Vehicle deviation compensation control method and device, controller and vehicle

Abstract

The invention discloses a vehicle deviation compensation control method and device, a controller and a vehicle. The vehicle speed, the vehicle yaw velocity, the steering wheel angle and the steering wheel torque of the vehicle are obtained; judging whether the vehicle is in a straight working condition or not according to the vehicle speed, the vehicle yaw velocity and the steering wheel angle; if the vehicle is in the straight running working condition, determining the type of the deviation working condition of the vehicle according to the vehicle yaw velocity, the steering wheel angle and the steering wheel torque; according to the type of the deviation working condition of the vehicle, a motor compensation torque is determined through a fuzzy P I control algorithm; and according to the motor compensation torque and a pre-stored historical compensation torque, vehicle deviation is compensated. Therefore, under the working condition that the vehicle suddenly deviates or no driver intervenes, the deviation behavior of the vehicle can be actively compensated, active deviation compensation can be provided in the whole driving process, the driving fatigue of the driver is relieved, and the driving safety is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle deviation compensation control method, device, controller and vehicle. Background Art

[0002] During the driving process, the vehicle may deviate from the direction of the vehicle due to external lateral forces such as side wind and tilted road surface, or due to lateral forces caused by internal factors such as different compression of the left and right suspensions, tire pressure deviation, and four-wheel alignment deviation. The deviation from the direction of the vehicle may easily lead to misunderstandings about the driver's steering feeling and maintenance. The driver needs to frequently correct the vehicle's driving direction, which may easily lead to driving fatigue and pose a great safety hazard to driving safety. Summary of the invention

[0003] In view of the above problems, the present invention is proposed to provide a vehicle deviation compensation control method, device, controller and vehicle, which can actively compensate for the vehicle's deviation behavior, effectively reduce the number of times the driver corrects the vehicle deviation and the correction force, relieve the driver's driving fatigue, and improve driving safety.

[0004] According to a first aspect of the present invention, a vehicle deviation compensation control method is provided, comprising:

[0005] Obtain vehicle speed, vehicle yaw rate, steering wheel angle and steering wheel torque;

[0006] determining whether the vehicle is in a straight-ahead condition according to the vehicle speed, the vehicle yaw angular velocity and the steering wheel angle;

[0007] If the vehicle is in a straight-ahead condition, determining the type of the vehicle's deviation condition according to the vehicle's yaw rate, the steering wheel angle, and the steering wheel torque;

[0008] According to the type of the deviation working condition of the vehicle, a motor compensation torque is determined by a fuzzy PI control algorithm;

[0009] The vehicle deviation is compensated according to the motor compensation torque and the pre-stored historical compensation torque.

[0010] Optionally, determining the type of the vehicle deviation condition according to the vehicle yaw rate, the steering wheel angle, and the steering wheel torque includes:

[0011] If the steering wheel angle is less than a preset first angle threshold, the steering wheel torque is less than or equal to a preset first torque threshold, the vehicle yaw rate is not within a theoretical angular rate range, and is maintained for a first time period, then the vehicle is in a straight-ahead deviation condition without driver intervention.

[0012] If the steering wheel angle is less than a preset first angle threshold, the steering wheel torque is greater than a preset first torque threshold and less than a preset second torque threshold, and the vehicle yaw angular velocity is not within a theoretical angular velocity range and is maintained for a first duration, then the vehicle is in a straight-ahead deviation condition with driver intervention; wherein the theoretical angular velocity range is determined by the steering wheel angle.

[0013] Optionally, determining the motor compensation torque by a fuzzy PI control algorithm according to the type of the deviation condition includes:

[0014] If the vehicle is in a straight-running deviation condition without driver intervention, taking the vehicle yaw rate equal to 0 as a control target, determining the first motor compensation torque through a fuzzy PI control algorithm;

[0015] If the vehicle is in a straight-ahead deviation condition with driver intervention, the steering wheel torque equal to 0 is taken as a control target, and the second motor compensation torque is determined through a fuzzy PI control algorithm.

[0016] Optionally, compensating the vehicle deviation according to the motor compensation torque and the pre-stored historical compensation torque includes:

[0017] Determining a torque difference according to the motor compensation torque and the pre-stored historical compensation torque;

[0018] If the absolute value of the torque difference is greater than a preset difference threshold, compensating the vehicle deviation according to the motor compensation torque;

[0019] If the absolute value of the torque difference is less than or equal to a preset difference threshold, the vehicle deviation is compensated according to the historical compensation torque.

[0020] Optionally, after compensating the vehicle deviation according to the motor compensation torque if the absolute value of the torque difference is greater than a preset difference threshold, the method further includes:

[0021] If the duration of compensating the vehicle deviation according to the motor compensation torque is greater than a preset third duration, updating the historical compensation torque according to the motor compensation torque within the duration to obtain an updated historical compensation torque;

[0022] The vehicle deviation is compensated according to the updated historical compensation torque.

[0023] Optionally, judging whether the vehicle is in a straight-ahead condition according to the vehicle speed, the vehicle yaw angular velocity and the steering wheel angle includes:

[0024] If the vehicle speed is within a preset vehicle speed range, the vehicle yaw rate is less than a preset yaw rate threshold, and the steering wheel angle is less than a preset second angle threshold, and is maintained for a preset time, then the vehicle is in a straight-ahead condition.

[0025] Optionally, the method further includes:

[0026] If the vehicle is in a non-straight-ahead condition, the vehicle deviation is compensated according to the pre-stored historical compensation torque.

[0027] According to a second aspect of the present invention, a vehicle deviation compensation control device is provided, comprising:

[0028] An acquisition module is used to acquire the vehicle speed, vehicle yaw rate, steering wheel angle, and steering wheel torque;

[0029] a working condition judgment module, configured to judge whether the vehicle is in a straight-ahead working condition according to the vehicle speed, the vehicle yaw angular velocity and the steering wheel angle; if the vehicle is in a straight-ahead working condition, determine the type of the vehicle's deviation working condition according to the vehicle yaw angular velocity, the steering wheel angle and the steering wheel torque;

[0030] A torque calculation module, used to determine the motor compensation torque through a fuzzy PI control algorithm according to the type of the vehicle's deviation condition;

[0031] The compensation module is used to compensate the vehicle deviation according to the motor compensation torque and the pre-stored historical compensation torque.

[0032] According to a third aspect of the present invention, a controller is provided, the controller comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the aforementioned vehicle deviation compensation control method.

[0033] According to a fourth aspect of the present invention, a vehicle is provided, the vehicle comprising a vehicle body and a controller installed in the vehicle body, wherein the controller executes the aforementioned vehicle deviation compensation control method.

[0034] The above one or more technical solutions in the embodiments of this specification have at least the following technical effects:

[0035] The embodiments of this specification provide a vehicle deviation compensation control method, device, controller and vehicle, which obtain the vehicle speed, vehicle yaw rate, steering wheel angle and steering wheel torque; determine whether the vehicle is in a straight-ahead condition according to the vehicle speed, the vehicle yaw rate and the steering wheel angle; if the vehicle is in a straight-ahead condition, determine the type of the deviation condition of the vehicle according to the vehicle yaw rate, the steering wheel angle and the steering wheel torque; determine the motor compensation torque according to the type of the deviation condition of the vehicle through a fuzzy PI control algorithm; and compensate for the deviation of the vehicle according to the motor compensation torque and the pre-stored historical compensation torque. In this way, it can be ensured that the vehicle can actively compensate for the deviation behavior of the vehicle in the case of sudden deviation or without driver intervention, and can provide active deviation compensation during the entire driving process, effectively reducing the number of times and the correction force of the driver to correct the deviation of the vehicle, relieving the driver's driving fatigue and improving driving safety.

[0036] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Also, throughout the accompanying drawings, the same reference figures are used to represent the same components. In the drawings:

[0038] Figure 1 A flow chart of a vehicle deviation compensation control method in an embodiment of the present invention is shown.

[0039] Figure 2 A block diagram of a vehicle deviation compensation control device in an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0041] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The embodiment of the present invention provides a vehicle deviation compensation control method, combined with Figure 1 The method includes steps 101 to 105:

[0045] Step 101: Obtain vehicle speed, vehicle yaw rate, steering wheel angle, and steering wheel torque;

[0046] In this embodiment, the vehicle speed refers to the driving speed of the vehicle. The vehicle yaw rate refers to the rate of change of the angle of rotation of the vehicle around the Z axis perpendicular to the ground. The steering wheel torque refers to the torque applied by the driver to the steering wheel. The vehicle speed, vehicle yaw rate, steering wheel angle and steering wheel torque can all be collected and measured in real time through the vehicle CAN network.

[0047] After obtaining the vehicle speed, vehicle yaw rate, steering wheel angle and steering wheel torque, the validity of the above signals is judged and filtered.

[0048] Step 102: judging whether the vehicle is in a straight-ahead condition according to the vehicle speed, the vehicle yaw angular velocity and the steering wheel angle;

[0049] In this embodiment, the straight-ahead condition refers to a vehicle driving path that is approximately a straight line. After obtaining the vehicle speed, vehicle yaw rate, steering wheel angle, and steering wheel torque, the vehicle straight-ahead condition can be determined based on the vehicle speed, vehicle yaw rate, steering wheel angle, and steering wheel torque, specifically including:

[0050] If the vehicle speed is within a preset vehicle speed range, the vehicle yaw rate is less than a preset yaw rate threshold, and the steering wheel angle is less than a preset second angle threshold, and is maintained for a preset time, then the vehicle is in a straight-ahead condition.

[0051] Among them, when the vehicle speed is within the preset speed range, it means that the vehicle is traveling at a medium-high speed, and the speed range can be 30-120km / h. When the vehicle is traveling at a medium-high speed, it is suitable to perform deviation compensation. The yaw rate threshold can be 1rad / s, and the second angle threshold can be taken from the range of 5-8 degrees.

[0052] Step 103: If the vehicle is in a straight-ahead condition, determining the type of the vehicle's deviation condition according to the vehicle's yaw rate, the steering wheel angle, and the steering wheel torque;

[0053] In this embodiment, the vehicle may be in a straight-ahead condition or a non-straight-ahead condition. When it is determined that the vehicle is in a straight-ahead condition, it is necessary to further determine the type of the vehicle deviation condition. The deviation condition types include a straight-ahead deviation condition without driver intervention and a straight-ahead deviation condition with driver intervention.

[0054] Specific judgment steps may include:

[0055] If the steering wheel angle is less than a preset first angle threshold, the steering wheel torque is less than or equal to a preset first torque threshold, the vehicle yaw rate is not within a theoretical angular rate range, and is maintained for a first time period, then the vehicle is in a straight-ahead deviation condition without driver intervention.

[0056] If the steering wheel angle is less than a preset first angle threshold, the steering wheel torque is greater than a preset first torque threshold and less than a preset second torque threshold, and the vehicle yaw angular velocity is not within a theoretical angular velocity range and is maintained for a first duration, then the vehicle is in a straight-ahead deviation condition with driver intervention; wherein the theoretical angular velocity range is determined by the steering wheel angle.

[0057] It is not difficult to understand that the steering wheel torque can be used to determine whether the driver has intervened, while the steering wheel angle and vehicle yaw angular velocity can be used to determine whether the vehicle is deviating from its straight line.

[0058] In this embodiment, if the steering wheel torque is less than or equal to the preset first torque threshold, it means that there is no driver intervention at this time. At the same time, if the steering wheel angle is less than the preset first angle threshold, the vehicle's yaw angular velocity is not within the theoretical angular velocity range, and the above state is maintained for a first time period, then the vehicle is in a straight-ahead deviation condition without driver intervention.

[0059] If the steering wheel torque is greater than the preset first torque threshold and less than the preset second torque threshold, it means that the driver has intervened. At the same time, the steering wheel angle is less than the preset first angle threshold, the vehicle yaw rate is not within the theoretical yaw rate range, and the above state is maintained for a first time period, then the vehicle is in a straight-running deviation condition with driver intervention.

[0060] The first torque threshold may be in the range of 0.5-1 Nm; the second torque threshold may be 4 Nm, or greater than 4 Nm, which is not limited in this embodiment. The first angle threshold may be in the range of 5-8 degrees; and the first duration may be 2 seconds.

[0061] It should be noted that the theoretical angular velocity range is not a preset fixed range, but a theoretical vehicle yaw velocity is calculated by the steering wheel angle, and the theoretical angular velocity range is obtained based on the theoretical vehicle yaw velocity. For example, the theoretical vehicle yaw velocity range of plus or minus 0.2 rad / s is used as the theoretical angular velocity range.

[0062] Step 104: Determine the motor compensation torque by using a fuzzy PI control algorithm according to the type of the vehicle deviation condition;

[0063] In this embodiment, different torque compensation strategies are implemented for different types of deviation conditions, that is, different motor compensation torques are determined. As mentioned above, the types of deviation conditions include straight deviation conditions without driver intervention and straight deviation conditions with driver intervention.

[0064] For the straight-ahead running condition without driver intervention, the vehicle yaw rate is set to be equal to 0 as the control target, and the first motor compensation torque is determined by a fuzzy PI control algorithm;

[0065] For the straight-ahead deviation condition with driver intervention, the steering wheel torque is set equal to 0 as the control target, and the second motor compensation torque is determined by a fuzzy PI control algorithm, wherein the fuzzy PI control algorithm is a prior art.

[0066] Step 105: Compensating for vehicle deviation according to the motor compensation torque and the pre-stored historical compensation torque.

[0067] In this embodiment, the historical compensation torque is a stored torque value, which is based on the torque value used to compensate for the vehicle deviation caused by the vehicle itself. There are two main reasons for the vehicle deviation, one is the vehicle itself and the other is non-vehicle reasons.

[0068] Vehicle-related reasons may include tires, suspension, etc. Non-vehicle reasons may include road tilt, strong wind, etc. Non-vehicle reasons are generally temporary, while vehicle-related reasons are long-term.

[0069] In addition, the historical compensation torque is not a fixed value, and the historical compensation torque can be updated when certain conditions are met.

[0070] When compensating for vehicle deviation, it is necessary to select from the motor compensation torque and the historical compensation torque according to the specific situation, and then perform the corresponding compensation control.

[0071] The types of deviation conditions include straight deviation conditions without driver intervention and straight deviation conditions with driver intervention. For the straight deviation conditions without driver intervention, a first motor compensation torque is calculated, and the first historical compensation torque is stored corresponding to the first motor compensation torque.

[0072] Correspondingly, for the straight-ahead deviation condition with driver intervention, the second motor compensation torque will be calculated, and the second historical compensation torque is stored corresponding to the second motor compensation torque.

[0073] In one embodiment, for a straight-ahead deviation condition without driver intervention, the step of compensating the vehicle deviation may include:

[0074] The torque difference is determined based on the first motor compensation torque and the pre-stored first historical compensation torque; that is, the difference between the compensation torque currently required by the vehicle and the compensation torque previously required by the vehicle under the same operating condition.

[0075] If the absolute value of the torque difference is greater than a preset difference threshold, compensating the vehicle deviation according to the first motor compensation torque;

[0076] If the absolute value of the torque difference is less than or equal to a preset difference threshold, the vehicle deviation is compensated according to the first historical compensation torque.

[0077] The absolute value of the torque difference is greater than the preset difference threshold, indicating that the first motor compensation torque is significantly different from the first historical compensation torque. Therefore, the first motor compensation torque calculated in real time is used to compensate for the vehicle deviation.

[0078] If the absolute value of the torque difference is less than or equal to the preset difference threshold, it means that the first motor compensation torque is not much different from the first historical compensation torque. The deviation may be caused by the vehicle itself. The vehicle deviation can be compensated by the previously stored first historical compensation torque.

[0079] In one embodiment, for a straight-ahead deviation condition with driver intervention, the step of compensating for the vehicle deviation may include:

[0080] The torque difference is determined based on the second motor compensation torque and the pre-stored second historical compensation torque; that is, the difference between the compensation torque currently required by the vehicle and the compensation torque previously required by the vehicle under the same operating condition.

[0081] If the absolute value of the torque difference is greater than a preset difference threshold, compensating the vehicle deviation according to the second motor compensation torque;

[0082] If the absolute value of the torque difference is less than or equal to a preset difference threshold, the vehicle deviation is compensated according to the second historical compensation torque.

[0083] The absolute value of the torque difference is greater than the preset difference threshold, indicating that the second motor compensation torque is significantly different from the second historical compensation torque. Therefore, the second motor compensation torque is used to compensate for the vehicle deviation.

[0084] If the absolute value of the torque difference is less than or equal to the preset difference threshold, it means that the second motor compensation torque is not much different from the second historical compensation torque. The deviation may be caused by the vehicle itself. The vehicle deviation can be compensated by the previously stored second historical compensation torque.

[0085] In addition, it should be noted that, after compensating the vehicle deviation according to the motor compensation torque, the method further includes:

[0086] If the duration of compensating the vehicle deviation according to the motor compensation torque is greater than a preset third duration, updating the historical compensation torque according to the motor compensation torque within the duration to obtain an updated historical compensation torque;

[0087] The vehicle deviation is compensated according to the updated historical compensation torque.

[0088] The duration mentioned above refers to the time during which the motor compensation torque is used to compensate for the deviation of the vehicle. The duration is compared with the third duration, and the historical compensation torque is updated only when the duration is greater than the third duration. Subsequent compensation for the deviation of the vehicle is based on the updated historical compensation torque.

[0089] It should be noted that the reasons for the vehicle to run off the track include vehicle-related reasons and non-vehicle reasons. If it is a vehicle-related reason (especially a sudden vehicle-related reason, for example, the suspension rubber sleeve ruptures and causes the vehicle to run off the track, and this deviation is long-term), then the vehicle will continue to run off the track due to this reason in the future, and this reason is long-term. Therefore, the duration is compared with the third duration, and by reasonably setting the third duration, when the duration is greater than the third duration, the historical compensation torque is updated using the currently calculated motor compensation torque. The historical compensation torque before the update does not cover the deviation compensation caused by sudden vehicle-related reasons.

[0090] When the historical compensation torque is updated, the motor compensation torque within the duration may be averaged and the averaged value may be used as the updated historical compensation torque.

[0091] It is worth noting that the vehicle also needs to compensate for deviation when it is not in a straight-ahead condition. However, since the deviation situation cannot be calculated in a straight-ahead condition, the historical compensation torque is used to compensate for the deviation of the vehicle in a straight-ahead condition. Therefore, it is necessary to update the historical compensation torque in real time based on the vehicle situation.

[0092] In summary, the vehicle deviation compensation control method provided in the embodiment of this specification obtains the vehicle speed, vehicle yaw rate, steering wheel angle and steering wheel torque; determines whether the vehicle is in a straight-ahead condition according to the vehicle speed, vehicle yaw rate and steering wheel angle; if the vehicle is in a straight-ahead condition, determines the type of the deviation condition of the vehicle according to the vehicle yaw rate, steering wheel angle and steering wheel torque; determines the motor compensation torque according to the type of the deviation condition of the vehicle through a fuzzy PI control algorithm; and compensates for the deviation of the vehicle according to the motor compensation torque and the pre-stored historical compensation torque. In this way, it can be ensured that the vehicle can actively compensate for the deviation behavior of the vehicle in the case of sudden deviation or without driver intervention, and can provide active deviation compensation during the entire driving process, effectively reducing the number of times and the correction force of the driver to correct the deviation of the vehicle, relieving the driver's driving fatigue, and improving driving safety.

[0093] Based on the same inventive concept, Figure 2 As shown, an embodiment of the present invention further provides a vehicle deviation compensation control device, comprising:

[0094] An acquisition module is used to acquire the vehicle speed, vehicle yaw rate, steering wheel angle, and steering wheel torque;

[0095] a working condition judgment module, configured to judge whether the vehicle is in a straight-ahead working condition according to the vehicle speed, the vehicle yaw angular velocity and the steering wheel angle; if the vehicle is in a straight-ahead working condition, determine the type of the vehicle's deviation working condition according to the vehicle yaw angular velocity, the steering wheel angle and the steering wheel torque;

[0096] A torque calculation module, used to determine the motor compensation torque through a fuzzy PI control algorithm according to the type of the vehicle's deviation condition;

[0097] The compensation module is used to compensate the vehicle deviation according to the motor compensation torque and the pre-stored historical compensation torque.

[0098] Optionally, determining the type of the vehicle deviation condition according to the vehicle yaw rate, the steering wheel angle, and the steering wheel torque includes:

[0099] If the steering wheel angle is less than a preset first angle threshold, the steering wheel torque is less than or equal to a preset first torque threshold, the vehicle yaw rate is not within a theoretical angular rate range, and is maintained for a first time period, then the vehicle is in a straight-ahead deviation condition without driver intervention.

[0100] If the steering wheel angle is less than a preset first angle threshold, the steering wheel torque is greater than a preset first torque threshold and less than a preset second torque threshold, and the vehicle yaw angular velocity is not within a theoretical angular velocity range and is maintained for a first duration, then the vehicle is in a straight-ahead deviation condition with driver intervention; wherein the theoretical angular velocity range is determined by the steering wheel angle.

[0101] Optionally, determining the motor compensation torque by a fuzzy PI control algorithm according to the type of the deviation condition includes:

[0102] If the vehicle is in a straight-running deviation condition without driver intervention, taking the vehicle yaw rate equal to 0 as a control target, determining the first motor compensation torque through a fuzzy PI control algorithm;

[0103] If the vehicle is in a straight-ahead deviation condition with driver intervention, the steering wheel torque equal to 0 is taken as a control target, and the second motor compensation torque is determined through a fuzzy PI control algorithm.

[0104] Optionally, compensating the vehicle deviation according to the motor compensation torque and the pre-stored historical compensation torque includes:

[0105] Determining a torque difference according to the motor compensation torque and the pre-stored historical compensation torque;

[0106] If the absolute value of the torque difference is greater than a preset difference threshold, compensating the vehicle deviation according to the motor compensation torque;

[0107] If the absolute value of the torque difference is less than or equal to a preset difference threshold, the vehicle deviation is compensated according to the historical compensation torque.

[0108] Optionally, after compensating the vehicle deviation according to the motor compensation torque if the absolute value of the torque difference is greater than a preset difference threshold, the method further includes:

[0109] If the duration of compensating the vehicle deviation according to the motor compensation torque is greater than a preset third duration, updating the historical compensation torque according to the motor compensation torque within the duration to obtain an updated historical compensation torque;

[0110] The vehicle deviation is compensated according to the updated historical compensation torque.

[0111] Optionally, judging whether the vehicle is in a straight-ahead condition according to the vehicle speed, the vehicle yaw angular velocity and the steering wheel angle includes:

[0112] If the vehicle speed is within a preset vehicle speed range, the vehicle yaw rate is less than a preset yaw rate threshold, and the steering wheel angle is less than a preset second angle threshold, and is maintained for a preset time, then the vehicle is in a straight-ahead condition.

[0113] Optionally, the method further includes:

[0114] If the vehicle is in a non-straight-ahead condition, the vehicle deviation is compensated according to the pre-stored historical compensation torque.

[0115] In summary, the vehicle deviation compensation control device provided in the embodiment of this specification obtains the vehicle speed, vehicle yaw rate, steering wheel angle and steering wheel torque; determines whether the vehicle is in a straight-ahead condition according to the vehicle speed, vehicle yaw rate and steering wheel angle; if the vehicle is in a straight-ahead condition, determines the type of the deviation condition of the vehicle according to the vehicle yaw rate, steering wheel angle and steering wheel torque; determines the motor compensation torque according to the type of the deviation condition of the vehicle through a fuzzy PI control algorithm; and compensates for the deviation of the vehicle according to the motor compensation torque and the pre-stored historical compensation torque. In this way, it can be ensured that the vehicle can actively compensate for the deviation behavior of the vehicle in the case of sudden deviation or without driver intervention, and can provide active deviation compensation during the entire driving process, effectively reducing the number of times and the correction force of the driver to correct the deviation of the vehicle, relieving the driver's driving fatigue, and improving driving safety.

[0116] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the vehicle deviation compensation control device described above can refer to the corresponding process in the aforementioned method, and will not be elaborated herein.

[0117] According to the third aspect of the present invention, a controller is provided, which includes a vehicle deviation compensation control device, a memory, a processor and a communication unit. The memory stores machine-readable instructions executable by the processor. When the controller is running, the processor and the memory communicate through a bus, the processor executes the machine-readable instructions, and executes the vehicle deviation compensation control method.

[0118] The memory, the processor, and the communication unit are electrically connected to each other directly or indirectly to achieve signal transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines. The vehicle deviation compensation control device includes at least one software function module that can be stored in the memory in the form of software or firmware. The processor is used to execute the executable module stored in the memory (for example, the software function module or computer program included in the vehicle deviation compensation control device).

[0119] Among them, the memory can be, but is not limited to, random access memory (Random Access Memory, RAM), read-only memory (Read On ly Memory, ROM), programmable read-only memory (Programmable Read-Only Memory, PROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable read-only memory (Electrical Erasable Programmable Read-Only Memory, EEPROM), etc.

[0120] In some embodiments, the processor is used to perform one or more functions described in this embodiment. In some embodiments, the processor may include one or more processing cores (eg, a single-core processor (S) or a multi-core processor (S)).

[0121] In this embodiment, the memory is used to store the program, and the processor is used to execute the program after receiving the execution instruction. The process definition method disclosed in any implementation of this embodiment can be applied to the processor, or implemented by the processor.

[0122] The communication unit is used to establish a communication connection between the controller and other devices through the network, and to send and receive data through the network.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the controller described above can refer to the corresponding process in the aforementioned method, and will not be elaborated here.

[0124] According to a fourth aspect of the present invention, a vehicle is provided, comprising a vehicle body and a controller installed in the vehicle body, wherein the controller is used to implement the aforementioned vehicle deviation compensation control method.

[0125] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the controller of the vehicle described above can refer to the corresponding process in the aforementioned method, and will not be elaborated here.

[0126] The above are only various embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle deviation compensation control method, characterized in that: include: Obtain vehicle speed, vehicle yaw rate, steering wheel angle and steering wheel torque; determining whether the vehicle is in a straight-ahead condition according to the vehicle speed, the vehicle yaw angular velocity and the steering wheel angle; If the vehicle is in a straight-ahead condition, determining the type of the vehicle's deviation condition according to the vehicle's yaw rate, the steering wheel angle, and the steering wheel torque; According to the type of the deviation working condition of the vehicle, a motor compensation torque is determined by a fuzzy PI control algorithm; The vehicle deviation is compensated according to the motor compensation torque and the pre-stored historical compensation torque.

2. The method according to claim 1, characterized in that The determining the type of the vehicle deviation condition according to the vehicle yaw rate, the steering wheel angle, and the steering wheel torque includes: If the steering wheel angle is less than a preset first angle threshold, the steering wheel torque is less than or equal to a preset first torque threshold, and the vehicle yaw rate is not within the theoretical angular rate range and is maintained for a first time period, then the vehicle is in a straight-ahead deviation condition without driver intervention; If the steering wheel angle is less than a preset first angle threshold, the steering wheel torque is greater than a preset first torque threshold and less than a preset second torque threshold, and the vehicle yaw angular velocity is not within a theoretical angular velocity range and is maintained for a first duration, then the vehicle is in a straight-ahead deviation condition with driver intervention; wherein the theoretical angular velocity range is determined by the steering wheel angle.

3. The method according to claim 2, characterized in that The method of determining the motor compensation torque by using a fuzzy PI control algorithm according to the type of the deviation working condition includes: If the vehicle is in a straight-running deviation condition without driver intervention, taking the vehicle yaw angular velocity equal to 0 as a control target, and determining the first motor compensation torque through a fuzzy PI control algorithm; If the vehicle is in a straight-ahead deviation condition with driver intervention, the steering wheel torque equal to 0 is used as a control target, and the second motor compensation torque is determined through a fuzzy PI control algorithm.

4. The method according to claim 1, characterized in that The compensating the vehicle deviation according to the motor compensation torque and the pre-stored historical compensation torque includes: Determining a torque difference according to the motor compensation torque and the pre-stored historical compensation torque; If the absolute value of the torque difference is greater than a preset difference threshold, compensating the vehicle deviation according to the motor compensation torque; If the absolute value of the torque difference is less than or equal to a preset difference threshold, the vehicle deviation is compensated according to the historical compensation torque.

5. The method according to claim 4, characterized in that After compensating the vehicle deviation according to the motor compensation torque if the absolute value of the torque difference is greater than a preset difference threshold, the method further includes: If the duration of compensating the vehicle deviation according to the motor compensation torque is greater than a preset third duration, updating the historical compensation torque according to the motor compensation torque within the duration to obtain an updated historical compensation torque; The vehicle deviation is compensated according to the updated historical compensation torque.

6. The method according to claim 1, characterized in that The determining whether the vehicle is in a straight-ahead condition according to the vehicle speed, the vehicle yaw angular velocity and the steering wheel angle includes: If the vehicle speed is within a preset vehicle speed range, the vehicle yaw rate is less than a preset yaw rate threshold, and the steering wheel angle is less than a preset second angle threshold, and is maintained for a preset time, then the vehicle is in a straight-ahead condition.

7. The method according to claim 1, characterized in that The method further comprises: If the vehicle is in a non-straight-ahead condition, the vehicle deviation is compensated according to the pre-stored historical compensation torque.

8. A vehicle deviation compensation control device, characterized in that: include: An acquisition module is used to acquire the vehicle speed, vehicle yaw rate, steering wheel angle, and steering wheel torque; A working condition judgment module, used for judging whether the vehicle is in a straight-ahead working condition according to the vehicle speed, the vehicle yaw angular velocity and the steering wheel angle; If the vehicle is in a straight-ahead condition, determining the type of the vehicle's deviation condition according to the vehicle's yaw rate, the steering wheel angle, and the steering wheel torque; A torque calculation module, used to determine the motor compensation torque through a fuzzy PI control algorithm according to the type of the vehicle's deviation condition; The compensation module is used to compensate the vehicle deviation according to the motor compensation torque and the pre-stored historical compensation torque.

9. A controller, characterized in that: The controller includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the vehicle deviation compensation control method described in any one of claims 1 to 7 is implemented.

10. A vehicle, characterized in that: The vehicle includes a vehicle body and a controller installed in the vehicle body, wherein the controller executes the vehicle deviation compensation control method described in any one of claims 1-7.

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