient is greater than 0 and less than 1, the server can determine the target assist torque based on the target lateral acceleration, acceleration weighting coefficient, actual lateral acceleration, torque weighting coefficient, and vehicle speed weighting coefficient).

[0143] The above primarily describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, the assist torque determination device or vehicle includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0144] This application embodiment can, based on the above method, exemplarily divide the assist torque determining device or vehicle into functional modules. For example, the assist torque determining device or vehicle may include various functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, there may be other division methods.

[0145] Figure 10 This is a block diagram illustrating a device for determining assist torque according to an exemplary embodiment. (Refer to...) Figure 10This assist torque determination device is used in vehicles equipped with torque sensors. This device is used to perform... Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 The method shown. The device for determining the assist torque includes: an acquisition unit 1001 and a processing unit 1002.

[0146] Acquisition unit 1001 is used to acquire vehicle speed information, vehicle steering angle information, torque weighting coefficient, and actual lateral acceleration of the vehicle in response to a failure signal from the torque sensor. The failure signal indicates that the vehicle's torque sensor has failed. Processing unit 1002 is used to determine the target lateral acceleration of the vehicle based on the vehicle speed information and vehicle steering angle information. Processing unit 1002 is also used to determine the vehicle speed weighting coefficient corresponding to the vehicle speed information according to a preset correspondence, which includes multiple preset vehicle speed information and the vehicle speed weighting coefficient corresponding to each preset vehicle speed information. Processing unit 1002 is also used to determine the target assist torque based on the target lateral acceleration, torque weighting coefficient, actual lateral acceleration, and vehicle speed weighting coefficient. The target assist torque is used to control the vehicle's steering during the current time period.

[0147] In one possible implementation, the vehicle turning angle information includes: steering wheel turning angle information and motor turning angle information. Specifically, the processing unit 1002 is used to determine the target turning angle information based on the steering wheel turning angle information and the motor turning angle information. Specifically, the processing unit 1002 is used to determine the target lateral acceleration of the vehicle based on the target turning angle information and the vehicle speed information.

[0148] In one possible implementation, the acquisition unit 1001 is further configured to acquire an acceleration weighting coefficient, which is a weighting coefficient for the target lateral acceleration, and the acceleration weighting coefficient is greater than or equal to 0 and less than or equal to 1. The processing unit 1002 is specifically configured to determine the target assist torque based on the target lateral acceleration, the acceleration weighting coefficient, the actual lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient when the acceleration weighting coefficient is greater than 0 and less than 1. The processing unit 1002 is specifically configured to determine the target assist torque based on the actual lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient when the acceleration weighting coefficient is 0. The processing unit 1002 is specifically configured to determine the target assist torque based on the target lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient when the acceleration weighting coefficient is 1.

[0149] In one possible implementation, the acquisition unit 1001 is further configured to acquire historical assist torque and motor speed. The processing unit 1002 is further configured to determine a speed proportionality coefficient based on the motor speed and a preset speed, the speed proportionality coefficient reflecting the degree of abnormality in the motor's speed state. The processing unit 1002 is further configured to determine a torque proportionality coefficient based on historical assist torque and a preset torque, the torque proportionality coefficient reflecting the degree of abnormality in the motor's torque state. The torque weighting coefficient is a weighting coefficient determined based on the speed proportionality coefficient and the torque proportionality coefficient.

[0150] Regarding the apparatus in the above embodiments, the specific manner in which each unit performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0151] Figure 11 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Figure 11 As shown, vehicle 1100 includes, but is not limited to, processor 1101 and memory 1102.

[0152] The memory 1102 described above is used to store the executable instructions of the processor 1101. It is understood that the processor 1101 is configured to execute instructions to implement the method for determining the assist torque in the above embodiments.

[0153] It should be noted that those skilled in the art will understand that Figure 11 The vehicle structure shown does not constitute a limitation on the vehicle; a vehicle may include, but is not limited to, other types of vehicles. Figure 11 This may indicate more or fewer components, or combinations of certain components, or different component arrangements.

[0154] The processor 1101 is the control center of the vehicle, connecting various parts of the vehicle through various interfaces and lines. It performs various vehicle functions and processes data by running or executing software programs and / or modules stored in the memory 1102, and by calling data stored in the memory 1102, thereby providing overall vehicle monitoring. The processor 1101 may include one or more processing units. Optionally, the processor 1101 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor 1101.

[0155] The memory 1102 can be used to store software programs and various data. The memory 1102 may mainly include a program storage area and a data storage area, wherein the program storage area may store the operating system, application programs (such as processing units) required by at least one functional module, etc. In addition, the memory 1102 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0156] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1102 including instructions, which can be executed by a processor 1101 of a vehicle 1100 to implement the method for determining the assist torque in the above embodiments.

[0157] In actual implementation, Figure 10 The functions of the acquisition unit 1001 and the processing unit 1002 can both be provided by Figure 11 The processor 1101 calls the computer program stored in the memory 1102 to implement the process. The specific execution process can be found in the description of the assist torque determination method in the previous embodiment, and will not be repeated here.

[0158] Optionally, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), a random access memory (RAM), a CD-ROM, magnetic tape, a floppy disk, and an optical data storage device.

[0159] In an exemplary embodiment, this application also provides a computer program product including one or more instructions, which can be executed by a vehicle's processor to complete the method for determining the assist torque in the above embodiments.

[0160] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the vehicle's processor, they implement the various processes of the above-described method for determining the assist torque, and can achieve the same technical effect as the above-described method for determining the assist torque. To avoid repetition, they will not be described again here.

[0161] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions 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.

[0162] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0163] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0164] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0165] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, essentially, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0166] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for determining assist torque, characterized in that, Applied to a vehicle equipped with a torque sensor, the method includes: Obtain historical assist torque and motor speed; Based on the motor speed and the preset speed, a speed ratio coefficient is determined, which is used to reflect the degree of abnormality in the motor speed state; Based on the historical assist torque and the preset torque, a torque ratio coefficient is determined, which is used to reflect the degree of abnormality in the torque state of the motor. In response to the failure signal of the torque sensor, the vehicle speed information, vehicle steering angle information, torque weighting coefficient, and actual lateral acceleration of the vehicle in the current time period are acquired. The failure signal is used to indicate that the torque sensor of the vehicle has failed. The torque weighting coefficient is a weighting coefficient determined based on the speed ratio coefficient and the torque ratio coefficient. Based on the vehicle speed information and the vehicle turning angle information, the target lateral acceleration of the vehicle is determined; According to a preset correspondence, the vehicle speed weight coefficient corresponding to the vehicle speed information is determined. The preset correspondence includes multiple preset vehicle speed information and the vehicle speed weight coefficient corresponding to each preset vehicle speed information. The target assist torque is determined based on the target lateral acceleration, the torque weighting coefficient, the actual lateral acceleration, and the vehicle speed weighting coefficient. The target assist torque is used to control the steering of the vehicle during the current time period.

2. The method according to claim 1, characterized in that, The vehicle turning angle information includes: steering wheel turning angle information and motor turning angle information; determining the target lateral acceleration of the vehicle based on the vehicle speed information and the vehicle turning angle information includes: The target steering angle information is determined based on the steering wheel angle information and the motor angle information; The target lateral acceleration of the vehicle is determined based on the target turning angle information, the vehicle speed information, and the preset power algorithm.

3. The method according to claim 1 or 2, characterized in that, Before determining the target assist torque based on the target lateral acceleration, the torque weighting coefficient, the actual lateral acceleration, and the vehicle speed weighting coefficient, the method further includes: Obtain the acceleration weighting coefficient, which is the weighting coefficient of the target lateral acceleration, and the acceleration weighting coefficient is greater than or equal to 0 and less than or equal to 1; The step of determining the target assist torque based on the target lateral acceleration, the torque weighting coefficient, the actual lateral acceleration, and the vehicle speed weighting coefficient includes: When the acceleration weighting coefficient is greater than 0 and less than 1, the target assist torque is determined based on the target lateral acceleration, the acceleration weighting coefficient, the actual lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient. When the acceleration weighting coefficient is 0, the target assist torque is determined based on the actual lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient. When the acceleration weighting coefficient is 1, the target assist torque is determined based on the target lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient.

4. A device for determining assist torque, characterized in that, Applied to a vehicle equipped with a torque sensor, the device includes: an acquisition unit, configured to acquire vehicle speed information, vehicle steering angle information, torque weighting coefficient, and actual lateral acceleration of the vehicle in the current time period in response to a failure signal of the torque sensor; the failure signal is used to indicate that the torque sensor of the vehicle has failed. The processing unit is configured to determine the target lateral acceleration of the vehicle based on the vehicle speed information and the vehicle turning angle information. The processing unit is further configured to determine the vehicle speed weight coefficient corresponding to the vehicle speed information according to a preset correspondence relationship, wherein the preset correspondence relationship includes multiple preset vehicle speed information and a vehicle speed weight coefficient corresponding to each preset vehicle speed information. The processing unit is further configured to determine a target assist torque based on the target lateral acceleration, the torque weighting coefficient, the actual lateral acceleration, and the vehicle speed weighting coefficient, wherein the target assist torque is used to control the steering of the vehicle during the current time period; The acquisition unit is also used to acquire historical assist torque and motor speed; The processing unit is also used to determine a speed ratio coefficient based on the motor speed and a preset speed, the speed ratio coefficient being used to reflect the degree of abnormality in the motor speed state; The processing unit is also used to determine a torque ratio coefficient based on the historical assist torque and the preset torque, the torque ratio coefficient being used to reflect the degree of abnormality in the torque state of the motor. The torque weighting coefficient is a weighting coefficient determined based on the speed ratio coefficient and the torque ratio coefficient.

5. The apparatus according to claim 4, characterized in that, The vehicle turning angle information includes: steering wheel turning angle information and motor turning angle information; The processing unit is specifically used to determine the target turning angle information based on the steering wheel angle information and the motor angle information; The processing unit is specifically used to determine the target lateral acceleration of the vehicle based on the target turning angle information, the vehicle speed information, and a preset power algorithm.

6. The apparatus according to claim 4 or 5, characterized in that, The acquisition unit is further configured to acquire an acceleration weighting coefficient, wherein the acceleration weighting coefficient is a weighting coefficient of the target lateral acceleration, and the acceleration weighting coefficient is greater than or equal to 0 and less than or equal to 1; The processing unit is specifically used to determine the target assist torque based on the target lateral acceleration, the acceleration weight coefficient, the actual lateral acceleration, the torque weight coefficient, and the vehicle speed weight coefficient when the acceleration weight coefficient is greater than 0 and less than 1. The processing unit is specifically used to determine the target assist torque based on the actual lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient when the acceleration weighting coefficient is 0. The processing unit is specifically used to determine the target assist torque based on the target lateral acceleration, the torque weighting coefficient, and the vehicle speed weighting coefficient when the acceleration weighting coefficient is 1.

7. A vehicle, characterized in that, include: processor; A memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method as described in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that, When the computer-executable instructions stored in the computer-readable storage medium are executed by the vehicle's processor, the vehicle is able to perform the method as described in any one of claims 1 to 3.

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