A vehicle steering torque control method, system, device, and medium

Abstract

The application belongs to the technical field of automobiles, and specifically discloses a kind of automobile steering torque control method, including obtaining vehicle state, when vehicle is in preset steering working condition based on the vehicle state, the steering wheel steering angle rate, steering wheel steering angle, vehicle speed and conventional demand torque of the vehicle are obtained, the conventional demand torque is first corrected according to the steering wheel steering angle and the vehicle speed, and the first correction torque is obtained, the conventional demand torque is second corrected according to the steering wheel steering angle rate and the vehicle speed, and the second correction torque is obtained, the third correction torque is obtained based on the first correction torque and the second correction torque, when the third correction torque is in preset safety torque range, the third correction torque is optimized according to preset comfort constraint condition, and the steering control correction torque is obtained, so that the vehicle is steered based on the steering control correction torque. The application can significantly improve the stability of the vehicle during steering by dynamically identifying the steering angle and steering angle rate of the steering wheel in real time and accurately correcting the torque according to the vehicle speed. This dynamic adjustment can ensure that the vehicle can maintain a smooth driving state at various speeds and steering angles, thereby improving the safety and comfort of driving.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobiles, in particular to a vehicle steering torque control method, system, device and medium. BACKGROUND

[0002] New energy vehicles have received more and more attention due to their energy-saving and environmentally friendly advantages. During steering, the driver needs to constantly adjust the operation to maintain vehicle stability due to changes in vehicle dynamic characteristics. Traditional control methods may not respond quickly to small changes in the steering wheel, resulting in unstable vehicle steering or slow response. Existing technologies such as Mazda GVC can optimize vehicle posture by changing engine driving torque, but their response speed and accuracy are limited. The present application is characterized by accurately collecting the steering angle and steering angle rate and accurately and quickly controlling based on different vehicle speeds, thereby improving the natural feeling and responsiveness of driving.

[0003] Chinese patent CN117842181A discloses a method, system, device and medium for controlling vehicle steering, which proposes to determine whether to activate the target steering function according to the state information of the vehicle; in the case of activating the target steering function, determine the steering outside rear wheel and the steering inside rear wheel according to the steering of the steering wheel; determine the forward target torque of the front axle according to the front wheel speed, and determine the reverse target torque of the rear axle according to the steering inside rear wheel speed; control the front axle drive motor to output the forward target torque, and control the rear axle drive motor to output the reverse target torque, and brake the steering outside rear wheel through the brake system according to the steering outside rear wheel speed to assist the vehicle in steering. The purpose is to reduce the vehicle steering radius to reduce the steering difficulty of the vehicle in the small radius steering scene, but accurate and rapid control based on different vehicle speeds to improve the natural driving feeling is not possible for the driver to operate.

[0004] Chinese patent number CN117885806A discloses a torque compensation method and device based on steering wheel steering information, the method filters the current steering angle in the current steering wheel steering information at the current time to obtain a filtered steering angle; determines a steering angle symbol, a first steering angle speed and a first steering angle acceleration according to the filtered steering angle; determines target steering wheel steering information according to the steering angle symbol, the first steering angle speed and the first steering angle acceleration; wherein the target steering wheel steering information includes a target steering angle speed and a target steering angle acceleration; compensates the torque of the electronic hydraulic power steering system according to the target steering wheel steering information to obtain the torque compensation value of the electronic hydraulic power steering system. The present application improves the accuracy of the subsequent torque compensation value, thereby improving the torque compensation effect of the electronic hydraulic power steering system. But it cannot improve the natural driving feeling based on different vehicle speeds and cannot dynamically adjust the driving torque at different vehicle speeds.

[0005] Therefore, the applicant, in view of the above-mentioned defects, proposes a vehicle steering torque control method, system, device and medium. SUMMARY

[0006] In view of the above-mentioned defects of the prior art, the purpose of the present application is to provide a vehicle steering torque control method, system, device and medium, which can solve the problem that the prior art cannot quickly respond to the small changes of the steering wheel, leading to unstable or slow response of the vehicle steering, by actively changing the driving torque in advance during steering, realizing comprehensive control of the longitudinal acceleration, optimizing the four-wheel ground load, and realizing stable and easy-to-control driving performance for users during steering.

[0007] To achieve the above-mentioned purpose and other related purposes, the present application provides a vehicle steering torque control method, comprising:

[0008] obtaining the vehicle state;

[0009] when it is determined that the vehicle is in a preset steering working condition based on the vehicle state, obtaining the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed and the conventional demand torque of the vehicle;

[0010] firstly correcting the conventional demand torque according to the steering wheel steering angle and the vehicle speed to obtain a first corrected torque:

[0011] secondly correcting the conventional demand torque according to the steering wheel steering angle rate and the vehicle speed to obtain a second corrected torque;

[0012] Based on the first corrected torque and the second corrected torque, a third corrected torque is obtained, when the third corrected torque is within a preset safe torque range, the third corrected torque is optimized according to a preset comfort constraint condition to obtain a steering control corrected torque, so that the vehicle is steered based on the steering control corrected torque.

[0013] The above technical scheme has the advantages that the method dynamically adjusts the driving torque at different vehicle speeds by accurately collecting the steering angle and the steering angle rate, optimizes the longitudinal acceleration control of the vehicle, makes the vehicle more stable when steering, reduces the risk of vehicle out-of-control caused by steering, and thus improves the safety of driving.

[0014] Optionally, after obtaining the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the regular demand torque, the method further comprises:

[0015] When the vehicle speed is greater than or equal to a preset steering vehicle speed corresponding to the forward gear, the steering wheel steering angle is greater than or equal to a preset steering angle threshold, the steering wheel steering angle rate is greater than or equal to a preset steering angle rate threshold, and the regular demand torque is greater than or equal to a preset demand torque threshold, it is determined to perform first correction and second correction on the regular demand torque.

[0016] Optionally, when performing the first correction, the demand torque is preliminarily corrected according to the steering angle of the steering wheel:

[0017] Wherein, the steering angle corrected driver demand torque = BASE driver torque demand * x%;

[0018] x% = (two-dimensional calibratable Map based on vehicle speed & steering angle).

[0019] Optionally, when performing the second correction, the demand torque is preliminarily corrected according to the steering angle rate of the steering wheel:

[0020] Wherein, the steering angle rate corrected driver demand torque = BASE driver torque demand * Y%;

[0021] Y% = (one-dimensional calibratable curve value based on steering angle rate).

[0022] Optionally, the third corrected torque is obtained based on the first corrected torque and the second corrected torque, comprising:

[0023] A minimum operation is performed on the first corrected torque and the second corrected torque, and the corrected torque obtained by the minimum operation is taken as the third corrected torque.

[0024] Optionally, before acquiring the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the normal demand torque of the vehicle, the steering working condition is activated when the following conditions are met:

[0025] The vehicle is in a drivable state and has been shifted into forward gear;

[0026] The vehicle speed reaches a calibrated value;

[0027] At the same time, the steering wheel angle also needs to reach a preset calibrated value or the steering wheel angle rate is greater than a preset calibrated threshold value;

[0028] The driver's demand torque change range needs to be greater than a preset calibrated threshold value, and the driver's demand torque itself also needs to be greater than a preset calibrated threshold value.

[0029] Optionally, after the vehicle is steered based on the steering control correction torque, the method further comprises:

[0030] Acquiring exit module setting information;

[0031] When the exit module setting information matches preset exit information, exiting the automobile steering torque control.

[0032] Optionally, an automobile steering torque control system comprises:

[0033] An information acquisition module, configured to acquire the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the normal demand torque of the vehicle;

[0034] A first correction module, configured to correct the normal demand torque based on the steering wheel steering angle and the vehicle speed to obtain a first correction torque:

[0035] A second correction module, configured to correct the normal demand torque based on the steering wheel steering angle rate and the vehicle speed to obtain a second correction torque;

[0036] A steering control module, configured to obtain a third correction torque based on the first correction torque and the second correction torque, and when the third correction torque is within a preset safe torque range, optimize the third correction torque according to a preset comfort constraint condition to obtain a steering control correction torque, so that the vehicle is steered based on the steering control correction torque.

[0037] Optionally, an electronic device comprises a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the above method.

[0038] Optionally, a computer readable storage medium stores a computer program executable by an electronic device, and when the computer program is executed on the electronic device, the electronic device is caused to perform the steps of the above method.

[0039] As described above, the automobile steering torque control method, system, device and medium proposed by the present application have the following beneficial effects:

[0040] (1) The method dynamically adjusts the driving torque at different vehicle speeds by accurately collecting the steering angle and the steering angle change rate, optimizes the longitudinal acceleration control of the vehicle, makes the vehicle more stable when steering, reduces the risk of vehicle out of control caused by steering, and improves the safety of driving.

[0041] (2) Compared with the traditional torque control method, the technology can respond to the torque change caused by steering in a very short time, the control force is more fine and accurate, unnecessary acceleration or deceleration in the driving process is avoided, and the driving experience is more natural and smooth.

[0042] (3) By accurately controlling the torque, unnecessary power waste is reduced, energy utilization efficiency is improved, and the cruising range of new energy vehicles is improved. BRIEF DESCRIPTION OF DRAWINGS

[0043] Fig. 1 The electrical diagram of the dynamic torque control system based on the steering angle in an embodiment of the present application is shown;

[0044] Fig. 2 The architecture diagram of the dynamic torque control system based on the steering angle in an embodiment of the present application is shown;

[0045] Fig. 3 The function diagram of the dynamic torque control system based on the steering angle in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] The embodiments of the present application will be described below with reference to the accompanying drawings and preferred embodiments, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure herein. The present application can also be implemented or applied by different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustration of the present application, and are not intended to limit the protection scope of the present application.

[0047] It is to be noted that the drawings provided in the following embodiments only schematically illustrate the basic concepts of the present application, and only the components related to the present application are shown in the drawings, rather than being drawn according to the number, shape and size of the components in actual implementation. The actual implementation of each component may be a random change, and the component layout pattern may be more complex.

[0048] As shown in Figs. 1 to 3 The present application provides a vehicle steering torque control method, system, device and medium, which are applied to the field of vehicles.

[0049] In one exemplary embodiment, a vehicle steering torque control method includes:

[0050] Obtaining a vehicle state;

[0051] When it is determined that the vehicle is in a preset steering working condition based on the vehicle state, obtaining a steering wheel steering angle rate, a steering wheel steering angle, a vehicle speed, and a regular demand torque of the vehicle;

[0052] According to the steering wheel steering angle and the vehicle speed, the regular demand torque is first corrected to obtain a first corrected torque:

[0053] According to the steering wheel steering angle rate and the vehicle speed, the regular demand torque is second corrected to obtain a second corrected torque;

[0054] Based on the first corrected torque and the second corrected torque, a third corrected torque is obtained. When the third corrected torque is within a preset safe torque range, the third corrected torque is optimized according to a preset comfort constraint condition to obtain a steering control corrected torque, so that the vehicle steers based on the steering control corrected torque.

[0055] The above technical solution has the advantage that by dynamically identifying the steering angle and the steering angle rate of the steering wheel in real time and accurately correcting the torque according to the vehicle speed, the stability of the vehicle during steering can be significantly improved. This dynamic adjustment can ensure that the vehicle maintains a smooth driving state at various speeds and steering angles, thereby improving the safety and comfort of driving.

[0056] For example, after obtaining the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the regular demand torque of the vehicle, the method further includes:

[0057] When the vehicle speed is greater than or equal to a preset steering speed corresponding to the forward gear, the steering wheel steering angle is greater than or equal to a preset steering angle threshold, the steering wheel steering angle rate is greater than or equal to a preset steering angle rate threshold, and the regular demand torque is greater than or equal to a preset demand torque threshold, it is determined that the regular demand torque is subjected to first correction and second correction.

[0058] Exemplarily, after the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the regular demand torque of the vehicle are acquired, the method further includes:

[0059] When the vehicle speed is greater than or equal to a preset steering speed corresponding to the forward gear, the steering wheel steering angle is greater than or equal to a preset steering angle threshold, the steering wheel steering angle rate is greater than or equal to a preset steering angle rate threshold, and the regular demand torque is greater than or equal to a preset demand torque threshold, it is determined that the regular demand torque is subjected to first correction and second correction.

[0060] Exemplarily, when the first correction is performed, the demand torque is preliminarily corrected according to the steering angle of the steering wheel:

[0061] In the formula, the steering angle corrected driver demand torque = BASE driver torque demand * x %.

[0062] x % = (two-dimensional calibratable Map based on vehicle speed and steering angle).

[0063] In this formula, the BASE driver torque demand refers to the torque value requested by the driver through the accelerator pedal or other input devices without any specific condition (such as a specific vehicle speed or steering angle) affecting. This value represents the basic power demand of the driver without considering the current state of the vehicle (such as acceleration, deceleration, turning, etc.).

[0064] Then, by introducing a two-dimensional calibratable Map (mapping table) based on vehicle speed and steering angle, the system can adjust this basic torque demand according to the current state of the vehicle. The Map contains corresponding x % (adjustment factor) for different vehicle speed and steering angle combinations for calculating the corrected driver demand torque.

[0065] Exemplarily, when the second correction is performed, the demand torque is preliminarily corrected according to the steering angle rate of the steering wheel:

[0066] In the formula, the steering angle rate corrected driver demand torque = BASE driver torque demand * Y %.

[0067] Y % = (one-dimensional calibratable curve value based on steering angle rate of change).

[0068] It is also noted that the "curve value" refers to a value obtained through calibration or adjustment, which is determined based on the steering angle rate of change (i.e., steering angle rate). This "curve" is typically a one-dimensional lookup table (LUT) or a mathematical function that defines the correction factor for Y% at different steering angle rates of change.

[0069] Specifically, this "curve" or lookup table outputs a corresponding Y% value based on the input steering angle rate of change (which can be a range or a specific value) through interpolation or direct lookup. This Y% value is then used to modify the original driver torque demand (BASE driver torque demand) to reflect the different torque output that the driver may require at different steering speeds.

[0070] For example, the third modified torque is obtained based on the first modified torque and the second modified torque, including:

[0071] The minimum operation is performed on the first modified torque and the second modified torque, and the modified torque obtained by the minimum operation is taken as the third modified torque;

[0072] Further, after obtaining the first modified torque and the second modified torque, the VCU performs a minimum operation to calculate the driving demand torque, and finally calculates the steering control correction torque required in the steering condition based on the safety upper and lower limit values that can be calibrated when the function is activated according to the functional safety.

[0073] It is also noted that after obtaining the first modified torque and the second modified torque, the VCU performs a minimum operation, i.e., selects the smaller one of the two as the final modified torque. The purpose of this operation is to avoid the adverse effects of excessive correction torque on vehicle driving.

[0074] Further, after determining the final modified torque, the VCU also compares the safety upper and lower limit values that can be calibrated when the function is activated based on the requirements of functional safety. This is to ensure that the value of the modified torque fluctuates within a safe range, preventing safety accidents caused by excessive or insufficient modified torque;

[0075] Finally, the VCU calculates the steering control correction torque required in the steering condition based on the modified torque obtained through the above steps and the original driving demand torque. This correction torque will be used to control the steering system of the vehicle to achieve the expected steering behavior.

[0076] For example, the steering control correction torque is calculated based on the steering angle and the steering angle rate, and the initial value is the original demand rough calibration value under the function activation condition, which needs to consider the function safety under the function activation;

[0077] Therefore, a fixed upper limit value and a fixed lower limit value are set, a safe and acceptable limit value is calibrated according to the actual vehicle performance, and the driver demand torque output value is taken as the corresponding upper and lower limit values when the limit value is exceeded.

[0078] For example, the steering condition is activated when the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the conventional demand torque of the vehicle are obtained, and the following conditions are met:

[0079] The vehicle is in a drivable state and has been engaged into forward gear;

[0080] The vehicle speed reaches a calibrated value;

[0081] At the same time, the steering wheel angle also needs to reach a preset calibration value or the steering wheel angle rate is greater than a preset calibration threshold;

[0082] The driver's demand torque change range needs to be greater than a preset calibration threshold, and the driver's demand torque itself also needs to be greater than a preset calibration threshold.

[0083] It should be further noted that the vehicle speed needs to reach a preset calibration value, and the steering wheel angle also needs to reach a preset calibration value or the steering wheel angle rate is greater than a preset calibration threshold. These conditions ensure that the torque correction function can intervene in time when the vehicle is driving, especially when steering operation is performed.

[0084] The driver's demand torque change range needs to be greater than a preset calibration threshold, and the driver's demand torque itself also needs to be greater than a preset calibration threshold.

[0085] The determination of the calibration value is personalized according to the characteristics of the vehicle model and the user's demand.

[0086] It should be further noted that the driver's demand torque change range needs to be greater than a preset calibration threshold, and the driver's demand torque itself also needs to be greater than a preset calibration threshold. This is to determine the driver's driving intention and provide additional torque support or correction when needed.

[0087] It should be further noted that once the above conditions are all met, the torque correction function is activated, and the vehicle is in the steering working condition. The function mainly identifies the steering angle and its change rate in real time, and then adjusts the driver's demand torque according to the strategy. The adjustment is realized through the vehicle controller (VCU), which will comprehensively consider the driver's operation (such as the accelerator pedal, brake pedal, shift switch, steering wheel, etc.) and other safety torque requests from the vehicle end, and finally calculate the torque request of the new energy drive motor.

[0088] For example, the vehicle steers based on the steering control correction torque, and then further includes:

[0089] Obtaining exit module setting information;

[0090] When the exit module setting information matches the preset exit information, exiting the automobile steering torque control.

[0091] It should be further noted that the exit module setting information includes:

[0092] There is a brake signal setting. When the vehicle receives a brake signal, it indicates that the driver is performing a brake operation. At this time, the torque correction function needs to be exited immediately to ensure that the vehicle can decelerate or stop according to the driver's intention;

[0093] There is a TCS (traction control system) activation setting. The TCS system is used to prevent wheel slip when the vehicle starts or accelerates. When TCS is activated, it means that there is a risk of wheel slip. At this time, the torque correction function needs to be exited to avoid adverse effects on vehicle stability;

[0094] There is an ABS (anti-lock braking system) activation setting. The ABS system is used to prevent wheel lock when emergency braking to ensure the controllability of the vehicle's direction. When ABS is activated, it indicates that the vehicle is performing emergency braking. At this time, the torque correction function needs to be exited to ensure that the braking effect is not disturbed;

[0095] There is a VDC (vehicle dynamic control system) activation setting;

[0096] There is an ADBF (active differential braking system) activation setting;

[0097] There is an ESP (electronic stability program) activation setting;

[0098] There is an AEB (automatic emergency braking system) activation setting;

[0099] There is an ADAS (advanced driver assistance system) activation setting;

[0100] VDC, ADBF, ESP, AEB, ADAS are all designed to improve the safety and stability of the vehicle. When any of them is activated, it indicates that the vehicle may be in an unstable state or there is a safety risk, at which time the torque correction function needs to be exited to avoid further impact on vehicle stability.

[0101] Further, if the threshold of steering angle or driver demand torque is lower than the preset activation condition, the torque correction function will also be automatically exited. This is to ensure that torque correction is only performed when needed, avoiding unnecessary intervention.

[0102] It should also be noted that the system has clear activation and exit conditions, as well as steering correction torque calculation and filtering models, which ensure the stability and reliability of the system under different working conditions.

[0103] Additionally, it also includes an intelligent detection function that can safely detect the longitudinal acceleration of the vehicle under steering conditions and make timely corrections.

[0104] Additionally, steering torque filtering is achieved through a filtering model to ensure functionality. After filtering, the steering torque is converted to the final corrected driver demand torque, which is then converted to the vehicle end demand torque, taking into account the vehicle safety arbitration, and then to the motor end demand torque gradient control, which is finally arbitrated to output the motor torque request based on the steering angle steering condition. Dynamic real-time correction of longitudinal acceleration ensures precise control of longitudinal acceleration stability under steering conditions.

[0105] Additionally, a vehicle steering torque control system is disclosed, comprising:

[0106] An information acquisition module for acquiring the steering angle rate of the steering wheel, the steering angle of the steering wheel, the vehicle speed, and the regular demand torque of the vehicle;

[0107] A first correction module for first correcting the regular demand torque based on the steering angle of the steering wheel and the vehicle speed to obtain a first corrected torque:

[0108] A second correction module for second correcting the regular demand torque based on the steering angle rate of the steering wheel and the vehicle speed to obtain a second corrected torque;

[0109] A steering control module for obtaining a third corrected torque based on the first corrected torque and the second corrected torque, and when the third corrected torque is within a preset safe torque range, optimizing the third corrected torque according to a preset comfort constraint condition to obtain a steering control corrected torque, so that the vehicle steers based on the steering control corrected torque.

[0110] An electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; the memory stores a computer program, when the computer program is executed by the processor, the processor executes the steps of the above method.

[0111] An exemplary computer readable storage medium stores a computer program executable by an electronic device, when the computer program runs on the electronic device, the electronic device executes the steps of the above method.

[0112] An exemplary vehicle is also disclosed, specifically comprising:

[0113] An electronic device for implementing the above method;

[0114] A processor, the processor runs a program, when the program runs, the steps of the above method are executed for data output from the electronic device;

[0115] A storage medium for storing a program, when the program runs, the steps of the above method are executed for data output from the electronic device.

[0116] In summary, the automobile steering torque control method has the following advantages:

[0117] (1) The method dynamically adjusts the driving torque at different vehicle speeds by accurately collecting the steering angle and the steering angle change rate, optimizes the longitudinal acceleration control of the vehicle, makes the vehicle more stable when steering, reduces the risk of vehicle out of control caused by steering, and improves the safety of driving.

[0118] (2) Compared with the traditional torque control method, the technology can respond to the torque change caused by steering in a very short time, the control force is more accurate and accurate, unnecessary acceleration or deceleration is avoided during driving, and the driving experience is more natural and smooth.

[0119] (3) By accurately controlling the torque, unnecessary power waste is reduced, energy utilization efficiency is improved, and the cruising range of new energy vehicles is improved.

[0120] The above embodiments are only illustrative of the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea disclosed by the present application shall be covered by the claims of the present application.

[0121] The above embodiments are only the preferred embodiments of the present application for fully illustrating the present application, and the protection scope of the present application is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art based on the present application are within the protection scope of the present application.

Claims

1. A method of controlling steering torque of an automobile, characterized by, The method comprises the following steps: acquiring a vehicle state; when it is determined, based on the vehicle state, that the vehicle is in a preset steering working condition, acquiring a steering wheel steering angle rate, a steering wheel steering angle, a vehicle speed, and a regular demand torque of the vehicle; firstly correcting the regular demand torque according to the steering wheel steering angle and the vehicle speed to obtain a first corrected torque; secondly correcting the regular demand torque according to the steering wheel steering angle rate and the vehicle speed to obtain a second corrected torque; obtaining a third corrected torque based on the first corrected torque and the second corrected torque, and when the third corrected torque is within a preset safe torque range, optimizing the third corrected torque according to a preset comfort constraint condition to obtain a steering control corrected torque, so that the vehicle steers based on the steering control corrected torque.

2. The method of claim 1, wherein, After the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the regular demand torque of the vehicle are acquired, the method further comprises the following steps: when the vehicle speed is greater than or equal to a preset steering vehicle speed corresponding to a forward gear, the steering wheel steering angle is greater than or equal to a preset steering angle threshold value, the steering wheel steering angle rate is greater than or equal to a preset steering angle rate threshold value, and the regular demand torque is greater than or equal to a preset demand torque threshold value, it is determined that the first correction and the second correction are performed on the regular demand torque.

3. The method of claim 2, wherein: When the first correction is performed, the demand torque is preliminarily corrected according to the steering angle of the steering wheel: wherein the steering angle corrected driver demand torque = BASE driver torque demand * x %; x % = (two-dimensional calibratable map based on vehicle speed & steering angle).

4. The method of claim 3, wherein: When the second correction is performed, the demand torque is preliminarily corrected according to the steering angle rate of the steering wheel: wherein the steering angle rate corrected driver demand torque = BASE driver torque demand * Y %; Y % = (one-dimensional calibratable curve value based on steering angle change rate).

5. The method of claim 1, wherein: The third corrected torque is obtained based on the first corrected torque and the second corrected torque, which comprises the following steps: a minimum operation is performed on the first corrected torque and the second corrected torque, and the corrected torque obtained by the minimum operation is taken as the third corrected torque.

6. The method of claim 5, wherein: The steering working condition is activated when the following conditions are met before the steering wheel steering angle rate, the steering wheel steering angle, the vehicle speed, and the regular demand torque of the vehicle are acquired: the vehicle is in a drivable state and has been shifted into a forward gear; the vehicle speed reaches a calibration value; the steering wheel steering angle also needs to reach a preset calibration value or the steering wheel steering angle rate is greater than a preset calibration threshold value; the demand torque change range of the driver needs to be greater than a preset calibration threshold value, and the demand torque of the driver itself also needs to be greater than a preset calibration threshold value.

7. The method of claim 1, wherein, After the vehicle steers based on the steering control corrected torque, the method further comprises the following steps: acquiring exit module setting information; when the exit module setting information matches preset exit information, exiting the automobile steering torque control.

8. An automotive steering torque control system characterized by comprising: The method comprises the following steps: an information acquisition module is configured to acquire a steering wheel steering angle rate, a steering wheel steering angle, a vehicle speed, and a regular demand torque of a vehicle; The first correction module is configured to correct the regular demand torque according to the steering wheel steering angle and the vehicle speed to obtain a first corrected torque. The second correction module is configured to correct the regular demand torque according to the steering wheel steering angle rate and the vehicle speed to obtain a second corrected torque. The steering control module is configured to obtain a third corrected torque based on the first corrected torque and the second corrected torque, and when the third corrected torque is within a preset safe torque range, optimize the third corrected torque according to a preset comfort constraint condition to obtain a steering control corrected torque, so that the vehicle is steered based on the steering control corrected torque.

9. An electronic device, comprising: The electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are in communication with each other through the communication bus; the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the method in any one of claims 1 to 7. The computer program stored in the memory can be executed by the electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the method in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: ​

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