Torque compensation method and device

Abstract

The application discloses a torque compensation method and device, the method comprises the following steps: acquiring the steering wheel's rotation angle signal, rotation speed signal, torque signal and friction signal in a target time period; determining the direction of the compensation torque of the steering wheel according to the rotation angle signal, rotation speed signal and torque signal, and determining the size of the compensation torque according to the rotation angle signal, torque signal and friction signal; based on the size of the compensation torque, torque compensation is performed on the steering wheel in the direction of the compensation torque. By using the application, the driver can effectively steer and brake in different environments, and the effectiveness and stability of the driving steering can be ensured through adaptive compensation torque learning, thereby improving the driving experience of the driver.

Description

Technical Field

[0001] This invention relates to the field of electronic control technology, and in particular to a torque compensation method and device. Background Technology

[0002] In recent years, with the development of automotive electronics and intelligence, many companies have used electronic control technology to improve vehicle handling performance. Among these, the electric power steering system, through continuous development and intelligentization, can prevent traffic accidents while ensuring driver safety and further enhancing the driving experience and comfort. However, with existing electric power steering systems, drivers may experience steering wheel slippage during driving, leading to a loss of steering input, poor driving feel, and reduced smoothness, affecting driving stability and comfort. Furthermore, this situation can also impact driving safety; if appropriate torque compensation is not provided during steering, it can affect the driver's steering judgment and cause traffic accidents. Therefore, how to safely, smoothly, efficiently, and comfortably compensate for steering torque during driver steering control is a problem that existing electric power steering systems urgently need to solve. Summary of the Invention

[0003] This application provides a torque compensation method and device, which can not only help drivers to effectively steer and brake in different environments, but also ensure the effectiveness and stability of driving steering through adaptive compensation torque learning, thereby improving the driver's driving experience.

[0004] In a first aspect, embodiments of this application provide a torque compensation method, including:

[0005] Acquire the steering wheel's angle signal, speed signal, torque signal, and friction signal within the target time period; determine the direction of the steering wheel's compensation torque based on the angle signal, speed signal, and torque signal, and determine the magnitude of the compensation torque based on the angle signal, torque signal, and friction signal; and perform torque compensation on the steering wheel according to the direction of the compensation torque based on the magnitude of the compensation torque.

[0006] Based on the steering wheel's angle, speed, and torque signals within a target time period, the direction of the steering wheel's compensation torque is determined, and based on the steering wheel's angle, torque, and friction signals within the same time period, the magnitude of the compensation torque is determined. This not only helps drivers perform effective steering and braking in different environments, but also ensures the effectiveness and stability of driving steering through adaptive compensation torque learning, thus improving the driver's driving experience.

[0007] In one possible design, it is determined whether the steering angle signal, torque signal, and friction signal are valid signals. Based on the steering wheel's steering angle signal, torque signal, and friction signal within a target time period, it is determined whether the driver is still performing steering operations and whether there is steering wheel slippage, in order to determine whether adaptive compensation torque learning is needed to ensure the effectiveness of driving steering.

[0008] In another possible design, if the absolute value of the speed signal is greater than a first threshold, the product of the speed signal and the torque signal is greater than a second threshold, and the steering angle signal continuously increases within the target time period, then the direction of the compensation torque is determined to be the first direction, outward. If the absolute value of the speed signal is less than or equal to the first threshold, or the product of the speed signal and the torque signal is less than or equal to the second threshold, or the steering angle signal does not continuously increase within the target time period, then the direction of the compensation torque is determined to be the second direction, inward. Based on the steering wheel's steering angle signal, speed signal, and torque signal within the target time period, it is determined whether the steering wheel is currently in motion and whether the steering wheel's motion is caused by the driver's hand force, thereby determining the driver's steering intention. This is beneficial for subsequently using compensation torque in the same direction to help the driver perform effective steering and braking in different environments.

[0009] In another possible design, if the direction of the compensating torque is the first direction, then the torque compensation to the steering wheel is applied outward based on the magnitude of the compensating torque; if the direction of the compensating torque is the second direction, then the torque compensation to the steering wheel is applied inward based on the magnitude of the compensating torque. Compensating the steering wheel with torque according to the direction and magnitude of the compensating torque helps the driver to perform effective steering and braking in different environments.

[0010] In another possible design, the feedback torque of the motor is obtained; a first torque is determined based on the steering angle signal, torque signal, and friction signal; the first torque and the feedback torque are input into a signal processing model to obtain the magnitude of the compensation torque. Based on the motor's feedback torque, the steering wheel's steering angle signal, torque signal, and friction signal, the signal processing model performs adaptive learning to determine the magnitude of the compensation torque, thereby helping the driver to perform effective steering and braking in different environments and ensuring the effectiveness and stability of driving steering.

[0011] In another possible design, the gain value is determined based on the steering angle signal and the friction signal; the first torque is determined based on the torque signal and the gain value. By calculating the first torque, subsequent adaptive learning can be performed based on the first torque and the feedback torque, thereby ensuring the effectiveness and stability of the driving steering.

[0012] In another possible design, the steering angle error within a target time period is determined based on the steering angle signal, the torque error within the target time period is determined based on the torque signal, and the friction error within the target time period is determined based on the friction signal. If the steering angle error is less than a third threshold, the torque error is greater than a fourth threshold, and the friction error is greater than a fifth threshold, then the steering angle signal, friction signal, and torque signal are determined to be valid signals. Based on the steering wheel angle error within the target time period, it is determined whether the driver has performed a steering operation. Based on the steering wheel torque error and friction error within the target time period, it is determined whether the driver is experiencing steering wheel slippage. This is beneficial for subsequently using compensating torque in the same direction to help the driver perform effective steering and braking in different environments.

[0013] In another possible design, a first steering angle signal within a first time period and a second steering angle signal within a second time period are selected from the steering angle signals. The target time period includes both the first and second time periods. A first difference is obtained by subtracting the first steering angle signal corresponding to the start time of the first time period from the first steering angle signal corresponding to the end time of the first time period. Similarly, a second difference is obtained by subtracting the second steering angle signal corresponding to the start time of the second time period from the second steering angle signal corresponding to the end time of the second time period. The absolute value of the first difference and the average of the absolute values ​​of the second difference are determined as the steering angle error. The steering wheel angle error is determined based on the steering wheel angle signals within the target time period to subsequently determine whether the driver still needs to perform steering operations.

[0014] In another possible design, a first torque signal within a third time period and a second torque signal within a fourth time period are selected from the torque signals. The target time period includes both the third and fourth time periods. The first torque signal corresponding to the end time of the third time period is subtracted from the first torque signal corresponding to the start time of the third time period to obtain a third difference. Similarly, the second torque signal corresponding to the end time of the fourth time period is subtracted from the second torque signal corresponding to the start time of the fourth time period to obtain a fourth difference. The absolute values ​​of the third and fourth differences are averaged to determine the torque error. The steering wheel torque error is determined based on the steering wheel torque signal within the target time period to subsequently determine whether the driver is experiencing steering wheel slippage.

[0015] In another possible design, a first friction signal within a fifth time period and a second friction signal within a sixth time period are selected from the friction signals. The target time periods include both the fifth and sixth time periods. The first friction signal corresponding to the end time of the fifth time period is subtracted from the first friction signal corresponding to the start time of the fifth time period to obtain a fifth difference. Similarly, the second friction signal corresponding to the end time of the sixth time period is subtracted from the second friction signal corresponding to the start time of the sixth time period to obtain a sixth difference. The average of the fifth and sixth differences is determined as the friction error. The friction error of the steering wheel is determined based on the friction signals of the steering wheel within the target time period to further verify whether the driver experiences steering wheel slippage.

[0016] Secondly, embodiments of this application provide a torque compensation device, comprising:

[0017] The acquisition module is used to acquire the steering wheel's angle signal, speed signal, torque signal, and friction signal within a target time period.

[0018] The processing module is used to determine the direction of the compensating torque of the steering wheel based on the steering angle signal, speed signal, and torque signal, and to determine the magnitude of the compensating torque based on the steering angle signal, torque signal, and friction signal.

[0019] The processing module is also used to perform torque compensation on the steering wheel based on the magnitude of the compensation torque and the direction of the compensation torque.

[0020] In one possible design, the processing module is also used to determine whether the angle signal, torque signal, and friction signal are valid signals.

[0021] In another possible design, the processing module is further configured to determine the direction of the compensation torque as a first direction, which is outward, if the absolute value of the speed signal is greater than a first threshold, the product of the speed signal and the torque signal is greater than a second threshold, and the angle signal continues to increase within the target time period; and if the absolute value of the speed signal is less than or equal to the first threshold, or the product of the speed signal and the torque signal is less than or equal to the second threshold, or the angle signal does not continue to increase within the target time period, then determine the direction of the compensation torque as a second direction, which is inward.

[0022] In another possible design, the processing module is also used to perform torque compensation on the steering wheel outward based on the magnitude of the compensation torque if the direction of the compensation torque is a first direction; and to perform torque compensation on the steering wheel inward based on the magnitude of the compensation torque if the direction of the compensation torque is a second direction.

[0023] In another possible design, the acquisition module is also used to acquire the feedback torque of the motor.

[0024] In another possible design, the processing module is also used to determine the first torque based on the angle signal, torque signal, and friction signal; and input the first torque and feedback torque into the signal processing model to obtain the magnitude of the compensation torque.

[0025] In another possible design, the processing module is also used to determine the gain value based on the angle signal and the friction signal; and to determine the first torque based on the torque signal and the gain value.

[0026] In another possible design, the processing module is also used to determine the angle error within the target time period based on the angle signal, the torque error within the target time period based on the torque signal, and the friction error within the target time period based on the friction signal; if the angle error is less than the third threshold, the torque error is greater than the fourth threshold, and the friction error is greater than the fifth threshold, then the angle signal, friction signal, and torque signal are determined to be valid signals.

[0027] In another possible design, the processing module is further configured to select a first corner signal within a first time period and a second corner signal within a second time period from the corner signals, wherein the target time period includes the first time period and the second time period; subtract the first corner signal corresponding to the start time of the first time period from the first corner signal corresponding to the end time of the first time period to obtain a first difference; subtract the second corner signal corresponding to the start time of the second time period from the second corner signal corresponding to the end time of the second time period to obtain a second difference; and determine the corner error as the average of the absolute values ​​of the first difference and the second difference.

[0028] In another possible design, the processing module is further configured to select a first torque signal within a third time period and a second torque signal within a fourth time period from the torque signals, wherein the target time periods include the third and fourth time periods; subtract the first torque signal corresponding to the start time of the third time period from the first torque signal corresponding to the end time of the third time period to obtain a third difference; subtract the second torque signal corresponding to the start time of the fourth time period from the second torque signal corresponding to the end time of the fourth time period to obtain a fourth difference; and determine the torque error as the average of the absolute values ​​of the third and fourth differences.

[0029] In another possible design, the processing module is further configured to select a first friction signal within a fifth time period and a second friction signal within a sixth time period from the friction signals, wherein the target time periods include the fifth time period and the sixth time period; subtract the first friction signal corresponding to the start time of the fifth time period from the first friction signal corresponding to the end time of the fifth time period to obtain a fifth difference value; subtract the second friction signal corresponding to the start time of the sixth time period from the second friction signal corresponding to the end time of the sixth time period to obtain a sixth difference value; and determine the average of the fifth difference value and the sixth difference value as the friction error.

[0030] The operation and beneficial effects of this torque compensation device can be found in the method described in the first aspect above, and the beneficial effects will not be repeated here.

[0031] Thirdly, this application provides a torque compensation device, which includes a processor and a memory, the memory being used to store a computer program; the processor being used to execute the computer program stored in the memory to cause the torque compensation device to perform the method as described in any one of the first aspects.

[0032] Fourthly, this application provides a torque compensation device, which can be a mobile device, a device within a torque compensation system or server, or a device compatible with a torque compensation system. The torque compensation device can also be a chip system. The torque compensation device can execute the method described in the first aspect. The function of the torque compensation device can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. These modules can be software and / or hardware. The operation and beneficial effects of the torque compensation device can be found in the method described in the first aspect and its beneficial effects; repetitions will not be repeated.

[0033] Fifthly, this application provides a torque compensation device, which includes a processor and a memory, the memory for storing a computer program, the processor for calling the computer program stored in the memory, and the processor for executing the method as described in any one of the first aspects.

[0034] In a sixth aspect, this application provides a computer-readable storage medium for storing a computer program that, when executed, causes the method described in any one of the first aspects to be implemented.

[0035] In a seventh aspect, this application provides a computer program product including a computer program that, when executed, causes the method described in any one of the first aspects to be implemented. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the background art, the accompanying drawings used in the embodiments of this application or the background art will be described below.

[0037] Figure 1 This is a schematic diagram of the structure of a torque compensation system provided in an embodiment of this application;

[0038] Figure 2This is a schematic flowchart of a torque compensation method provided in an embodiment of this application;

[0039] Figure 3 This is a schematic diagram of a turning intention recognition process provided in an embodiment of this application;

[0040] Figure 4 This is a schematic diagram of a torque compensation calculation process provided in an embodiment of this application;

[0041] Figure 5 This is a schematic flowchart of a signal validity determination provided in an embodiment of this application;

[0042] Figure 6 This is a schematic diagram of the structure of a torque compensation device provided in an embodiment of this application;

[0043] Figure 7 This is a schematic diagram of the structure of a torque compensation device provided in an embodiment of this application. Detailed Implementation

[0044] The embodiments of this application are described below with reference to the accompanying drawings.

[0045] It should be understood that in the description of this application, "at least one" means one or more, and "multiple" means two or more. In addition, the words "first," "second," etc., unless otherwise stated, are used only for the purpose of distinguishing descriptions and should not be construed as indicating or implying relative importance or order.

[0046] Currently, when driving a car with an electric power steering system, drivers may experience steering wheel slippage and a sudden drop in torque due to sweaty or dry hands. For example, in hot weather, drivers are prone to sweaty hands while driving, which can cause the steering wheel to slip, significantly reducing the driving experience. In cold and dry weather, some drivers may experience steering wheel slippage due to dry hands, and cold weather can also reduce mechanical efficiency, increasing the risk of misjudgment and potentially leading to traffic accidents.

[0047] To address the aforementioned technical problems, the embodiments of this application provide the following solutions.

[0048] like Figure 1 As shown, Figure 1This is a schematic diagram of a torque compensation system provided in an embodiment of this application. The torque compensation system includes a signal input module 101 and an electronic control unit (ECU) 102. Specifically, the signal input module 101 is connected to the ECU 102. The ECU 102 includes a steering intention recognition module, a signal validity judgment module, a torque compensation module, and a motor control module. The torque compensation module includes a steering angle signal processing module, a friction signal processing module, and a torque signal processing module. The motor control module is connected to the motor. Detailed descriptions of each module are as follows.

[0049] The signal input module 101 is used to acquire the steering wheel angle signal, speed signal, torque signal and friction signal within the target time period.

[0050] The electronic control unit 102 is used to receive the steering angle signal, speed signal, torque signal and friction signal sent by the signal input module 101, determine the direction of the compensation torque of the steering wheel according to the steering angle signal, speed signal and torque signal, determine the magnitude of the compensation torque according to the steering angle signal, torque signal and friction signal, and perform torque compensation on the steering wheel according to the magnitude of the compensation torque and the direction of the compensation torque.

[0051] The signal input module 101 and the electronic control unit 102 can establish a communication connection through a wired network or a wireless network.

[0052] It should be noted that the aforementioned torque compensation system can be a user-interactive system, which can be a software system, a hardware system, or a combination of both; this application does not impose any specific limitations on this. It should also be noted that... Figure 1 This is merely an illustrative structural diagram of a torque compensation system; in practical applications, it can be modified according to specific circumstances. Figure 1 The torque compensation system is then transformed accordingly.

[0053] like Figure 2 As shown, Figure 2 This is a schematic flowchart of a torque compensation method provided in an embodiment of this application. This method is applicable to... Figure 1 The torque compensation system shown. This method includes, but is not limited to, the following steps:

[0054] Step S201: Obtain the steering wheel angle signal, speed signal, torque signal and friction signal within the target time period.

[0055] The target time period is any time during which the driver is driving.

[0056] Specifically, during driving, the signal input module receives the steering wheel angle, speed, and torque signals within a target time period via a torque and angle sensor (TAS), and collects the steering wheel friction signals within the same time period via a friction sensor. Then, the signal input module transmits these signals to the electronic control unit (ECU) via the controller area network (CAN) bus. By acquiring these steering wheel angle, speed, torque, and friction signals within the target time period, the direction and magnitude of the compensation torque can be determined, thereby assisting the driver in effectively steering and braking under different conditions.

[0057] Step S202: Determine the direction of the compensating torque of the steering wheel based on the steering angle signal, speed signal, and torque signal, and determine the magnitude of the compensating torque based on the steering angle signal, torque signal, and friction signal.

[0058] Specifically, the electronic control unit receives the steering wheel's angle signal, speed signal, torque signal, and friction signal within the target time period. It can determine the direction and magnitude of the steering wheel's compensation torque through the following two aspects:

[0059] Firstly, the steering intention recognition module in the electronic control unit can determine the direction of the steering wheel's compensation torque based on the steering wheel's angle signal, speed signal, and torque signal within the target time period.

[0060] Figure 3 This is a schematic flowchart of a steering intention recognition method provided in an embodiment of this application. The steering intention recognition module determines the direction of the compensation torque by judging whether the absolute value of the speed signal is greater than a first threshold, whether the product of the speed signal and the torque signal is greater than a second threshold, and whether the steering angle signal continues to increase within a target time period.

[0061] Among them, the first threshold, the second threshold, and the third threshold are all empirical parameters, and the second threshold can be equal to 0.

[0062] In one implementation, the steering angle signal is filtered to obtain a filtered steering angle signal, the speed signal is filtered to obtain a filtered speed signal, and the torque signal is filtered to obtain a filtered torque signal. If the absolute value of the filtered speed signal is greater than a first threshold, the product of the filtered speed signal and the filtered torque signal is greater than a second threshold, and the filtered steering angle signal continues to increase within the target time period, it indicates that the driver's steering intention within the target time period is to turn the steering wheel outward. Thus, the direction of the compensation torque is determined as the first direction, which is outward, specifically pointing to the left.

[0063] For example, if a driver needs to control the vehicle to turn left, and the absolute value of the filtered speed signal is greater than the first threshold, the product of the filtered speed signal and the filtered torque signal is greater than the second threshold, and the filtered steering angle signal continues to increase within the target time period, then it indicates that the driver's steering intention during the target time period is to turn the steering wheel outward, and the direction of the compensation torque is to the left.

[0064] In another implementation, the steering angle signal is filtered to obtain a filtered steering angle signal, the speed signal is filtered to obtain a filtered speed signal, and the torque signal is filtered to obtain a filtered torque signal. If the absolute value of the filtered speed signal is less than or equal to a first threshold, or the product of the filtered speed signal and the filtered torque signal is less than or equal to a second threshold, or the filtered steering angle signal does not continuously increase within the target time period, it indicates that the driver's steering intention within the target time period is to turn the steering wheel inward. Thus, the direction of the compensation torque is determined to be the second direction, which is inward, and inward here means to the right.

[0065] For example, if a driver needs to control the vehicle to turn left, and the absolute value of the filtered speed signal is less than or equal to the first threshold, or the product of the filtered speed signal and the filtered torque signal is less than or equal to the second threshold, or the filtered steering angle signal does not continuously increase within the target time period, it indicates that the driver's steering intention within the target time period is to turn the steering wheel inward, and the direction of the compensation torque is to the right.

[0066] It should be noted that the steering intention recognition module determines whether the steering wheel is in motion within the target time period based on the above three judgment conditions; it determines whether the steering wheel movement is caused by the driver's hand force by judging whether the product of the speed signal and the torque signal is greater than the second threshold. Based on the above judgments, the driver's steering intention is determined, which is beneficial for subsequently assisting the driver in making effective steering and braking in different environments through compensating torque in the same direction.

[0067] Secondly, the torque compensation module in the electronic control unit can determine the magnitude of the compensation torque of the steering wheel based on the steering wheel's angle signal, torque signal, and friction signal within the target time period.

[0068] Figure 4 This is a schematic flowchart of a torque compensation calculation provided in an embodiment of this application. The torque compensation module determines the gain value based on the rotation angle signal and the friction signal, and then determines the first torque based on the torque signal and the gain value. Finally, the first torque and the feedback torque of the motor are input into the signal processing model to obtain the magnitude of the compensation torque.

[0069] In the specific implementation, firstly, the feedback torque of the motor is obtained. The steering angle signal is filtered using low-pass filter 1 to obtain a filtered steering angle signal. The friction signal is then filtered using low-pass filter 2 to obtain a filtered friction signal. Based on the filtered steering angle signal and the friction signal, a gain value is obtained by looking up a table. The torque signal is then filtered using low-pass filter 3 to obtain a filtered torque signal. The gain value is multiplied by the filtered torque signal to obtain a first product. Upper and lower limits are applied to this first product to obtain a first torque. Then, the first torque and the feedback torque are input into the signal processing model to obtain the magnitude of the compensation torque. Based on the motor's feedback torque, the steering wheel's steering angle signal, the torque signal, and the friction signal, the signal processing model performs adaptive learning to determine the magnitude of the compensation torque. This helps the driver to perform effective steering and braking in different environments, thereby ensuring the effectiveness and stability of the driving steering.

[0070] The signal processing model can be a PID algorithm or other algorithms, and this application does not limit it.

[0071] Optionally, before determining the direction and magnitude of the steering wheel's compensating torque, the signal validity judgment module in the electronic control unit can also determine whether the steering angle signal, torque signal, and friction signal are valid signals.

[0072] Figure 5 This is a schematic flowchart of a signal validity determination method provided in an embodiment of this application. First, the signal validity determination module in the electronic control unit receives the steering wheel angle signal, torque signal, and friction signal within a target time period. Then, based on the angle signal, it determines the angle error within the target time period; based on the torque signal, it determines the torque error within the target time period; and based on the friction signal, it determines the friction error within the target time period. If the angle error is less than a third threshold, the torque error is greater than a fourth threshold, and the friction error is greater than a fifth threshold, then the angle signal, friction signal, and torque signal are determined to be valid signals.

[0073] Among them, the third threshold, the fourth threshold, and the fifth threshold are all empirical parameters.

[0074] In one implementation, a first steering wheel signal within a first time period and a second steering wheel signal within a second time period can be selected from the steering wheel signals within a target time period, where the target time period includes both the first and second time periods. Then, the first steering wheel signal corresponding to the end time of the first time period is subtracted from the first steering wheel signal corresponding to the start time of the first time period to obtain a first difference. Similarly, the second steering wheel signal corresponding to the end time of the second time period is subtracted from the second steering wheel signal corresponding to the start time of the second time period to obtain a second difference. Finally, the absolute values ​​of the first and second differences are averaged to determine the steering wheel error. The steering wheel angle error is determined based on the steering wheel angle signals within the target time period to determine whether the driver is still performing a steering operation.

[0075] E1 = (|D1| + |D2|) / 2;

[0076] D1 = AS et,1 -AS st,1 ;

[0077] D2 = AS et,2 -AS st,2 ;

[0078] Where E1 represents the angle error, D1 represents the first difference, D2 represents the second difference, and AS et,1 AS represents the first turning signal corresponding to the end time of the first time period. st,1 AS represents the first turning angle signal corresponding to the start time of the first time period. et,2 AS represents the second turning signal corresponding to the end time of the second time period. st,2 This indicates the second turning angle signal corresponding to the start time of the second time period.

[0079] Optionally, multiple corner signals from different time periods can be randomly selected from the corner signals within the target time period to determine the corner error.

[0080] For example, randomly select the corner signals corresponding to time period a, time period b, and time period c from the corner signals within the target time period; then determine the difference between the corner signals corresponding to time period a, time period b, and time period c based on the corner signals corresponding to time period a; finally, determine the average of the absolute values ​​of the corner signal differences corresponding to time period a, time period b, and time period c as the corner error.

[0081] In another implementation, a first torque signal within a third time period and a second torque signal within a fourth time period can be selected from the torque signals within the target time period, which includes both the third and fourth time periods. The first torque signal corresponding to the end time of the third time period is subtracted from the first torque signal corresponding to the start time of the third time period to obtain a third difference. Similarly, the second torque signal corresponding to the end time of the fourth time period is subtracted from the second torque signal corresponding to the start time of the fourth time period to obtain a fourth difference. The absolute values ​​of the third and fourth differences are averaged to determine the torque error. The torque error of the steering wheel is determined based on the torque signals of the steering wheel within the target time period to verify whether the driver experiences steering wheel slippage.

[0082] The torque error satisfies the following:

[0083] E2 = (|D3| + |D4|) / 2;

[0084] D3=TS et,1 -TS st,1 ;

[0085] D4=TS et,2 -TS st,2 ;

[0086] Where E2 represents torque error, D3 represents the third difference, D4 ​​represents the fourth difference, and TS et,1 TS represents the first torque signal corresponding to the end time of the third time period. st,1 The first torque signal, TS, represents the start time of the third time period. et,2 The second torque signal, TS, represents the end time of the fourth time period. st,2 The second torque signal represents the start time of the fourth time period.

[0087] Optionally, torque error can be determined by randomly selecting torque signals from multiple time periods within the target time period.

[0088] For example, randomly select the torque signals corresponding to time period a, time period b, time period c, and time period d from the corner signals within the target time period; then determine the torque signal difference for time period a based on the torque signal for time period a, the torque signal difference for time period b based on the torque signal for time period b, the torque signal difference for time period c based on the torque signal for time period c, and the torque signal difference for time period d based on the torque signal for time period d; finally, the average value among the absolute values ​​of the torque signal differences for time period a, time period b, time period c, and time period d is determined as the torque error.

[0089] In another implementation, a first friction signal within a fifth time period and a second friction signal within a sixth time period can be selected from the friction signals within the target time period, which includes both the fifth and sixth time periods. The first friction signal corresponding to the end time of the fifth time period is subtracted from the first friction signal corresponding to the start time of the fifth time period to obtain a fifth difference. Similarly, the second friction signal corresponding to the end time of the sixth time period is subtracted from the second friction signal corresponding to the start time of the sixth time period to obtain a sixth difference. The average of the fifth and sixth differences is determined as the friction error. The friction error of the steering wheel is determined based on the friction signals of the steering wheel within the target time period to further verify whether the driver experiences steering wheel slippage.

[0090] Among them, the friction error satisfies:

[0091] E3 = (D5 + D6) / 2;

[0092] D5 = FS et,1 -FS st,1 ;

[0093] D6 = FS et,2 -FS st,2 ;

[0094] Where E3 represents friction error, D5 represents the fifth difference, D6 represents the sixth difference, and FS et,1 The first friction signal, FS, represents the end time of the fifth time interval. st,1 The first friction signal corresponding to the start time of the fifth time period, FS et,2 The second friction signal, FS, represents the end time of the sixth time interval. st,2 This represents the second friction signal corresponding to the start time of the sixth time period.

[0095] Optionally, friction signals from multiple time periods can be randomly selected from the friction signals within the target time period to determine the friction error.

[0096] For example, from the corner signals within the target time period, the friction signals corresponding to time period a, time period b, time period c, and time period d are randomly selected; then, based on the friction signals corresponding to time period a, the friction signal difference for time period a is determined; based on the friction signals corresponding to time period b, the friction signal difference for time period b is determined; based on the friction signals corresponding to time period c, the friction signal difference for time period c is determined; based on the friction signals corresponding to time period d, the friction signal difference for time period d is determined; and then, the average value among the friction signal differences for time period a, time period b, time period c, and time period d is determined as the friction error.

[0097] It should be noted that if the steering angle error is less than the third threshold, it indicates that the driver is still performing steering operations; if the torque error is greater than the fourth threshold, it indicates that there is a sudden change in torque, meaning the driver is experiencing steering wheel slippage; if the friction error is greater than the fifth threshold, it further confirms that the driver is experiencing steering wheel slippage. Furthermore, the steering angle signal, torque signal, and friction signal within the target time period are determined to be valid signals only if the steering angle error, torque error, and friction error all meet the judgment conditions; that is, the steering wheel needs to undergo torque compensation through the torque compensation system.

[0098] Optionally, if the steering angle error is greater than or equal to the third threshold, or the torque error is less than or equal to the fourth threshold, or the friction error is less than or equal to the fifth threshold, then the steering angle signal, friction signal, and torque signal within the target time period are determined to be invalid signals, meaning that the steering wheel does not need to be compensated for torque through the torque compensation system.

[0099] Step S203: Based on the magnitude of the compensation torque, perform torque compensation on the steering wheel according to the direction of the compensation torque.

[0100] Specifically, based on the magnitude of the compensation torque, the motor control module calculates the assist motor control current, and then controls the motor to perform torque compensation according to the direction of the compensation torque through the assist motor control current.

[0101] In this embodiment, the direction of the steering wheel compensation torque is determined by the steering wheel angle, speed, and torque signals within a target time period. The magnitude of the compensation torque is determined by the steering wheel angle, torque, and friction signals within the same time period. Then, based on the magnitude of the compensation torque, torque compensation is applied to the steering wheel according to its direction, assisting the driver in effective steering and braking under different conditions. Furthermore, the steering wheel angle, torque, and friction signals within the target time period can also be used to determine if the driver is still performing steering operations or if steering wheel slippage is present, indicating that torque compensation is needed. Adaptive compensation torque learning ensures the effectiveness and stability of driving steering, improving the driver's experience.

[0102] like Figure 6 As shown, Figure 6 This is a schematic diagram of a torque compensation device provided in an embodiment of this application. The torque compensation device includes an acquisition module 601 and a processing module 602. Detailed descriptions of each unit are as follows.

[0103] Acquisition module 601: used to acquire the steering wheel's angle signal, speed signal, torque signal, and friction signal within a target time period;

[0104] Processing module 602: used to determine the direction of the compensating torque of the steering wheel based on the steering angle signal, speed signal and torque signal, and to determine the magnitude of the compensating torque based on the steering angle signal, torque signal and friction signal.

[0105] Processing module 602: It is also used to perform torque compensation on the steering wheel based on the magnitude of the compensation torque and the direction of the compensation torque.

[0106] Optionally, the processing module 602 is also used to determine whether the angle signal, torque signal and friction signal are valid signals.

[0107] Optionally, the processing module 602 is further configured to determine the direction of the compensation torque as a first direction, which is outward, if the absolute value of the speed signal is greater than a first threshold, the product of the speed signal and the torque signal is greater than a second threshold, and the angle signal continues to increase within the target time period; and if the absolute value of the speed signal is less than or equal to the first threshold, or the product of the speed signal and the torque signal is less than or equal to the second threshold, or the angle signal does not continue to increase within the target time period, then determine the direction of the compensation torque as a second direction, which is inward.

[0108] Optionally, the processing module 602 is further configured to, if the direction of the compensation torque is a first direction, perform torque compensation on the steering wheel outward based on the magnitude of the compensation torque; and if the direction of the compensation torque is a second direction, perform torque compensation on the steering wheel inward based on the magnitude of the compensation torque.

[0109] Optionally, the acquisition module 601 is also used to acquire the feedback torque of the motor.

[0110] Optionally, the processing module 602 is also used to determine the first torque based on the angle signal, torque signal and friction signal; and input the first torque and feedback torque into the signal processing model to obtain the magnitude of the compensation torque.

[0111] Optionally, the processing module 602 is also used to determine a gain value based on the angle signal and the friction signal; and to determine a first torque based on the torque signal and the gain value.

[0112] Optionally, the processing module 602 is further configured to determine the angle error within the target time period based on the angle signal, the torque error within the target time period based on the torque signal, and the friction error within the target time period based on the friction signal; if the angle error is less than the third threshold, the torque error is greater than the fourth threshold, and the friction error is greater than the fifth threshold, then the angle signal, torque signal, and friction signal are determined to be valid signals.

[0113] Optionally, the processing module 602 is further configured to select a first corner signal within a first time period and a second corner signal within a second time period from the corner signals, wherein the target time period includes the first time period and the second time period; subtract the first corner signal corresponding to the start time of the first time period from the first corner signal corresponding to the end time of the first time period to obtain a first difference; subtract the second corner signal corresponding to the start time of the second time period from the second corner signal corresponding to the end time of the second time period to obtain a second difference; and determine the absolute value of the first difference and the average of the absolute values ​​of the second difference as the corner error.

[0114] Optionally, the processing module 602 is further configured to select a first torque signal within a third time period and a second torque signal within a fourth time period from the torque signals, wherein the target time period includes the third time period and the fourth time period; subtract the first torque signal corresponding to the start time of the third time period from the first torque signal corresponding to the end time of the third time period to obtain a third difference; subtract the second torque signal corresponding to the start time of the fourth time period from the second torque signal corresponding to the end time of the fourth time period to obtain a fourth difference; and determine the absolute value of the third difference and the absolute value of the fourth difference as the torque error.

[0115] Optionally, the processing module 602 is further configured to select a first friction signal within a fifth time period and a second friction signal within a sixth time period from the friction signals, wherein the target time period includes the fifth time period and the sixth time period; subtract the first friction signal corresponding to the start time of the fifth time period from the first friction signal corresponding to the end time of the fifth time period to obtain a fifth difference value; subtract the second friction signal corresponding to the start time of the sixth time period from the second friction signal corresponding to the end time of the sixth time period to obtain a sixth difference value; and determine the average value of the fifth difference value and the sixth difference value as the friction error.

[0116] It should be noted that the processing module 602 is used to execute the actions or steps performed by the electronic control unit 102 in the above method embodiment. The acquisition module 601 is used to execute the actions or steps performed by the signal input module 101 in the above method embodiment. The implementation of each module can also be referred to accordingly. Figure 2 The corresponding description of the method embodiment shown executes the methods and functions performed by the signal input module 101 and the electronic control unit 102 in the above embodiments.

[0117] like Figure 7 As shown, Figure 7 This is a schematic diagram of a torque compensation device provided in an embodiment of this application. The torque compensation device includes a processor 701, a memory 702, and a transceiver 703. The processor 701, memory 702, and transceiver 703 can communicate with each other via a communication bus 704 to transmit instructions and / or data signals. The memory 702 stores computer programs, and the processor 701 retrieves and runs the computer programs from the memory 702 to control the transceiver 703 to transmit and receive signals.

[0118] The aforementioned processor 701 can be used with Figure 6 Corresponding to the processing module 602, the processor 701 and the memory 702 can be combined into a processing device. The processor 701 is used to execute the program code stored in the memory 702 to achieve the above functions. In specific implementation, the memory 702 can be integrated into the processor 701 or independent of the processor 701.

[0119] The transceiver 703 described above can be used with Figure 6 The acquisition module 601 in the transceiver unit 703 can also be called a transceiver unit or transceiver module. The transceiver 703 may include a receiver (or receiver circuit) and a transmitter (or transmitter circuit). The receiver is used to receive signals, and the transmitter is used to send signals.

[0120] It should be understood that Figure 7 The torque compensation device shown can achieve Figure 2The method embodiments shown involve various processes of the torque compensation system. The operation and / or function of each module in the torque compensation device are respectively for implementing the corresponding processes in the above method embodiments. For details, please refer to the description in the above method embodiments; to avoid repetition, detailed descriptions are appropriately omitted here.

[0121] The processor 701 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary modules described in conjunction with the disclosure of this application. The processor 701 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, etc. The communication bus 704 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7The bus is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. The communication bus 704 is used to implement communication between these components. In this embodiment, the memory 702 may include volatile memory, such as nonvolatile random access memory (NVRAM), phase change RAM (PRAM), magnetoresistive RAM (MRAM), etc., and may also include non-volatile memory, such as at least one disk storage device, electrically erasable programmable read-only memory (EEPROM), flash memory devices, such as NOR flash memory or NAND flash memory, and semiconductor devices, such as solid-state disks (SSDs). Optionally, the memory 702 may also be at least one storage device located remotely from the aforementioned processor 701. Optionally, the memory 702 may also store a set of computer program code or configuration information. Optionally, the processor 701 can also execute programs stored in the memory 702. The transceiver 703 is used for communication of instructions or data with other components. The processor can cooperate with the memory and transceiver to execute any of the methods and functions of the torque compensation system in the above-described embodiments.

[0122] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: a computer program that, when run on a computer, causes the computer to perform... Figure 1 or Figure 2 The method of any one of the embodiments shown.

[0123] According to the method provided in the embodiments of this application, this application also provides a computer-readable medium storing a computer program, which, when run on a computer, causes the computer to perform... Figure 1 or Figure 2 The method of any one of the embodiments shown.

[0124] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The readable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., high-density digital video disc (DVD)), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0125] It should be understood that the "and / or" appearing in the embodiments of this application is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0126] It should be understood that in the embodiments of this application, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0127] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of this application. Any modifications, equivalent substitutions, or improvements made within the principles of this application should be included within the scope of protection of this application.

Claims

1. A torque compensation method, characterized in that, include: Acquire the steering wheel's angle signal, speed signal, torque signal, and friction signal within the target time period; Based on the angle signal, determine the angle error within the target time period; based on the torque signal, determine the torque error within the target time period; based on the friction signal, determine the friction error within the target time period. If the angle error is less than the third threshold, the torque error is greater than the fourth threshold, and the friction error is greater than the fifth threshold, then the angle signal, the torque signal, and the friction signal are determined to be valid signals. The direction of the compensating torque of the steering wheel is determined based on the steering angle signal, the rotation speed signal, and the torque signal; and the magnitude of the compensating torque is determined based on the steering angle signal, the torque signal, and the friction signal. Based on the magnitude of the compensation torque, torque compensation is applied to the steering wheel according to the direction of the compensation torque.

2. The method as described in claim 1, characterized in that, Determining the direction of the steering wheel's compensation torque based on the steering angle signal, the rotation speed signal, and the torque signal includes: If the absolute value of the rotational speed signal is greater than a first threshold, the product of the rotational speed signal and the torque signal is greater than a second threshold, and the angle signal continues to increase within the target time period, then the direction of the compensation torque is determined to be a first direction, which is outward. If the absolute value of the rotational speed signal is less than or equal to the first threshold, or the product of the rotational speed signal and the torque signal is less than or equal to the second threshold, or the angle signal does not continuously increase within the target time period, then the direction of the compensation torque is determined to be the second direction, which is inward.

3. The method as described in claim 2, characterized in that, The step of performing torque compensation on the steering wheel based on the magnitude of the compensation torque and in accordance with the direction of the compensation torque includes: If the direction of the compensation torque is the first direction, then based on the magnitude of the compensation torque, torque compensation is applied to the steering wheel outward; If the direction of the compensation torque is the second direction, then based on the magnitude of the compensation torque, torque compensation is applied to the steering wheel inward.

4. The method as described in claim 1, characterized in that, Determining the magnitude of the compensation torque based on the rotation angle signal, the torque signal, and the friction signal includes: Obtain the feedback torque of the motor; The first torque is determined based on the rotation angle signal, the torque signal, and the friction signal; The first torque and the feedback torque are input into the signal processing model to obtain the magnitude of the compensation torque.

5. The method as described in claim 4, characterized in that, Determining the first torque based on the rotation angle signal, the torque signal, and the friction signal includes: The gain value is determined based on the rotation angle signal and the friction signal; The first torque is determined based on the torque signal and the gain value.

6. The method as described in claim 1, characterized in that, The step of determining the angle error within the target time period based on the angle signal includes: Select a first corner signal within a first time period and a second corner signal within a second time period from the corner signals, wherein the target time period includes the first time period and the second time period; Subtract the first corner signal corresponding to the start time of the first time period from the first corner signal corresponding to the end time of the first time period to obtain a first difference; subtract the second corner signal corresponding to the start time of the second time period from the second corner signal corresponding to the end time of the second time period to obtain a second difference. The average of the absolute values ​​of the first difference and the second difference is determined as the turning error.

7. The method as described in claim 1, characterized in that, The step of determining the torque error within the target time period based on the torque signal includes: Select a first torque signal within a third time period and a second torque signal within a fourth time period from the torque signals, wherein the target time period includes the third time period and the fourth time period; Subtract the first torque signal corresponding to the start time of the third time period from the first torque signal corresponding to the end time of the third time period to obtain a third difference value; subtract the second torque signal corresponding to the start time of the fourth time period from the second torque signal corresponding to the end time of the fourth time period to obtain a fourth difference value. The average of the absolute values ​​of the third difference and the fourth difference is determined as the torque error.

8. The method as described in claim 1, characterized in that, The step of determining the friction error within the target time period based on the friction signal includes: Select a first friction signal within a fifth time period and a second friction signal within a sixth time period from the friction signals, wherein the target time period includes the fifth time period and the sixth time period; Subtract the first friction signal corresponding to the start time of the fifth time period from the first friction signal corresponding to the end time of the fifth time period to obtain the fifth difference value; subtract the second friction signal corresponding to the start time of the sixth time period from the second friction signal corresponding to the end time of the sixth time period to obtain the sixth difference value. The average of the fifth difference and the sixth difference is determined as the friction error.

9. A torque compensation device, characterized in that, The torque compensation device includes a processor and a memory, the memory being used to store a computer program, and the processor being used to call the computer program stored in the memory, so that the torque compensation device implements the method according to any one of claims 1-8.

10. A vehicle, characterized in that, The vehicle includes a torque compensation device for implementing the method of any one of claims 1-8.

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