Handwheel force feedback torque control method, controller, steering system, and vehicle

Abstract

The application provides a hand wheel force feedback torque control method, a controller, a steering system and a vehicle. The method comprises the following steps: acquiring a first road wheel reference torque and a first hand wheel force feedback torque, wherein the first road wheel reference torque is a road wheel motor torque instruction value at time T; determining a second hand wheel force feedback torque according to the first road wheel reference torque and the first hand wheel force feedback torque; acquiring a second road wheel reference torque, wherein the second road wheel reference torque is a road wheel motor torque instruction value at time T+1; when the absolute value difference between the second road wheel reference torque and the second hand wheel force feedback torque is less than a first preset threshold or the vehicle is not in a steering state, determining that the second hand wheel force feedback torque is a target hand wheel force feedback torque, and the target hand wheel force feedback torque is used for providing a steering wheel hand feeling resistance. The method provided by the application can make the driver obtain better hand feeling and improve driving safety.

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