Vehicle and steering hand torque fluctuation compensation method and device thereof

Abstract

The invention discloses a vehicle and a compensation method and device for steering hand torque fluctuation of the vehicle, and relates to the technical field of vehicle control. The steering hand torque fluctuation compensation method comprises the steps that a working condition signal of a vehicle is obtained in real time; the working condition signals comprise a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal and a steering power-assisted motor rotating speed signal; determining high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal; determining a steering hand torque change rate according to the steering hand torque signal; according to the steering hand torque change rate, the vehicle speed signal, the steering power-assisted motor rotating speed signal and the steering hand torque signal, the tremor compensation torque is determined; and determining a steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque. According to the method, by determining the high-frequency gain torque and the tremor compensation torque and finally determining the steering hand torque fluctuation compensation value, high-frequency fluctuation in the vehicle steering process is compensated, and the steering process is smoother and more controllable.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle control technology, and in particular to a method and device for compensating fluctuations of a vehicle and steering torque thereof. Background Art

[0002] The steering system is an indispensable and key component in vehicle driving, and its performance directly affects driving comfort, safety and vehicle handling.

[0003] During driving, the driver often feels fluctuations in steering feel due to various factors such as vehicle driving conditions and load, vibration transmitted by the road surface, insufficient precision of the transmission device itself, and control problems of the motor itself. These include low-frequency fluctuations caused by changes in steering hand force and granular high-frequency fluctuations during small steering movements, resulting in a poor driving experience.

[0004] In the prior art, some fixed parameter compensation methods or empirical formulas are usually used to solve the low-frequency fluctuations caused by changes in steering force. However, these methods often cannot solve the granular high-frequency fluctuations felt during small steering, which may result in the driving feel after compensation still being less than ideal. Summary of the invention

[0005] The present invention provides a method and device for compensating fluctuations of a vehicle and steering hand torque thereof, so as to compensate for high-frequency fluctuations in the steering process of the vehicle, thereby making the steering process smoother and more controllable.

[0006] A first aspect of the present invention provides a method for compensating for steering hand torque fluctuations, the method for compensating for steering hand torque fluctuations comprising:

[0007] Acquire the vehicle's operating condition signals in real time; the operating condition signals include vehicle speed signals, steering hand torque signals, steering wheel steering angle signals, and steering power motor speed signals;

[0008] Determining a high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal;

[0009] determining a steering hand torque change rate according to the steering hand torque signal;

[0010] determining a tremor compensation torque according to the steering hand torque change rate, the vehicle speed signal, the steering assist motor speed signal and the steering hand torque signal;

[0011] A steering hand torque fluctuation compensation value is determined according to the high-frequency gain torque and the tremor compensation torque.

[0012] Optionally, before determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal, the method further includes:

[0013] Judge whether the vehicle meets the normal driving condition according to the driving condition signal of the vehicle; wherein, under the normal driving condition, the value range of the vehicle speed V determined according to the vehicle speed signal is 0 km / h < V ≤ 120 km / h, the value range of the steering hand torque M determined according to the steering hand torque signal is 0 N < M ≤ 3 N, and the value range of the steering wheel steering angle θ determined according to the steering wheel steering angle signal is 0° < θ ≤ 900°;

[0014] If so, sequentially execute the steps of determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal to determining the steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

[0015] Optionally, determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal includes:

[0016] Determine the current high-frequency gain coefficient according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment;

[0017] Filter the steering hand torque signal at the current moment based on a high-frequency filter, and determine the filtered steering hand torque signal at the current moment as the high-frequency steering hand torque signal;

[0018] Determine the high-frequency gain torque according to the high-frequency steering hand torque signal and the current high-frequency gain coefficient.

[0019] Optionally, determining the current high-frequency gain coefficient according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment includes:

[0020] Obtain the first mapping relationship between the steering hand torque signal and the vehicle speed signal and the high-frequency gain coefficient;

[0021] Determine the high-frequency gain coefficient corresponding to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment according to the first mapping relationship as the current high-frequency gain coefficient.

[0022] Optionally, determining the steering hand torque change rate according to the steering hand torque signal includes;

[0023] Determine the steering hand torque change rate according to the steering hand torque at the current moment and the steering hand torque signal at the previous moment based on the first calculation formula; the first calculation formula is:

[0024]

[0025] wherein, STDev is the steering hand torque change rate, ST t is the steering hand torque signal at the current moment, ST t-Δt is the steering hand torque signal at the previous moment, and Δt is the time difference between the current moment and the previous moment.

[0026] Optionally, determining the tremor compensation torque according to the steering hand torque change rate, the vehicle speed signal, the steering power motor speed signal and the steering hand torque signal includes:

[0027] Determining a current vibration compensation coefficient according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment;

[0028] Determining a cut-off frequency segment when filtering the steering hand torque change rate according to the vehicle speed signal at the current moment and the steering power motor speed signal at the current moment;

[0029] filtering the steering hand torque change rate according to the intercepted frequency segment, and determining the filtered steering hand torque change rate as the steering hand torque fluctuation change rate;

[0030] A tremor compensation torque is determined according to the steering hand torque fluctuation change rate and the current tremor compensation coefficient.

[0031] Optionally, determining a current vibration compensation coefficient according to the steering hand torque signal at a current moment and the vehicle speed signal at a current moment includes:

[0032] Acquire a second mapping relationship between the steering hand torque signal, the vehicle speed signal and the tremor compensation coefficient;

[0033] A tremor compensation coefficient corresponding to the steering hand torque signal at a current moment and the vehicle speed signal at a current moment is determined according to the second mapping relationship as a current tremor compensation coefficient.

[0034] Optionally, the steering hand torque fluctuation compensation method further includes:

[0035] Based on the transfer function of the second-order lead-lag compensation, the steering hand torque fluctuation compensation value is corrected.

[0036] A second aspect of the present invention provides a steering hand torque fluctuation compensating device, the steering hand torque fluctuation compensating device comprising:

[0037] A working condition signal acquisition module is used to acquire the working condition signal of the vehicle in real time; the working condition signal includes a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal, and a steering power motor speed signal;

[0038] A high-frequency gain torque determination module, used to determine the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal;

[0039] A steering hand torque change rate determination module, used to determine the steering hand torque change rate according to the steering hand torque signal;

[0040] A tremor compensation torque determination module, used to determine the tremor compensation torque according to the steering hand torque change rate, the vehicle speed signal, the steering power motor speed signal and the steering hand torque signal;

[0041] The steering hand torque fluctuation compensation value determination module is used to determine the steering hand torque fluctuation compensation value according to the high-frequency gain torque and the vibration compensation torque.

[0042] A third aspect of the present invention provides a vehicle, comprising: a frame, a plurality of wheels arranged on the frame, a steering wheel arranged in the frame, a steering assist motor and an electronic control device, wherein the electronic control device is used to execute the steering hand torque fluctuation compensation method as described above.

[0043] The technical solution provided by the present invention obtains the vehicle's operating condition signals such as the vehicle speed signal, steering hand torque signal, steering wheel steering angle signal, and steering power motor speed signal in real time, and determines the high-frequency gain torque based on the steering hand torque signal and the vehicle speed signal. The high-frequency gain torque responds in advance and offsets the high-frequency part of the steering hand torque signal. At the same time, according to the steering hand torque signal, the steering hand torque change rate is determined, and according to the steering hand torque change rate, the vehicle speed signal, the steering power motor speed signal and the steering hand torque signal, the tremor compensation torque is determined. The tremor compensation torque is related to the driving condition of the vehicle, so that different tremor compensation torques are used under different driving conditions to timely adjust the tremor compensation for the high-frequency fluctuations of the steering hand torque; in addition, after determining the high-frequency gain torque and the tremor compensation torque, the high-frequency gain torque and the tremor compensation torque can be combined to determine the steering hand torque fluctuation compensation value transmitted to the steering power motor, so that when the steering hand torque fluctuation compensation value is compensated to the output torque of the steering power motor, the high-frequency fluctuations of the steering hand torque in the vehicle steering process under all driving conditions can be effectively offset, thereby effectively improving the driving comfort and controllability.

[0044] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 It is a flow chart of a method for compensating steering hand torque fluctuation provided in the first embodiment of the present invention;

[0047] Figure 2 It is a flow chart of a method for compensating steering hand torque fluctuation provided by the second embodiment of the present invention;

[0048] Figure 3 1 is a flow chart of a method for compensating steering hand torque fluctuation provided in Embodiment 3 of the present invention;

[0049] Figure 4 1 is a flow chart of a method for compensating steering hand torque fluctuation provided in a fourth embodiment of the present invention;

[0050] Figure 5 1 is a flow chart of a method for compensating steering hand torque fluctuation provided in Embodiment 5 of the present invention;

[0051] Figure 6 It is a structural schematic diagram of a steering hand torque fluctuation compensation device provided in Example 6 of the present invention. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0053] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0054] Embodiment 1

[0055] Figure 1 1 is a flow chart of a steering hand torque fluctuation compensation method provided by the first embodiment of the present invention. This embodiment is applicable to the case of compensating for high-frequency fluctuations of steering hand torque during vehicle steering. The method can be executed by a steering hand torque fluctuation compensation device, which can be implemented by software and / or hardware and can generally be integrated into the vehicle's steering system. Figure 1 As shown, the method for compensating the steering hand torque fluctuation may include:

[0056] S101. Acquire a vehicle operating condition signal in real time.

[0057] Among them, the working condition signals include vehicle speed signal, steering hand torque signal, steering wheel steering angle signal and steering power motor speed signal.

[0058] It is understandable that the steering hand torque signal can specifically be the magnitude of the torque applied by the driver to the steering wheel, which is used to reflect the force and force changes of the driver when controlling the vehicle to steer. The power steering motor can be integrated into the vehicle electric power steering system, which can also include a torque sensor, a vehicle speed sensor, a reduction mechanism, and an electronic control unit. The vehicle electric power steering system senses the driver's steering intention and adjusts the output torque of the power steering motor according to factors such as vehicle speed, thereby improving the steering comfort of the driver. The power steering motor is used to provide additional force to assist the driver in turning the steering wheel. The power steering motor speed signal can reflect the operating status and output power of the power steering motor in the vehicle electric power steering system.

[0059] Specifically, by acquiring the vehicle's operating condition signals in real time through various types of sensors on the vehicle, it is possible to monitor signals such as vehicle speed, steering hand torque, steering wheel angle, and steering power motor speed in real time. The vehicle steering system can more accurately understand the vehicle's current operating condition, and can adjust the compensation value for steering hand torque fluctuations according to actual driving conditions, thereby enhancing driving comfort.

[0060] S102: Determine a high-frequency gain torque according to a steering hand torque signal and a vehicle speed signal.

[0061] Among them, during the vehicle steering process, the high-frequency granular fluctuation of the steering hand torque is related to the steering hand torque signal and the vehicle speed signal. At this time, according to the steering hand torque signal and the vehicle speed signal obtained in real time by the vehicle steering system, the additional torque compensation value applied to the steering hand torque is calculated as the high-frequency gain torque, and the high-frequency gain torque can change with the steering hand torque signal and the vehicle speed signal, so as to compensate for the high-frequency granular fluctuation of the steering hand torque. At the same time, the high-frequency gain torque has a phase lead characteristic after high-frequency filtering. Therefore, the high-frequency gain torque can respond in advance and offset the high-frequency part of the steering hand torque signal, so that the vehicle steering system can quickly make adjustments when perceiving the high-frequency fluctuation of the steering hand torque, thereby smoothing the steering feel.

[0062] S103: Determine a steering hand torque change rate according to the steering hand torque signal.

[0063] The steering hand torque change rate can be specifically understood as the difference between the steering hand torque signal at the previous moment and the current moment, that is, the change rate of the steering hand torque signal.

[0064] In an optional embodiment, determining the steering hand torque change rate according to the steering hand torque signal includes: determining the steering hand torque change rate based on the first calculation formula according to the steering hand torque at the current moment and the steering hand torque signal at the previous moment; the first calculation formula is:

[0065]

[0066] Among them, ST Dev is the steering hand torque change rate, ST t is the steering hand torque signal at the current moment, ST t-Δt is the steering hand torque signal at the previous moment, and Δt is the time difference between the current moment and the previous moment.

[0067] It is understandable that, since the steering hand torque signal will change over time according to the driver's driving conditions, the steering hand torque ST at the previous moment t-Δt The current steering torque signal ST tThe steering hand torque change during the period is calculated, that is, the steering hand torque change rate ST is calculated by the first calculation formula Dev , so that the vehicle steering system can monitor the change of the steering hand torque signal between the current moment and the previous moment, that is, within Δt, in real time, so as to determine the change speed of the steering torque applied by the driver to the steering wheel within Δt, and can make corresponding compensation adjustments to the high-frequency fluctuations of the steering hand torque in time according to the real-time changes of the steering hand torque signal, and provide appropriate steering hand torque fluctuation compensation value, so as to compensate for the high-frequency fluctuations of the steering hand torque according to the driving conditions, making the driving process smoother and more comfortable.

[0068] S104: Determine a tremor compensation torque according to a steering hand torque change rate, a vehicle speed signal, a steering power motor speed signal, and a steering hand torque signal.

[0069] Among them, during the vehicle steering process, the steering hand torque will change over time according to the driver's driving conditions. At the same time, the vehicle speed and the steering power motor speed will also change with the road conditions and driving conditions. The changes in the steering hand torque, vehicle speed and steering power motor speed will cause the vehicle to vibrate. At the same time, the vehicle vibration will cause the steering hand torque to fluctuate at a high frequency in a short time. Therefore, by comprehensively analyzing the steering hand torque change rate, vehicle speed signal, steering power motor speed signal and steering hand torque signal, the vehicle steering system can monitor the changes of the steering hand torque in a short time in real time, and calculate the appropriate vibration compensation torque according to the real-time changes of the steering hand torque, vehicle speed and steering power motor speed, so that the vibration compensation for the high-frequency fluctuation of the steering hand torque can be adjusted in time according to different driving conditions, so as to make the steering process smoother and more comfortable, and improve the driver's driving experience.

[0070] S105: Determine a steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

[0071] Among them, the steering hand torque fluctuation compensation value can be specifically understood as a torque compensation value determined by the sum of the high-frequency gain torque and the tremor compensation torque, which is used to offset the high-frequency fluctuation of the steering hand torque generated in the vehicle steering system under all driving conditions. It can be understood that the high-frequency gain torque is used to respond in advance and offset the high-frequency part of the steering hand torque signal, and compensate for the high-frequency granular fluctuation of the steering hand torque during the vehicle steering process. The tremor compensation torque is used to timely adjust the compensation for the high-frequency fluctuation of the steering hand torque according to different driving conditions. By combining the high-frequency gain torque and the tremor compensation torque, the steering hand torque fluctuation compensation value transmitted to the steering power motor can be determined, which can effectively offset the high-frequency fluctuation of the steering hand torque during the vehicle steering process under all driving conditions, thereby improving driving comfort and controllability.

[0072] In an embodiment of the present invention, by acquiring in real time the operating condition signals such as the vehicle speed signal, the steering hand torque signal, the steering wheel steering angle signal, and the steering assist motor speed signal of the vehicle, and determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal, the high-frequency gain torque is used to respond in advance and cancel the high-frequency part in the steering hand torque signal. At the same time, according to the steering hand torque signal, the change rate of the steering hand torque is determined, and according to the change rate of the steering hand torque, the vehicle speed signal, the steering assist motor speed signal, and the steering hand torque signal, the tremor compensation torque is determined. The tremor compensation torque is related to the driving condition of the vehicle, so that different tremor compensation torques are adopted under different driving conditions to timely adjust the tremor compensation for the high-frequency fluctuation of the steering hand torque. In addition, after determining the high-frequency gain torque and the tremor compensation torque, the high-frequency gain torque and the tremor compensation torque can be combined to determine the compensation value of the steering hand torque fluctuation transmitted to the steering assist motor. Therefore, when compensating the compensation value of the steering hand torque fluctuation to the output torque of the steering assist motor, the high-frequency fluctuation of the steering hand torque during the vehicle steering process under all driving conditions can be effectively canceled, thereby effectively improving the driving comfort and controllability.

[0073] Embodiment 2

[0074] Figure 2 It is a schematic flowchart of a method for compensating the steering hand torque fluctuation provided by Embodiment 2 of the present invention. On the basis of the above embodiment, the method for judging whether to compensate the steering hand torque fluctuation is described in detail. Correspondingly, as Figure 2 shown, the method for compensating the steering hand torque fluctuation in this embodiment may include:

[0075] S201. Acquire the operating condition signals of the vehicle in real time.

[0076] S202. According to the operating condition signals of the vehicle, judge whether the vehicle meets the normal driving condition; if so, sequentially execute S203 to S206.

[0077] Among them, under the normal driving condition, the value range of the vehicle speed V determined according to the vehicle speed signal is 0 km / h < V ≤ 120 km / h, the value range of the steering hand torque M determined according to the steering hand torque signal is 0 N < M ≤ 3 N, and the value range of the steering wheel steering angle θ determined according to the steering wheel steering angle signal is 0° < θ ≤ 900°.

[0078] Specifically, before compensating for the high-frequency fluctuations of the steering hand torque, the vehicle's operating condition signal obtained in real time is first judged to confirm whether the vehicle is in a normal driving condition at the current moment. Usually, under normal driving conditions, the vehicle speed is not 0, and the vehicle speed is below the preset speed limit, that is, the speed is between 0km / h and 120km / h; at the same time, if under normal driving conditions, when it is necessary to change the vehicle's driving mode, a corresponding torque, that is, a steering hand torque, can be applied to the steering wheel. The steering hand torque should be between the maximum torque and the minimum torque, that is, the steering hand torque can be between 0N and 3N; in addition, since the steering wheel of a vehicle usually has a certain rotation limit, under normal driving conditions of the vehicle, the steering angle of the steering wheel of the vehicle can be between 0° and 900° to meet the normal steering requirements of the steering wheel.

[0079] In an exemplary embodiment, if it is determined based on the vehicle operating condition signal acquired in real time that the vehicle is currently in a normal driving condition, the flag position of the signal fault end of the vehicle electronic control device in the vehicle electric power steering system can be set to 0, so that when the flag position of the signal fault end is obtained to be 0, the steering hand torque high-frequency fluctuation compensation function of the vehicle electric power steering system can be controlled to be turned on, thereby executing S203 to S206 in sequence; when it is determined based on the vehicle operating condition signal acquired in real time that the vehicle is currently in an abnormal driving condition, the flag position of the signal fault end of the vehicle electronic control device in the vehicle electric power steering system can be set to 1, so that when the flag position of the signal fault end is obtained to be 1, the steering hand torque high-frequency fluctuation compensation function of the vehicle electric power steering system can be controlled to be stopped, and at this time, the driver can be reminded to check or repair the vehicle operating condition.

[0080] It is understandable that if the vehicle is in a normal driving condition at the current moment, during the small-amplitude steering process of the vehicle, the steering hand torque will produce granular high-frequency fluctuations. At this time, it is necessary to compensate for the high-frequency fluctuations of the steering hand torque to improve or eliminate the high-frequency granular fluctuations of the steering hand torque. Therefore, by sequentially executing each step from S203 to S206, the steering hand torque fluctuation compensation value can be accurately determined. When the steering hand torque during vehicle steering is compensated by using the hand torque fluctuation compensation value, driving comfort can be improved, which helps to optimize vehicle performance and driving experience, and improve vehicle stability and responsiveness.

[0081] S203: Determine a high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal.

[0082] S204: Determine a steering hand torque change rate according to the steering hand torque signal.

[0083] S205: Determine a tremor compensation torque according to a steering hand torque change rate, a vehicle speed signal, a steering power motor speed signal, and a steering hand torque signal.

[0084] S206: Determine a steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

[0085] In this embodiment, based on the vehicle's operating condition signal, it is determined whether the vehicle meets the normal driving condition. If so, the steps of determining the high-frequency gain torque based on the steering hand torque signal and the vehicle speed signal to determining the steering hand torque fluctuation compensation value based on the high-frequency gain torque and the vibration compensation torque are sequentially executed, thereby ensuring compensation for the high-frequency fluctuation of the steering hand torque under appropriate driving conditions, helping to optimize vehicle performance and driving experience, and improving vehicle stability and responsiveness.

[0086] Embodiment 3

[0087] Figure 3 is a flow chart of a steering hand torque fluctuation compensation method provided by the third embodiment of the present invention. Based on the above embodiment, this embodiment describes in detail the method for determining the high-frequency gain torque. Correspondingly, Figure 3 As shown, the steering hand torque fluctuation compensation method of this embodiment may include:

[0088] S301. Acquire the vehicle's operating condition signal in real time.

[0089] Among them, the working condition signals include vehicle speed signal, steering hand torque signal, steering wheel steering angle signal and steering power motor speed signal.

[0090] S302: Determine a current high-frequency gain coefficient according to a current steering hand torque signal and a current vehicle speed signal.

[0091] Among them, the high-frequency gain coefficient can be specifically understood as a high-frequency compensation adjustment parameter related to the current steering hand torque signal and the current vehicle speed signal, which is used to adjust the high-frequency gain torque to compensate for the high-frequency fluctuation of the steering hand torque in real time during the vehicle steering process. By reasonably adjusting the high-frequency gain coefficient, the vehicle steering system can more accurately compensate for the high-frequency fluctuation of the steering hand torque, making the driving process more stable and controllable.

[0092] Optionally, the current high-frequency gain coefficient is determined based on the steering hand torque signal at the current moment and the vehicle speed signal at the current moment, including: obtaining a first mapping relationship between the steering hand torque signal and the vehicle speed signal and the high-frequency gain coefficient; and determining the high-frequency gain coefficient corresponding to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment as the current high-frequency gain coefficient based on the first mapping relationship.

[0093] Among them, the first mapping relationship can be specifically understood as the mapping correspondence between the steering hand torque signal and the vehicle speed signal and the high-frequency gain coefficient. This mapping relationship can be established based on experimental data, mathematical models or empirical rules, and is used to map the current value of the steering hand torque signal and the current value of the vehicle speed signal to the corresponding high-frequency gain coefficient value, and use the corresponding high-frequency gain coefficient value as the current high-frequency gain coefficient. By establishing a suitable first mapping relationship, it is possible to dynamically adjust the high-frequency gain coefficient in real time according to the changes in the steering hand torque signal and the vehicle speed signal, thereby optimizing the performance of the vehicle steering system and improving driving comfort and controllability. Exemplarily, the first mapping relationship can be achieved through a MAP diagram between the hand torque signal and the vehicle speed signal and the high-frequency gain coefficient.

[0094] S303: Filter the steering hand torque signal at the current moment based on a high-frequency filter, and determine the filtered steering hand torque signal at the current moment as a high-frequency steering hand torque signal.

[0095] Specifically, the high-frequency filter can be understood as a filter that removes or weakens the low-frequency components in the steering hand torque signal at the current moment and retains the high-frequency components in the steering hand torque signal at the current moment. By performing high-frequency filtering on the steering hand torque signal at the current moment, a high-frequency steering hand torque signal at the current moment can be obtained, which includes the high-frequency fluctuation part of the steering hand torque. The high-frequency steering hand torque signal after high-frequency filtering can be more effectively used to determine the high-frequency gain torque, thereby realizing effective compensation for the high-frequency fluctuation of the steering hand torque.

[0096] It is understandable that the cutoff frequency of the high-frequency filter is determined according to the vehicle operating condition signal at the current moment. As the vehicle speed signal increases, the cutoff frequency of the high-frequency filter will also increase, thereby improving the accuracy of high-frequency filtering of the steering hand torque at the current moment. Exemplarily, the cutoff frequency of the high-frequency filter usually varies in the range of 10HZ to 40HZ to adapt to driving conditions of different vehicle speeds. It is also understandable that the phase of the high-frequency steering hand torque signal after high-frequency filtering will be advanced. Therefore, the high-frequency gain torque determined by the high-frequency steering hand torque signal can respond in advance and offset the high-frequency part of the steering hand torque signal, so that the vehicle steering system can quickly make adjustments when it senses the high-frequency fluctuation of the steering hand torque, thereby smoothing the steering feel.

[0097] S304: Determine a high-frequency gain torque according to the high-frequency steering hand torque signal and the current high-frequency gain coefficient.

[0098] Specifically, the high-frequency gain torque is determined by multiplying the high-frequency hand feel torque signal with the current high-frequency gain coefficient. The high-frequency gain torque can compensate for the high-frequency granular fluctuations of the steering hand torque during the vehicle steering process and has a phase advance characteristic. Therefore, the high-frequency gain torque can respond in advance and offset the high-frequency part of the steering hand torque signal, so that the vehicle steering system can quickly make adjustments when it senses the high-frequency fluctuations of the steering hand torque, thereby smoothing the steering feel.

[0099] S305: Determine the steering hand torque change rate according to the steering hand torque signal.

[0100] S306: Determine a tremor compensation torque according to a steering hand torque change rate, a vehicle speed signal, a steering power motor speed signal, and a steering hand torque signal.

[0101] S307: Determine a steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

[0102] In this embodiment, the current high-frequency gain coefficient is determined according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment, so that the high-frequency gain coefficient can be dynamically adjusted according to the changes in the steering hand torque signal and the vehicle speed signal in real time, thereby optimizing the performance of the vehicle steering system, and filtering the steering hand torque signal at the current moment based on a high-frequency filter, and determining the filtered steering hand torque signal at the current moment as a high-frequency steering hand torque signal, which includes the high-frequency fluctuation part of the steering hand torque. At the same time, the phase of the high-frequency steering hand torque signal after high-frequency filtering will be advanced. Therefore, the high-frequency gain torque determined according to the high-frequency steering hand torque signal and the current high-frequency gain coefficient can respond in advance and offset the high-frequency part of the steering hand torque signal, so that the vehicle steering system can quickly make adjustments when sensing the high-frequency fluctuation of the steering hand torque, thereby smoothing the steering feel.

[0103] Embodiment 4

[0104] Figure 4 is a flow chart of a steering hand torque fluctuation compensation method provided by a fourth embodiment of the present invention. Based on the above embodiments, this embodiment describes in detail a method for determining the vibration compensation torque. Accordingly, Figure 4 As shown, the steering hand torque fluctuation compensation method of this embodiment may include:

[0105] S401. Acquire the vehicle's operating condition signal in real time.

[0106] Among them, the working condition signals include vehicle speed signal, steering hand torque signal, steering wheel steering angle signal and steering power motor speed signal.

[0107] S402: Determine a high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal.

[0108] S403: Determine the steering hand torque change rate according to the steering hand torque signal.

[0109] S404: Determine a current vibration compensation coefficient according to the current steering hand torque signal and the current vehicle speed signal.

[0110] The tremor compensation coefficient can be specifically understood as a tremor compensation adjustment parameter related to the steering hand torque signal and the vehicle speed signal at the current moment, and is used to adjust the tremor compensation torque for compensating the high-frequency fluctuation of the steering hand torque in real time according to the driving conditions during the vehicle steering process. By reasonably setting the tremor compensation coefficient, the vehicle steering system can timely adjust the tremor compensation for the high-frequency fluctuation of the steering hand torque according to different driving conditions, thereby improving the driver's driving experience.

[0111] Optionally, a current vibration compensation coefficient is determined based on the steering hand torque signal at the current moment and the vehicle speed signal at the current moment, including: obtaining a second mapping relationship between the steering hand torque signal and the vehicle speed signal and the vibration compensation coefficient; and determining, based on the second mapping relationship, a vibration compensation coefficient corresponding to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment as the current vibration compensation coefficient.

[0112] Among them, the second mapping relationship can be specifically understood as the mapping correspondence between the steering hand torque signal and the vehicle speed signal and the tremor compensation coefficient. This mapping relationship can be established based on experimental data, mathematical models or empirical rules, and is used to map the current value of the steering hand torque signal and the current value of the vehicle speed signal to the corresponding tremor compensation coefficient value, and use the corresponding tremor compensation coefficient value as the current tremor compensation coefficient. By establishing a suitable second mapping relationship, it is possible to dynamically adjust the tremor compensation coefficient in real time according to the changes in the steering hand torque signal and the vehicle speed signal, thereby optimizing the performance of the vehicle steering system and improving driving comfort and handling. Exemplarily, the second mapping relationship can be achieved through a MAP diagram between the hand torque signal and the vehicle speed signal and the tremor compensation coefficient.

[0113] S405: Determine a cutoff frequency segment for filtering the steering hand torque change rate according to the current vehicle speed signal and the current steering power motor speed signal.

[0114] Specifically, by acquiring the third mapping relationship between the vehicle speed signal and the steering power motor speed signal and the filter cut-off frequency segment, the current value of the vehicle speed signal and the current value of the steering power motor speed signal are mapped to the corresponding filter cut-off frequency segment value, and the corresponding filter cut-off frequency segment value is used as the cut-off frequency segment when filtering the steering hand torque change rate at the current moment. In another optional embodiment, the vehicle speed signal at the current moment, the steering power motor speed signal at the current moment, and the vehicle's own characteristics are comprehensively considered to determine the cut-off frequency segment when filtering the steering hand torque change rate.

[0115] It can be understood that the cut-off frequency segment when filtering the steering hand torque change rate is the main fluctuation frequency segment of the steering hand torque. By filtering the steering hand torque change rate, unnecessary high-frequency noise can be removed and the main frequency components of the steering hand torque change rate can be retained, which simplifies the subsequent signal processing process and improves the efficiency and stability of the vehicle steering system.

[0116] S406: Filter the steering hand torque change rate according to the intercepted frequency segment, and determine the filtered steering hand torque change rate as the steering hand torque fluctuation change rate.

[0117] Specifically, a filter with a cutoff frequency segment as a cutoff frequency is used to filter the steering hand torque change rate, and the filtered steering hand torque change rate is determined as the steering hand torque fluctuation change rate. The steering hand torque fluctuation change rate is determined by filtering the steering hand torque, thereby removing unnecessary high-frequency noise, retaining the main frequency components of the steering hand torque change rate, simplifying the subsequent signal processing process, and improving the efficiency and stability of the vehicle steering system. Exemplarily, the filter may include a Butterworth filter, which has a smooth frequency response characteristic, can effectively filter out high-frequency noise, and provide a relatively stable filtering effect.

[0118] In an optional embodiment, the steering hand torque change rate is filtered according to the intercepted frequency segment, and the filtered steering hand torque change rate is determined as the steering hand torque fluctuation change rate, which may specifically include: firstly, the steering hand torque change rate is subjected to median filtering, and the median filtering selects a sliding window of a fixed size, selects the median in the sliding window as the median filtering result of the steering hand torque change rate, and uses the median filtering result as the input signal of the Butterworth filter; secondly, the Butterworth filter is used to filter the median filtering result, and the filtered steering hand torque change rate is determined as the steering hand torque fluctuation change rate. According to the vehicle speed signal at the current moment and the steering power motor speed signal at the current moment, the passband low frequency of the Butterworth filter can be determined to be f 1 and the high-end frequency band of the passband is f 2Therefore, the frequency range of the steering hand torque change rate after filtering by the Butterworth filter, that is, the frequency range of the steering hand torque fluctuation change rate is limited to f 1 With f 2 In order to be able to compensate for the steering hand torque fluctuation rate within this specific frequency range.

[0119] S407: Determine the tremor compensation torque according to the steering hand torque fluctuation change rate and the current tremor compensation coefficient.

[0120] Specifically, the tremor compensation torque is determined by multiplying the steering hand torque fluctuation change rate with the current tremor compensation coefficient. The tremor compensation torque can compensate for the high-frequency fluctuations of the steering hand torque in the vehicle steering system caused by changes in driving conditions. Therefore, the tremor compensation torque can timely adjust the tremor compensation for the high-frequency fluctuations of the steering hand torque according to different driving conditions, so as to make the steering process smoother and more comfortable, and enhance the driver's driving experience.

[0121] S408: Determine a steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

[0122] This embodiment determines the current tremor compensation coefficient based on the steering hand torque signal and the vehicle speed signal at the current moment. By reasonably adjusting the tremor compensation coefficient, the vehicle steering system can timely adjust the tremor compensation for the high-frequency fluctuations of the steering hand torque according to different driving conditions, and determine the interception frequency segment when filtering the steering hand torque change rate according to the vehicle speed signal and the steering power motor speed signal at the current moment. According to the interception frequency segment, the steering hand torque change rate is filtered, and the filtered steering hand torque change rate is determined as the steering hand torque fluctuation change rate, thereby removing unnecessary high-frequency noise, retaining the main frequency components of the steering hand torque change rate, and simplifying the subsequent signal processing process. The tremor compensation torque is determined by multiplying the steering hand torque fluctuation change rate with the current tremor compensation coefficient. The tremor compensation torque can timely adjust the tremor compensation for the high-frequency fluctuations of the steering hand torque according to different driving conditions, so as to make the steering process smoother and more comfortable, thereby improving the driving experience of the driver.

[0123] Embodiment 5

[0124] Figure 5 is a flow chart of a steering hand torque fluctuation compensation method provided by Embodiment 5 of the present invention. Based on the above embodiments, this embodiment describes in detail a method for correcting the steering hand torque fluctuation compensation value. Accordingly, Figure 5 As shown, the steering hand torque fluctuation compensation method of this embodiment may include:

[0125] S501. Acquire the vehicle's operating condition signal in real time.

[0126] Among them, the working condition signals include vehicle speed signal, steering hand torque signal, steering wheel steering angle signal and steering power motor speed signal.

[0127] S502: Determine a high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal.

[0128] S503: Determine the steering hand torque change rate according to the steering hand torque signal.

[0129] S504: Determine a tremor compensation torque according to a steering hand torque change rate, a vehicle speed signal, a steering power motor speed signal, and a steering hand torque signal.

[0130] S505: Determine a steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

[0131] S506: Correct the steering hand torque fluctuation compensation value based on the transfer function of the second-order lead-lag compensation.

[0132] Among them, the transfer function of the second-order lead-lag compensation can be:

[0133]

[0134] Among them, b, τ 1 and τ 2 is the calculation coefficient, F(s) is the steering hand torque fluctuation compensation correction coefficient, and s is the complex Laplace transform variable.

[0135] Specifically, after the correction coefficient is calculated by using the transfer function of the second-order lead-lag compensation, the correction coefficient can be multiplied by the steering hand torque fluctuation compensation value to obtain the corrected steering hand torque fluctuation compensation value. The corrected steering hand torque fluctuation compensation value has the characteristic of phase lead, so when the corrected steering hand torque fluctuation compensation value is used to compensate the steering hand torque under normal driving conditions of the vehicle, the high-frequency granular fluctuation during vehicle steering can be improved or eliminated. Wherein, b, τ 1 and τ 2 It can be determined by the vehicle speed signal at the current moment and the vehicle resonance frequency at the current moment determined by the vehicle speed signal at the current moment.

[0136] Among them, correcting the steering hand torque fluctuation compensation value according to the current driving condition can achieve the effect of phase advance, so that when compensating the high-frequency fluctuation of the steering hand torque by the correction value of the steering hand torque fluctuation compensation value, the correction value will not lag, effectively improving the compensation effect of the high-frequency fluctuation of the steering hand torque under all driving conditions, thereby significantly improving the driving comfort and controllability. It can also be understood that by correcting the steering hand torque fluctuation compensation value to make its phase advance, it helps to avoid the occurrence of vehicle system resonance. Vehicle system resonance may cause system instability or even damage. Therefore, correcting the steering hand torque fluctuation compensation value according to the current driving condition can achieve steering hand torque fluctuation compensation under different driving conditions, while effectively reducing the risk of vehicle system resonance and improving the stability and reliability of the vehicle steering system.

[0137] This embodiment corrects the steering hand torque fluctuation compensation value through a transfer function based on the second-order lead-lag compensation, thereby realizing the correction of the steering hand torque fluctuation compensation value according to the current driving condition, making the steering hand torque fluctuation compensation value phase advanced, and effectively improving the compensation effect for high-frequency fluctuations of the steering hand torque under all driving conditions, while effectively reducing the risk of vehicle system resonance and improving the stability and reliability of the vehicle steering system.

[0138] Embodiment 6

[0139] Figure 6 : is a schematic diagram of the structure of a steering hand torque fluctuation compensation device provided in the sixth embodiment of the present invention. The device can implement the steering hand torque fluctuation compensation method provided in the embodiment of the present invention. The device can be implemented by software and / or hardware, and can generally be integrated in the steering system of the vehicle. Figure 5 As shown, the device includes: a working condition signal acquisition module 601, a high-frequency gain torque determination module 602, a steering hand torque change rate determination module 603, a tremor compensation torque determination module 604 and a steering hand torque fluctuation compensation value determination module 605. The specific structure of the device is as follows:

[0140] The operating condition signal acquisition module 601 is used to acquire the operating condition signal of the vehicle in real time.

[0141] The operating condition signals include vehicle speed signal, steering hand torque signal, steering wheel steering angle signal, and steering power motor speed signal.

[0142] The high-frequency gain torque determination module 602 is used to determine the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal.

[0143] The steering hand torque change rate determination module 603 is used to determine the steering hand torque change rate according to the steering hand torque signal.

[0144] The tremor compensation torque determination module 604 is configured to determine the tremor compensation torque according to the change rate of the steering hand torque, the vehicle speed signal, the rotational speed signal of the steering assist motor, and the steering hand torque signal.

[0145] The steering hand torque fluctuation compensation value determination module 605 is configured to determine the steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

[0146] In an alternative embodiment of the present invention, the operating condition signal acquisition module 601 may further be configured to: determine whether the vehicle satisfies the normal driving condition according to the operating condition signal of the vehicle; if so, sequentially execute the steps of determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal to determining the steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

[0147] Wherein, under the normal driving condition, the value range of the vehicle speed V of the vehicle determined according to the vehicle speed signal is 0 km / h < V ≤ 120 km / h, the value range of the steering hand torque M determined according to the steering hand torque signal is 0 N < M ≤ 3 N, and the value range of the steering wheel steering angle θ determined according to the steering wheel steering angle signal is 0° < θ ≤ 900°.

[0148] In an alternative embodiment of the present invention, the high-frequency gain torque determination module 602 may further be configured to: determine the current high-frequency gain coefficient according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment; filter the steering hand torque signal at the current moment based on a high-pass filter, and determine the filtered steering hand torque signal at the current moment as the high-frequency steering hand torque signal; determine the high-frequency gain torque according to the high-frequency steering hand torque signal and the current high-frequency gain coefficient.

[0149] In an alternative embodiment of the present invention, the high-frequency gain torque determination module 602 may further be configured to: obtain the first mapping relationship between the steering hand torque signal and the vehicle speed signal and the high-frequency gain coefficient; determine the high-frequency gain coefficient corresponding to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment according to the first mapping relationship as the current high-frequency gain coefficient.

[0150] In an alternative embodiment of the present invention, the steering hand torque change rate determination module 603 may further be configured to: determine the steering hand torque change rate based on the first calculation formula according to the steering hand torque at the current moment and the steering hand torque signal at the previous moment.

[0151] Wherein, the first calculation formula is:

[0152]

[0153] Wherein, ST Dev is the steering hand torque change rate, ST tis the steering hand torque signal at the current moment, ST t-Δt is the steering hand torque signal at the previous moment, and Δt is the time difference between the current moment and the previous moment.

[0154] In an optional embodiment of the present invention, the tremor compensation torque determination module 604 can also be used to: determine the current tremor compensation coefficient based on the steering hand torque signal at the current moment and the vehicle speed signal at the current moment; determine the interception frequency segment when filtering the steering hand torque change rate based on the vehicle speed signal at the current moment and the power steering motor speed signal at the current moment; filter the steering hand torque change rate based on the interception frequency segment, and determine the filtered steering hand torque change rate as the steering hand torque fluctuation change rate; determine the tremor compensation torque based on the steering hand torque fluctuation change rate and the current tremor compensation coefficient.

[0155] In an optional embodiment of the present invention, the vibration compensation torque determination module 604 can also be used to: obtain a second mapping relationship between the steering hand torque signal and the vehicle speed signal and the vibration compensation coefficient; determine the vibration compensation coefficient corresponding to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment according to the second mapping relationship as the current vibration compensation coefficient.

[0156] In an optional embodiment of the present invention, the steering hand torque fluctuation compensation value determination module 605 can also be used to correct the steering hand torque fluctuation compensation value based on the transfer function of the second-order lead-lag compensation.

[0157] The above-mentioned steering hand torque fluctuation compensation device can execute the steering hand torque fluctuation compensation method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not described in detail in this embodiment, please refer to the steering hand torque fluctuation compensation method provided by any embodiment of the present invention.

[0158] Since the steering hand torque fluctuation compensation device introduced above is a device that can execute the steering hand torque fluctuation compensation method in the embodiment of the present invention, based on the steering hand torque fluctuation compensation method introduced in the embodiment of the present invention, the technical personnel in this field can understand the specific implementation of the steering hand torque fluctuation compensation device of this embodiment and its various variations, so how the steering hand torque fluctuation compensation device implements the steering hand torque fluctuation compensation method in the embodiment of the present invention is not introduced in detail here. As long as the technical personnel in this field implement the device used by the steering hand torque fluctuation compensation method in the embodiment of the present invention, it belongs to the scope of protection of this application.

[0159] Embodiment 7

[0160] Based on the same inventive concept, embodiment seven of the present invention also provides a vehicle, which includes a frame, a plurality of wheels arranged on the frame, a steering wheel arranged in the frame, a steering power motor and an electronic control device, and the electronic control device is used to execute the steering hand torque fluctuation compensation method of the above embodiment.

[0161] Therefore, the vehicle provided in this embodiment has the structure and operation of the steering hand torque fluctuation compensation device of the above-mentioned embodiment, and can achieve the effect of the steering hand torque fluctuation compensation method of the above-mentioned embodiment. The similarities can be referred to the above description and will not be repeated here.

[0162] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution disclosed in the present invention can be achieved, and this document does not limit this.

[0163] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for compensating steering hand torque fluctuation, characterized in that: Including: Obtaining the operating condition signals of the vehicle in real time; the operating condition signals include vehicle speed signal, steering hand torque signal, steering wheel steering angle signal, and steering assist motor speed signal; Determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal; Determining the change rate of the steering hand torque according to the steering hand torque signal; Determining the tremor compensation torque according to the change rate of the steering hand torque, the vehicle speed signal, the steering assist motor speed signal, and the steering hand torque signal; Determining the steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

2. The method for compensating steering hand torque fluctuation according to claim 1, characterized in that: Before determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal, it further includes: Judging whether the vehicle meets the normal driving condition according to the operating condition signals of the vehicle; wherein, under the normal driving condition, the value range of the vehicle speed V determined according to the vehicle speed signal is 0 km / h < V ≤ 120 km / h, the value range of the steering hand torque M determined according to the steering hand torque signal is 0 N < M ≤ 3 N, and the value range of the steering wheel steering angle θ determined according to the steering wheel steering angle signal is 0° < θ ≤ 900°; If so, sequentially execute the steps of determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal to determining the steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

3. The method for compensating steering hand torque fluctuation according to claim 1, characterized in that: Determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal includes: Determining the current high-frequency gain coefficient according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment; Filtering the steering hand torque signal at the current moment based on a high-frequency filter, and determining the filtered steering hand torque signal at the current moment as the high-frequency steering hand torque signal; Determining the high-frequency gain torque according to the high-frequency steering hand torque signal and the current high-frequency gain coefficient.

4. The method for compensating steering hand torque fluctuation according to claim 3, characterized in that: Determining the current high-frequency gain coefficient according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment includes: Obtaining the first mapping relationship between the steering hand torque signal, the vehicle speed signal, and the high-frequency gain coefficient; Determining the high-frequency gain coefficient corresponding to the steering hand torque signal and the vehicle speed signal at the current moment according to the first mapping relationship as the current high-frequency gain coefficient.

5. The method for compensating steering hand torque fluctuation according to claim 1, characterized in that: Determining the change rate of the steering hand torque according to the steering hand torque signal includes; Determining the change rate of the steering hand torque based on the first calculation formula according to the steering hand torque at the current moment and the steering hand torque signal at the previous moment; the first calculation formula is: Among them, ST Dev is the steering hand torque change rate, ST t is the steering hand torque signal at the current moment, ST t-Δt is the steering hand torque signal at the previous moment, and Δt is the time difference between the current moment and the previous moment.

6. The method for compensating steering hand torque fluctuation according to claim 1, characterized in that: Determining the tremor compensation torque according to the change rate of the steering hand torque, the vehicle speed signal, the steering assist motor speed signal, and the steering hand torque signal includes: Determining the current tremor compensation coefficient according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment; Determining a cut-off frequency segment when filtering the steering hand torque change rate according to the vehicle speed signal at the current moment and the steering power motor speed signal at the current moment; filtering the steering hand torque change rate according to the intercepted frequency segment, and determining the filtered steering hand torque change rate as the steering hand torque fluctuation change rate; A tremor compensation torque is determined according to the steering hand torque fluctuation change rate and the current tremor compensation coefficient.

7. The method for compensating steering hand torque fluctuation according to claim 6, characterized in that: Determining a current vibration compensation coefficient according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment includes: Acquire a second mapping relationship between the steering hand torque signal, the vehicle speed signal and the tremor compensation coefficient; A tremor compensation coefficient corresponding to the steering hand torque signal at a current moment and the vehicle speed signal at a current moment is determined according to the second mapping relationship as a current tremor compensation coefficient.

8. The method for compensating steering hand torque fluctuation according to claim 1, characterized in that: Also includes: Based on the transfer function of the second-order lead-lag compensation, the steering hand torque fluctuation compensation value is corrected.

9. A compensating device for steering hand torque fluctuation, characterized in that: include: A working condition signal acquisition module is used to acquire the working condition signal of the vehicle in real time; the working condition signal includes a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal, and a steering power motor speed signal; A high-frequency gain torque determination module, used to determine the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal; A steering hand torque change rate determination module, used to determine the steering hand torque change rate according to the steering hand torque signal; A tremor compensation torque determination module, used to determine the tremor compensation torque according to the steering hand torque change rate, the vehicle speed signal, the steering power motor speed signal and the steering hand torque signal; The steering hand torque fluctuation compensation value determination module is used to determine the steering hand torque fluctuation compensation value according to the high-frequency gain torque and the vibration compensation torque.

10. A vehicle, characterized in that: include: A vehicle frame, a plurality of wheels arranged on the vehicle frame, a steering wheel arranged in the vehicle frame, a steering assist motor and an electronic control device, wherein the electronic control device is used to execute a steering hand torque fluctuation compensation method as described in any one of claims 1-8.

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