Torque data processing method and device, equipment and storage medium
By acquiring and adjusting the difference between the historical compensation data of the torque sensor and the current torque data, the problem of difficult to accurately calibrate the zero position deviation of the torque sensor is solved, and efficient torque data adjustment is achieved, ensuring driving safety and comfort.
Patent Information
- Application Number
- CN202310795262.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-06-30
- Publication Date
- 2024-12-31
AI Technical Summary
In electric power steering systems, the zero-position deviation of the torque sensor is difficult to accurately calibrate, resulting in asymmetric steering forces, affecting driving safety, and the existing correction methods are cumbersome and complex and inefficient.
By obtaining the difference between the historical compensation data and the current steering wheel torque data, adjust the steering wheel torque data, and use the torque data during historical shutdown to perform torque compensation until the difference meets the preset conditions, and automatically adjusts the zero-position offset.
It improves the efficiency of adjusting the steering wheel torque data, reduces the complexity of zero-position offset, ensures symmetry of steering force, and improves driving safety and comfort.
Smart Images
Figure CN119218291A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of automobile steering technology, and in particular to a torque data processing method, device, equipment and storage medium. Background Art
[0002] In the electric power steering system, the torque sensor is one of the indispensable components. The ECU (Electronic Control Unit) needs to obtain the torque value applied by the driver on the steering wheel through the torque sensor. After the EPS (Electric Power Steering) assembly is completed, the torque sensor zero position needs to be calibrated. Most manufacturers completely rely on calibration to ensure the accuracy of the zero position, but zero position offset is inevitable during the offline calibration process. If the offset is too large, it will cause asymmetric steering force, which will seriously affect driving safety.
[0003] In the prior art, the zero-position offset of the torque sensor is corrected during the driving process by counting and statistically analyzing the left and right positions of the steering wheel angle of zero degrees respectively, and simultaneously recording the torque values output by the torque sensor corresponding to the left and right positions of the steering wheel angle of zero degrees at the current moment; and calculating the torque deviation value by using an average value algorithm for the statistical data. The above method makes the operation of reducing the zero-position offset more cumbersome and complicated, and the efficiency is not high. Summary of the invention
[0004] In order to solve at least one of the technical problems mentioned above, the present application proposes a torque data processing method, device, equipment and storage medium.
[0005] According to one aspect of the present application, a torque data processing method is disclosed, the method comprising:
[0006] When the vehicle is started at the current time, the first historical compensation data of the vehicle and the first steering wheel torque data of the vehicle at the current time are obtained; the first historical compensation data is generated based on the third historical compensation data when the vehicle is turned off at the second historical time; the third historical compensation data is generated by performing torque compensation on the second historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time; the second historical compensation data is the historical compensation data generated when the vehicle is turned off at the first historical time; the first historical time is earlier than the second historical time;
[0007] The steering wheel torque data of the vehicle is adjusted based on a difference between the first steering wheel torque data and the first historical compensation data.
[0008] In some possible implementations, the first historical compensation data generating method includes:
[0009] determining the second historical compensation data generated when the vehicle is turned off at the first historical time as current historical compensation data;
[0010] performing torque compensation on the current historical compensation data and historical steering wheel torque data acquired when the vehicle is turned off at the second historical time, to obtain the third historical compensation data; the first historical time is earlier than the second historical time;
[0011] calculating a difference between the third historical compensation data and historical steering wheel torque data acquired when the vehicle is turned off at the second historical time;
[0012] When the difference does not meet the preset condition, re-using the third historical compensation data as the current historical compensation data;
[0013] Repeating the operations of performing torque compensation on the current historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time to obtain third historical compensation data, to calculating the difference between the third historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time, until the difference meets the preset condition;
[0014] The third historical compensation data corresponding to the difference satisfying the preset condition is used as the first historical compensation data.
[0015] In some possible implementations, the method further includes:
[0016] Obtaining a first preset generation time corresponding to the first historical compensation data;
[0017] If the difference value does not satisfy the preset condition within the first preset generation time, the third historical compensation data generated at the first target time point is used as the first historical compensation data, and the first target time point is the end time point of the first preset generation time.
[0018] In some possible implementations, performing torque compensation on the current historical compensation data and the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time to obtain third historical compensation data includes:
[0019] filtering the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time to obtain filtered historical steering wheel torque data;
[0020] Torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data.
[0021] In some possible implementations, performing torque compensation on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data includes:
[0022] Obtaining a preset time constant and a preset time period;
[0023] Calculating the product of the filtered historical steering wheel torque data and the preset time period, and calculating the ratio of the product to the preset time constant to obtain target torque data;
[0024] The sum of the target torque data and the current historical compensation data is calculated to obtain the third historical compensation data.
[0025] In some possible implementations, filtering the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time to obtain the filtered historical steering wheel torque data includes:
[0026] When the vehicle is turned off at the second historical time, acquiring historical steering wheel torque data, historical steering wheel torque fluctuation data, historical steering wheel angle change data, and historical vehicle status data of the vehicle;
[0027] When the vehicle satisfies the first condition, the second condition, the third condition, the fourth condition and the fifth condition, filtering the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time to obtain the filtered historical steering wheel torque data;
[0028] Among them, the first condition is that the historical steering wheel torque data is less than or equal to the preset steering wheel torque threshold, the second condition is that the historical steering wheel torque fluctuation data is less than or equal to the preset steering wheel torque fluctuation threshold, the third condition is that the historical steering wheel angle change data is less than or equal to the preset steering wheel angle change threshold, the fourth condition is that the historical vehicle status data indicates that the vehicle is in a locked state, and the fifth condition is that the duration of the first condition, the second condition, the third condition and the fourth condition simultaneously satisfies the first preset time threshold.
[0029] In some possible implementations, the method further includes:
[0030] Obtaining a shutdown time when the vehicle is shut down at the second historical time;
[0031] When the ignition off time is greater than or equal to a second preset time threshold and the vehicle does not satisfy at least one of the first condition, the second condition, the third condition, the fourth condition and the fifth condition, the operation of filtering the acquired historical steering wheel torque data to obtain the filtered historical steering wheel torque data and performing torque compensation on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data is not performed.
[0032] In some possible implementations, performing torque compensation on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data includes:
[0033] When the filtered historical steering wheel torque data is not zero, it is determined that the vehicle has a zero offset, and torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data.
[0034] According to another aspect of the present application, a torque data processing device is also disclosed, the device comprising:
[0035] A data acquisition module, for acquiring, when the vehicle is started at a current time, first historical compensation data of the vehicle and first steering wheel torque data of the vehicle at the current time; the first historical compensation data is generated based on third historical compensation data when the vehicle is turned off at a second historical time; the third historical compensation data is generated by performing torque compensation on the second historical compensation data and historical steering wheel torque data acquired when the vehicle is turned off at the second historical time; the second historical compensation data is historical compensation data generated when the vehicle is turned off at a first historical time; the first historical time is earlier than the second historical time;
[0036] A data adjustment module is used to adjust the steering wheel torque data of the vehicle based on the difference between the first steering wheel torque data and the first historical compensation data.
[0037] According to another aspect of the present application, an electronic device is also disclosed, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the torque data processing method described above.
[0038] According to another aspect of the present application, a computer-readable storage medium is also disclosed, in which at least one instruction, at least one program, a code set or an instruction set is stored. The at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the torque data processing method described above.
[0039] Due to the above technical solution, this application has the following beneficial effects:
[0040] The present application obtains first historical compensation data, calculates the difference between the first steering wheel torque data and the first historical compensation data, adjusts the steering wheel torque data of the vehicle, and obtains corrected steering wheel torque data, thereby improving the efficiency of adjusting the steering wheel torque data of the vehicle and reducing the complexity of the operation of reducing the zero offset of the vehicle's torque sensor, thereby making the vehicle's steering force symmetrical and ensuring the driver's driving safety and comfort. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0042] Figure 1 It is a flowchart of a torque data processing method provided in an embodiment of the present application;
[0043] Figure 2 is a flowchart of a first historical compensation data generating method provided in an embodiment of the present application;
[0044] Figure 3 It is a schematic diagram of the structure of vehicle acquisition data provided by an embodiment of the present application;
[0045] Figure 4 is a flow chart of another torque data processing method provided in an embodiment of the present application;
[0046] Figure 5 It is a structural block diagram of a torque data processing device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0047] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.
[0048] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.
[0049] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.
[0050] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.
[0051] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.
[0052] In addition, in order to better illustrate the present application, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.
[0053] Figure 1 is a flow chart of a torque data processing method provided in an embodiment of the present application; Figure 1 As shown, the method includes:
[0054] Step S101: when the vehicle is started at the current time, obtain the first historical compensation data of the vehicle and the first steering wheel torque data of the vehicle at the current time; the first historical compensation data is generated based on the third historical compensation data when the vehicle is turned off at the second historical time; the third historical compensation data is generated by performing torque compensation on the second historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time; the second historical compensation data is the historical compensation data generated when the vehicle is turned off at the first historical time; the first historical time is earlier than the second historical time.
[0055] In the embodiment of the present application, due to the zero-position offset of the vehicle torque sensor, the vehicle steering force will be asymmetric, which will seriously affect driving safety. Therefore, when the vehicle is currently started, the first steering wheel torque data of the vehicle at the current time and the first historical compensation data of the vehicle are obtained to complete the compensation for the zero-position offset.
[0056] In the embodiment of the present application, the first historical time is earlier than the second historical time, the second historical time is the time when the vehicle was last turned off relative to the current time, and the first historical time is the time when the vehicle was last turned off relative to the second historical time, that is, the time when the vehicle was last turned off relative to the current time. The second historical compensation data is obtained by performing torque compensation when the vehicle is turned off at the first historical time based on the historical steering wheel torque data obtained when the vehicle is turned off at the first historical time and the current historical compensation data obtained when the vehicle is turned off at the first historical time, and is stored in the storage device. The current historical compensation data obtained when the vehicle is turned off at the first historical time is the compensation data stored in the storage device relative to the last time the vehicle was turned off at the first historical time. The third historical compensation data is obtained by performing torque compensation when the vehicle is turned off at the second historical time based on the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time and the second historical compensation data as the current compensation data when the vehicle is turned off at the second historical time. The first historical compensation data is generated based on the third historical compensation data when the vehicle is turned off at the second historical time, and the difference between the third historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time is calculated, and the third historical compensation data corresponding to the difference when the difference meets the preset condition is stored in the storage device as the first historical compensation data. When the vehicle is started at the current time, the first steering wheel torque data at the current time is obtained through the torque sensor and the first historical compensation data is obtained from the storage device, and the steering wheel torque data of the vehicle is adjusted.
[0057] Step S102: Adjust the steering wheel torque data of the vehicle based on the difference between the first steering wheel torque data and the first historical compensation data.
[0058] In an embodiment of the present application, when the vehicle is currently started, the steering wheel torque data of the vehicle is adjusted by subtracting the first historical compensation data from the first steering wheel torque data, so that the zero position offset of the vehicle's torque sensor is reduced, and the corrected steering wheel torque data is obtained, thereby ensuring the driver's driving safety and comfort.
[0059] Figure 2 is a flow chart of a first historical compensation data generating method provided in an embodiment of the present application; Figure 2 As shown, the method includes:
[0060] Step S201: Determine the second historical compensation data generated when the vehicle is turned off at the first historical time as the current historical compensation data.
[0061] In an embodiment of the present application, the historical compensation data generated when the vehicle is turned off at a first historical time is the second historical compensation data, the second historical compensation data is determined as the current historical compensation data, and the current historical compensation data is used to determine the first historical compensation data.
[0062] In an embodiment of the present application, the second historical compensation data is obtained by performing torque compensation when the vehicle is shut down at the first historical time based on the historical steering wheel torque data obtained when the vehicle is shut down at the first historical time and the current historical compensation data obtained when the vehicle is shut down at the first historical time, and is stored in a storage device. The current historical compensation data obtained when the vehicle is shut down at the first historical time is the compensation data determined and stored in the storage device relative to the last time the vehicle was shut down at the first historical time.
[0063] Step S202: performing torque compensation on the current historical compensation data and the historical steering wheel torque data obtained when the vehicle was turned off at the second historical time, to obtain third historical compensation data; the first historical time is earlier than the second historical time.
[0064] In an embodiment of the present application, when the vehicle is turned off at the second historical time, historical steering wheel torque data is obtained, and torque compensation is performed on the historical steering wheel torque data and the current historical compensation data to obtain third historical compensation data. The third historical compensation data is used to compensate for the zero position offset of the torque sensor, thereby reducing the zero position offset of the torque sensor.
[0065] In an embodiment of the present application, the first historical time is earlier than the second historical time. It can be understood that the third historical compensation data obtained at the second historical time is determined based on the current historical compensation data determined at the first historical time. The current historical compensation data determined at the first historical time is compensation data determined at the last engine shutdown close to the second historical time relative to the second historical time.
[0066] In an optional embodiment, torque compensation is performed on the current historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time to obtain third historical compensation data, including:
[0067] filtering the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time to obtain filtered historical steering wheel torque data;
[0068] Torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain third historical compensation data.
[0069] In an embodiment of the present application, in order to improve the accuracy of determining the third historical compensation data, the historical steering wheel torque data that is large due to other interferences is excluded. Exemplarily, other interferences may be the vibration of the engine when the vehicle is turned off, the noise of the torque sensor, etc. Therefore, the historical steering wheel torque data is filtered, the sensor noise is suppressed, and the interference is eliminated to obtain the filtered historical steering wheel torque data. Torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data. Exemplarily, the historical steering wheel torque data is passed through a first-order low-pass filter, and the steering wheel torque data is filtered to obtain the filtered historical steering wheel torque data. The formula is as follows:
[0070] Tq(n)=(Raw_Tq(n)-Tq(n-1))*Filter_Coeff+Tq(n-1)
[0071] Among them, Tq(n) is the historical steering wheel torque value after filtering; Raw_Tq(n) is the historical steering wheel torque data before filtering, that is, the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time; Tq(n-1) is the steering wheel torque value after the last filtering, that is, the steering wheel torque data completed after filtering after passing through a first-order low-pass filter when the vehicle is turned off at the first historical time; Filter_Coeff is the filter coefficient.
[0072] In an optional embodiment, filtering the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time to obtain the filtered historical steering wheel torque data includes:
[0073] When the vehicle is turned off at the second historical time, obtaining historical steering wheel torque data, historical steering wheel torque fluctuation data, historical steering wheel angle change data and historical vehicle status data of the vehicle;
[0074] When the vehicle satisfies the first condition, the second condition, the third condition, the fourth condition and the fifth condition, filtering the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time to obtain filtered historical steering wheel torque data;
[0075] Among them, the first condition is that the historical steering wheel torque data is less than or equal to the preset steering wheel torque threshold, the second condition is that the historical steering wheel torque fluctuation data is less than or equal to the preset steering wheel torque fluctuation threshold, the third condition is that the historical steering wheel angle change data is less than or equal to the preset steering wheel angle change threshold, the fourth condition is that the historical vehicle status data indicates that the vehicle is in a locked state, and the fifth condition is that the duration of the first condition, the second condition, the third condition and the fourth condition simultaneously satisfies the first preset time threshold.
[0076] In an embodiment of the present application, whether to filter the historical steering wheel torque data requires that the vehicle meets conditions. When the vehicle meets the first condition, the second condition, the third condition, the fourth condition and the fifth condition, the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time is filtered to obtain filtered historical steering wheel torque data; wherein, the first condition is that the historical steering wheel torque data is less than or equal to a preset steering wheel torque threshold, the second condition is that the historical steering wheel torque fluctuation data is less than or equal to the preset steering wheel torque fluctuation threshold, the third condition is that the historical steering wheel angle change data is less than or equal to the preset steering wheel angle change threshold, the fourth condition is that the historical vehicle status data indicates that the vehicle is in a locked state, and the fifth condition is that the duration of the first condition, the second condition, the third condition and the fourth condition simultaneously satisfies the first preset time threshold. Exemplarily, the first condition may be that historical steering wheel torque data is less than 0.5 Nm (Newton-meters), the second condition may be that historical steering wheel torque fluctuation data is less than 1 Nm / s (Newton-meters / second), the third condition may be that historical steering wheel angle change data is less than 1 deg / s (degrees / second), the fourth condition may be that historical vehicle status data shows that the vehicle is in a locked state, and the fifth condition may be that the duration of the first condition, the second condition, the third condition and the fourth condition are simultaneously satisfied for 3s (seconds).
[0077] In an optional embodiment, the method further includes:
[0078] Obtaining a shutdown time when the vehicle is shut down at the second historical time;
[0079] When the engine off time is greater than or equal to the second preset time threshold and the vehicle does not satisfy at least one of the first condition, the second condition, the third condition, the fourth condition and the fifth condition, the operation of filtering the acquired historical steering wheel torque data to obtain the filtered historical steering wheel torque data and performing torque compensation on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data is not performed.
[0080] In the embodiment of the present application, the calculation of the third historical compensation data is not abandoned immediately when the vehicle does not meet at least one of the five conditions. Instead, a preset time threshold is set. When the engine off time is within the preset time threshold, if the vehicle meets the five conditions, various operations for calculating the third historical compensation data are performed. If the vehicle still does not meet at least one of the five conditions within the preset time, the calculation of the third historical compensation data is abandoned.
[0081] In an optional embodiment, torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain third historical compensation data, including:
[0082] When the filtered historical steering wheel torque data is not zero, it is determined that the vehicle has a zero offset, and torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain third historical compensation data.
[0083] In an embodiment of the present application, when the vehicle is turned off and locked, the steering wheel is in a suspended state, and the filtered historical steering wheel torque data should be zero. Therefore, when the filtered historical steering wheel torque data is not zero, it is determined that the vehicle has a zero position offset, and torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain third historical compensation data.
[0084] In an optional embodiment, torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain third historical compensation data, including:
[0085] Obtaining a preset time constant and a preset time period;
[0086] Calculating the product of the filtered historical steering wheel torque data and the preset time period, and calculating the ratio of the product to the preset time constant to obtain target torque data;
[0087] The sum of the target torque data and the current historical compensation data is calculated to obtain third historical compensation data.
[0088] In the embodiment of the present application, a preset time constant and a preset time period are obtained. The preset time constant can be set according to actual business needs according to specific circumstances. The preset time period is the execution period of the electronic control unit to calculate the torque compensation data. The product of the filtered historical steering wheel torque data and the preset time constant is calculated, and then the ratio of the product to the preset time period is calculated to obtain the target torque data. Then, the sum of the target torque data and the current historical compensation data is calculated to obtain the third historical compensation data. It can be understood that in the process of calculating the third historical compensation data, the filtered historical steering wheel compensation data is divided into several parts as target torque data according to the preset time constant. Then, on the basis of the current historical compensation data, the value added by each calculation of the torque compensation data is the target torque data. Exemplarily, the specific formula for calculating the third historical compensation data is as follows: Tq_Offset(n)=Tq_Offset(n-1)+Tq(n)*Ts / Time_Coeff, wherein Tq_Offset(n) is the third historical compensation data; Tq_Offset(n-1) is the current historical compensation data; Tq(n) is the filtered historical steering wheel torque data; Ts is the preset time period; Time_Coeff is the preset time constant. The algorithm ensures the accuracy of the calculation of the third historical compensation data and improves the efficiency of zero offset compensation.
[0089] Step S203: Calculate the difference between the third historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time.
[0090] Step S204: Determine whether the difference meets a preset condition.
[0091] Step S205: If the difference does not meet the preset condition, the third historical compensation data is used as the current historical compensation data, and steps S202 to S204 are repeatedly executed until the difference meets the preset condition.
[0092] Step S206: if the difference satisfies the preset condition, the third historical compensation data corresponding to the time when the difference satisfies the preset condition is used as the first historical compensation data.
[0093] In an embodiment of the present application, by calculating the difference between the third historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time, it is determined whether the third historical compensation data can complete the compensation for the zero offset of the torque sensor. The difference between the third historical compensation data and the historical steering wheel torque data represents the zero offset, and the closer the difference is to zero, the smaller the zero offset is. If the difference meets the preset condition, the corresponding third historical compensation data when the difference meets the preset condition is used as the first historical compensation data to complete the compensation for the zero offset of the torque sensor, thereby making the steering force symmetrical. If the difference does not meet the preset condition, the third historical compensation data is used as the current historical compensation data and returned to step S202, and torque compensation is performed on the current historical compensation data and the historical steering wheel torque data to obtain the third historical compensation data, and the subsequent steps are continued until the difference between the third historical compensation data and the historical steering wheel torque data meets the preset condition, so that the corresponding third historical compensation data when the difference meets the preset condition is used as the first historical compensation data.
[0094] In an embodiment of the present application, in the process of repeatedly executing steps S202-S204 to determine the third historical compensation data, when determining the third historical compensation data once, the target torque data is added on the basis of the compensation data determined last time when determining the third historical compensation data, that is, the target torque data is gradually added on the basis of the current historical compensation data in step S201. As the number of times the third historical compensation data is determined increases, the accuracy of determining the first historical compensation data is higher.
[0095] In an embodiment of the present application, in order to determine the third historical compensation data corresponding to the difference when the preset conditions are met, steps S202, S203, S204, and S205 need to be executed cyclically. In each process of determining the third historical compensation data, the vehicle needs to meet the above five conditions. If the vehicle does not meet at least one of the five conditions, the determination of the third historical compensation data is stopped, and the third historical compensation data finally determined when the vehicle meets the five conditions is used as the first historical compensation data to reduce the zero offset.
[0096] In an optional embodiment, the method further includes:
[0097] Obtaining a first preset generation time corresponding to the first historical compensation data;
[0098] If the difference value does not meet the preset condition within the first preset generation time, the third historical compensation data generated at the first target time point is used as the first historical compensation data, and the first target time point is the end time point of the first preset generation time.
[0099] In an embodiment of the present application, the generation time of the first historical compensation data is set to the first preset generation time. During this time, if the first historical compensation data, that is, the third historical compensation data when the difference satisfies the preset condition, is not determined, then the third historical compensation data corresponding to the difference that does not meet the preset condition last determined within the first preset generation time is used as the first historical compensation data, which is used to reduce the zero offset of the vehicle's torque sensor.
[0100] Figure 3 FIG. 1 is a schematic diagram of a vehicle acquisition data structure provided in an embodiment of the present application. Figure 3 As shown in the figure, EPS (Electric Power Steering) usually connects to the 15 and 30 power of the vehicle. Connecting to 15 means igniting the engine and starting the vehicle, and connecting to 30 means connecting to the battery. When the vehicle is turned off, 15 is disconnected, but 30 is not disconnected. At this time, only the power supply for CAN (Controller Area Network) communication, sensors (sensors include torque sensors and angle sensors) and MCU (Microcontroller Unit) is retained, thereby reducing energy loss and reducing the burden on the battery. Since the MCU continues to work, it can receive CAN messages and sensor signals.
[0101] In the embodiment of the present application, EPS detects that the 15th power of the vehicle is disconnected, and the ECU (Electronic Control Unit) controller obtains the steering wheel torque data through the torque sensor, and the steering wheel angle data through the angle sensor, and obtains the steering wheel torque fluctuation data and the steering wheel angle change data in turn, and obtains the vehicle status data through the CAN message sent by the CAN transceiver. When the first historical compensation data is finally obtained, since the first historical compensation data is determined when the vehicle is turned off, it can effectively eliminate interference such as driver and engine shaking, and improve the efficiency and accuracy of determining the first historical compensation data. The corrected steering wheel torque data is obtained by subtracting the first historical compensation data from the first steering wheel torque data, and the ECU controller sends the corrected steering wheel torque data to the CAN transceiver, thereby reducing the zero offset and making the vehicle steering force symmetrical.
[0102] In the embodiments of the present application, Figure 4 is a flow chart of another torque data processing method provided in an embodiment of the present application, such as Figure 4 As shown:
[0103] When the vehicle is turned off at the second historical time, the vehicle 15 is electrically disconnected, and the historical steering wheel torque data, historical steering wheel torque fluctuation data, historical steering wheel angle change data and historical vehicle status data of the vehicle when the vehicle is turned off at the second historical time are obtained; when the vehicle meets the first condition, the second condition, the third condition, the fourth condition and the fifth condition, the historical steering wheel torque data obtained are filtered to obtain the filtered historical steering wheel torque data. When the vehicle does not meet at least one of the first condition, the second condition, the third condition, the fourth condition and the fifth condition, the historical steering wheel torque data is not filtered, and the subsequent steps are not executed. Among them, the first condition is that the historical steering wheel torque data is less than or equal to the preset steering wheel torque threshold, the second condition is that the historical steering wheel torque fluctuation data is less than or equal to the preset steering wheel torque fluctuation threshold, the third condition is that the historical steering wheel angle change data is less than or equal to the preset steering wheel angle change threshold, the fourth condition is that the historical vehicle status data indicates that the vehicle is in a locked state, and the fifth condition is that the duration of the first condition, the second condition, the third condition and the fourth condition simultaneously meets the first preset time threshold.
[0104] Acquire second historical compensation data generated when the vehicle is turned off at a first historical time, and determine it as current historical compensation data, where the first historical time is earlier than the second historical time; perform torque compensation on the current historical compensation data and the filtered historical steering wheel torque book to obtain third historical compensation data; calculate the difference between the third historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time; if the difference does not meet a preset condition, use the third historical compensation data again as the current historical compensation data; repeat the operation of performing torque compensation on the current historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time to obtain the third historical compensation data, until the difference meets the preset condition; use the third historical compensation data corresponding to the difference when the difference meets the preset condition as the first historical compensation data. In the process of repeatedly determining the third historical compensation data, if the vehicle does not meet at least one of the above five conditions, the determination of the third historical compensation data is stopped, and the third historical compensation data finally obtained when the above five conditions are finally met is used as the first historical compensation data.
[0105] When the vehicle is started, the steering wheel torque data of the vehicle is adjusted by subtracting the first historical compensation data from the first steering wheel torque data to reduce the zero position offset, thereby obtaining the corrected steering wheel torque data, making the steering force of the vehicle symmetrical and ensuring the driving comfort of the driver.
[0106] Figure 5 is a structural block diagram of a torque data processing device provided in an embodiment of the present application, such as Figure 5 As shown, the device comprises:
[0107] A data acquisition module, for acquiring, when the vehicle is started at the current time, first historical compensation data of the vehicle and first steering wheel torque data of the vehicle at the current time; the first historical compensation data is generated based on the third historical compensation data when the vehicle is turned off at the second historical time; the third historical compensation data is generated by performing torque compensation on the second historical compensation data and the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time; the second historical compensation data is the historical compensation data generated when the vehicle is turned off at the first historical time; the first historical time is earlier than the second historical time;
[0108] The data adjustment module is used to adjust the steering wheel torque data of the vehicle based on the difference between the first steering wheel torque data and the first historical compensation data.
[0109] In an optional embodiment, the device further includes a data generation module, and the data generation module includes:
[0110] A data determination unit, configured to determine second historical compensation data generated when the vehicle is turned off at a first historical time as current historical compensation data;
[0111] A torque compensation unit, configured to perform torque compensation on the current historical compensation data and the historical steering wheel torque data acquired when the vehicle is turned off at a second historical time, to obtain third historical compensation data;
[0112] A data calculation unit, used for calculating a difference between third historical compensation data and historical steering wheel torque data acquired when the vehicle is turned off at a second historical time;
[0113] The data generating unit is used to, when the difference does not meet the preset condition, re-use the third historical compensation data as the current historical compensation data; return to the torque compensation unit and the data calculating unit, repeat the torque compensation for the current historical compensation data and the historical steering wheel torque data obtained when the vehicle was turned off at the second historical time, to obtain the third historical compensation data, and calculate the difference between the third historical compensation data and the historical steering wheel torque data obtained when the vehicle was turned off at the second historical time, until the difference meets the preset condition; use the third historical compensation data corresponding to the time when the difference meets the preset condition as the first historical compensation data.
[0114] In an optional embodiment, the data generation module further includes:
[0115] The data generation unit is used to obtain the first preset generation time corresponding to the first historical compensation data; within the first preset generation time, if the difference does not meet the preset condition, the third historical compensation data generated at the first target time point is used as the first historical compensation data, and the first target time point is the end time point of the first preset generation time.
[0116] In an optional embodiment, the data generation module further includes:
[0117] The torque compensation unit is used to filter the historical steering wheel torque data obtained when the vehicle is turned off at a second historical time to obtain filtered historical steering wheel torque data; and perform torque compensation on the filtered historical steering wheel torque data and current historical compensation data to obtain third historical compensation data.
[0118] In an optional embodiment, the data generation module further includes:
[0119] The torque compensation unit is used to obtain a preset time constant and a preset time period; calculate the product of the filtered historical steering wheel torque data and the preset time period, calculate the ratio of the product to the preset time constant, and obtain the target torque data; calculate the sum of the target torque data and the current historical compensation data to obtain the third historical compensation data.
[0120] In an optional embodiment, the data generation module further includes:
[0121] The torque compensation unit is used to obtain historical steering wheel torque data, historical steering wheel torque fluctuation data, historical steering wheel angle change data and historical vehicle status data of the vehicle when the vehicle is turned off at a second historical time; when the vehicle meets a first condition, a second condition, a third condition, a fourth condition and a fifth condition, filter the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time to obtain filtered historical steering wheel torque data; wherein the first condition is that the historical steering wheel torque data is less than or equal to a preset steering wheel torque threshold, the second condition is that the historical steering wheel torque fluctuation data is less than or equal to the preset steering wheel torque fluctuation threshold, the third condition is that the historical steering wheel angle change data is less than or equal to the preset steering wheel angle change threshold, the fourth condition is that the historical vehicle status data indicates that the vehicle is in a locked state, and the fifth condition is that the duration of the first condition, the second condition, the third condition and the fourth condition simultaneously satisfies the first preset time threshold.
[0122] In an optional embodiment, the data generation module further includes:
[0123] The torque compensation unit is used to obtain the shutdown time of the vehicle when it is shut down at a second historical time; when the shutdown time is greater than or equal to the second preset time threshold and the vehicle does not meet at least one of the first condition, the second condition, the third condition, the fourth condition and the fifth condition, the operation of filtering the acquired historical steering wheel torque data to obtain the filtered historical steering wheel torque data and performing torque compensation on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data is not performed.
[0124] In an optional embodiment, the data generation module further includes:
[0125] The torque compensation unit is used to determine that the vehicle has a zero offset when the filtered historical steering wheel torque data is not zero, and to perform torque compensation on the filtered historical steering wheel torque data and the current historical compensation data to obtain third historical compensation data.
[0126] An embodiment of the present application also provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the above-mentioned torque data processing method.
[0127] An embodiment of the present application also provides a computer-readable storage medium, which stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by a processor to implement the above-mentioned torque data processing method.
[0128] As can be seen from the embodiments provided by the present application, the present application determines the corrected steering wheel torque data by subtracting the first historical compensation data from the first steering wheel torque data when the vehicle is started, thereby reducing the zero offset of the vehicle's torque sensor, thereby making the vehicle's steering force symmetrical and ensuring the driver's comfort and safety. The present application determines the first historical compensation data when the vehicle is turned off, without requiring any operation by the driver, making the operation of reducing the zero offset of the vehicle's torque sensor convenient and simple, and reducing the influence of interference such as the driver and engine jitter, thereby improving the efficiency and accuracy of determining the first historical compensation data.
[0129] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of this specification are described. Other embodiments are within the scope of the attached claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
[0130] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and server embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.
[0131] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.
[0132] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.
Claims
1. A torque data processing method, characterized in that: The method comprises: When the vehicle is started at the current time, the first historical compensation data of the vehicle and the first steering wheel torque data of the vehicle at the current time are obtained; the first historical compensation data is generated based on the third historical compensation data when the vehicle is turned off at the second historical time; the third historical compensation data is generated by performing torque compensation on the second historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time; the second historical compensation data is the historical compensation data generated when the vehicle is turned off at the first historical time; the first historical time is earlier than the second historical time; The steering wheel torque data of the vehicle is adjusted based on a difference between the first steering wheel torque data and the first historical compensation data.
2. The torque data processing method according to claim 1, characterized in that: The first historical compensation data generating method comprises: determining the second historical compensation data generated when the vehicle is turned off at the first historical time as current historical compensation data; performing torque compensation on the current historical compensation data and historical steering wheel torque data acquired when the vehicle is turned off at the second historical time, to obtain the third historical compensation data; the first historical time is earlier than the second historical time; calculating a difference between the third historical compensation data and historical steering wheel torque data acquired when the vehicle is turned off at the second historical time; When the difference does not meet the preset condition, re-using the third historical compensation data as the current historical compensation data; Repeating the operations of performing torque compensation on the current historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time to obtain third historical compensation data, to calculating the difference between the third historical compensation data and the historical steering wheel torque data obtained when the vehicle is turned off at the second historical time, until the difference meets the preset condition; The third historical compensation data corresponding to the difference satisfying the preset condition is used as the first historical compensation data.
3. The torque data processing method according to claim 2, characterized in that: The method further comprises: Obtaining a first preset generation time corresponding to the first historical compensation data; If the difference value does not satisfy the preset condition within the first preset generation time, the third historical compensation data generated at the first target time point is used as the first historical compensation data, and the first target time point is the end time point of the first preset generation time.
4. The torque data processing method according to claim 2, characterized in that: The performing torque compensation on the current historical compensation data and the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time to obtain third historical compensation data includes: filtering the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time to obtain filtered historical steering wheel torque data; Torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data.
5. The torque data processing method according to claim 4, characterized in that: The step of performing torque compensation on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data includes: Obtaining a preset time constant and a preset time period; Calculating the product of the filtered historical steering wheel torque data and the preset time period, and calculating the ratio of the product to the preset time constant to obtain target torque data; The sum of the target torque data and the current historical compensation data is calculated to obtain the third historical compensation data.
6. The torque data processing method according to claim 4, characterized in that: The filtering of the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time to obtain the filtered historical steering wheel torque data includes: When the vehicle is turned off at the second historical time, acquiring historical steering wheel torque data, historical steering wheel torque fluctuation data, historical steering wheel angle change data, and historical vehicle status data of the vehicle; When the vehicle satisfies the first condition, the second condition, the third condition, the fourth condition and the fifth condition, filtering the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time to obtain the filtered historical steering wheel torque data; Among them, the first condition is that the historical steering wheel torque data is less than or equal to the preset steering wheel torque threshold, the second condition is that the historical steering wheel torque fluctuation data is less than or equal to the preset steering wheel torque fluctuation threshold, the third condition is that the historical steering wheel angle change data is less than or equal to the preset steering wheel angle change threshold, the fourth condition is that the historical vehicle status data indicates that the vehicle is in a locked state, and the fifth condition is that the duration of the first condition, the second condition, the third condition and the fourth condition simultaneously satisfies the first preset time threshold.
7. The torque data processing method according to claim 6, characterized in that: The method further comprises: Obtaining a shutdown time when the vehicle is shut down at the second historical time; When the ignition off time is greater than or equal to a second preset time threshold and the vehicle does not satisfy at least one of the first condition, the second condition, the third condition, the fourth condition and the fifth condition, the operation of filtering the acquired historical steering wheel torque data to obtain the filtered historical steering wheel torque data and performing torque compensation on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data is not performed.
8. The torque data processing method according to claim 4, characterized in that: The step of performing torque compensation on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data includes: When the filtered historical steering wheel torque data is not zero, it is determined that the vehicle has a zero offset, and torque compensation is performed on the filtered historical steering wheel torque data and the current historical compensation data to obtain the third historical compensation data.
9. A torque data processing device, characterized in that: The device comprises: A data acquisition module, for acquiring, when the vehicle is started at the current time, first historical compensation data of the vehicle and first steering wheel torque data of the vehicle at the current time; the first historical compensation data is generated based on the third historical compensation data when the vehicle is turned off at the second historical time; the third historical compensation data is generated by performing torque compensation on the second historical compensation data and the historical steering wheel torque data acquired when the vehicle is turned off at the second historical time; the second historical compensation data is the historical compensation data generated when the vehicle is turned off at the first historical time; the first historical time is earlier than the second historical time; A data adjustment module is used to adjust the steering wheel torque data of the vehicle based on the difference between the first steering wheel torque data and the first historical compensation data.
10. An electronic device, characterized in that: The device includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the torque data processing method as described in any one of claims 1 to 8.
11. A computer-readable storage medium, characterized in that: The storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the torque data processing method as described in any one of claims 1 to 8.