A vehicle and a method and device for compensating for steering hand torque fluctuations

Abstract

The application 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 compensation method for the steering hand torque fluctuation comprises the following steps: acquiring a working condition signal of the vehicle in real time; the working condition signal comprises a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal and a steering assist motor rotating speed signal; determining a 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; determining a tremor compensation torque according to the steering hand torque change rate, the vehicle speed signal, the steering assist motor rotating speed signal and the steering hand torque signal; and determining a steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque. Through the determination of the high-frequency gain torque, the tremor compensation torque and the final determination of the steering hand torque fluctuation compensation value, the high-frequency fluctuation in the steering process of the vehicle is compensated, and the steering process is more smooth and controllable.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of vehicle control, and particularly relate to a vehicle and a method and device for compensating steering hand torque fluctuation. BACKGROUND

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

[0003] During vehicle driving, the driver often feels the fluctuation of steering hand feeling, including low-frequency fluctuation caused by the change of steering hand torque and granular high-frequency fluctuation in small-amplitude steering process, due to the influence of various factors such as vehicle driving conditions and load, road transmission, insufficient precision of the transmission device itself, and control problems of the motor itself, which makes the driving experience unsatisfactory.

[0004] In the prior art, for the problem of low-frequency fluctuation caused by the change of steering hand torque, some fixed parameter compensation methods or adjustment through empirical formula are usually used. However, these methods often cannot solve the granular high-frequency fluctuation felt in small-amplitude steering process, which may result in unsatisfactory driving feeling after compensation. SUMMARY

[0005] The present application provides a vehicle and a method and device for compensating steering hand torque fluctuation to compensate for high-frequency fluctuation in the steering process of the vehicle, making the steering process more smooth and controllable.

[0006] The present application provides a method for compensating steering hand torque fluctuation, which comprises:

[0007] obtaining a working condition signal of the vehicle in real time; the working condition signal comprises a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal and a steering assist motor speed signal;

[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] determining a steering hand torque fluctuation compensation value 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, it further comprises:

[0013] determining whether the vehicle meets a normal driving condition according to the working condition signal of the vehicle; wherein, in the normal driving condition, the vehicle speed V of the vehicle determined according to the vehicle speed signal ranges from 0 km / h to 120 km / h, the steering hand torque M determined according to the steering hand torque signal ranges from 0 N to 3 N, and the steering wheel steering angle θ determined according to the steering wheel steering angle signal ranges from 0° to 900°;

[0014] If yes, sequentially performing each step of determining a high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal, determining a high-frequency gain torque according to the high-frequency gain torque and the tremor compensation torque, and determining a steering hand torque fluctuation compensation value.

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

[0016] determining a 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] 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;

[0018] determining 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 comprises:

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

[0021] 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 according to the first mapping relationship.

[0022] Optionally, determining the steering hand torque change rate according to the steering hand torque signal comprises:

[0023] determining the steering hand torque change rate based on a 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:

[0024]

[0025] 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 assist motor speed signal, and the steering hand torque signal comprises:

[0027] determining a current tremor 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 band when filtering the steering hand torque change rate according to the vehicle speed signal at the current moment and the steering assist motor speed signal at the current moment;

[0029] filtering the steering hand torque change rate according to the cut-off frequency band, and determining the filtered steering hand torque change rate as a steering hand torque fluctuation change rate;

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

[0031] Optionally, 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 comprises:

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

[0033] determining the tremor 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 tremor compensation coefficient according to the second mapping relationship.

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

[0035] correcting the steering hand torque fluctuation compensation value based on a transfer function of a second-order lead-lag compensation.

[0036] The second aspect of the present application provides a compensation device for steering hand torque fluctuation, which comprises:

[0037] a working condition signal acquisition module, configured to acquire a working condition signal of a vehicle in real time; the working condition signal comprises a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal, and a steering assist motor speed signal;

[0038] a high-frequency gain torque determination module configured to determine a 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 configured to determine a steering hand torque change rate according to the steering hand torque signal;

[0040] a tremor compensation torque determination module configured to determine 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;

[0041] a steering hand torque fluctuation compensation value determination module configured to determine a steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque.

[0042] The third aspect of the present application provides a vehicle, comprising a vehicle frame, a plurality of vehicle 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 configured to execute the compensation method of steering hand torque fluctuation as described above.

[0043] The technical solution provided by the present application acquires the working 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 in real time, determines the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal, the high-frequency gain torque responds in advance and offsets the high-frequency part in the steering hand torque signal. At the same time, the steering hand torque change rate is determined according to the steering hand torque signal, and the tremor compensation torque is determined according to the steering hand torque change rate, the vehicle speed signal, the steering assist motor speed signal and the steering hand torque signal, the tremor compensation torque is related to the driving working condition of the vehicle, so that the tremor compensation torque is adjusted in time to adjust the high-frequency fluctuation of the steering hand torque in different driving working conditions. In addition, after the high-frequency gain torque and the tremor compensation torque are determined, the steering hand torque fluctuation compensation value transmitted to the steering assist motor can be determined by combining the high-frequency gain torque and the tremor compensation torque, so that when the steering hand torque fluctuation compensation value is compensated to the output torque of the steering assist motor, the high-frequency fluctuation of the steering hand torque in the steering process of the vehicle in the whole driving working condition can be effectively offset, and the driving comfort and the handling are effectively improved.

[0044] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and all other drawings obtained by those skilled in the art without any creative effort should be within the protection scope of the present application.

[0046] Figure 1 is a flowchart of a steering hand torque fluctuation compensation method provided by the first embodiment of the present application;

[0047] Figure 2 is a flowchart of a steering hand torque fluctuation compensation method provided by the second embodiment of the present application;

[0048] Figure 3 is a flowchart of a steering hand torque fluctuation compensation method provided by the third embodiment of the present application;

[0049] Figure 4 is a flowchart of a steering hand torque fluctuation compensation method provided by the fourth embodiment of the present application;

[0050] Figure 5 is a flowchart of a steering hand torque fluctuation compensation method provided by the fifth embodiment of the present application;

[0051] Figure 6 is a structural diagram of a steering hand torque fluctuation compensation device provided by the sixth embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the technical solutions in the embodiments of the present application clearer, the accompanying drawings needed in the embodiments will be briefly introduced. Obviously, the accompanying drawings in the following description only show some embodiments of the present application, and all other drawings obtained by those skilled in the art without any creative effort should be within the protection scope of the present application.

[0053] It should be noted that the terms "first", "second", and the like in the description and in the claims of the present application and above-described accompanying drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0054] Embodiment one

[0055] Figure 1 is a flowchart of a steering hand torque fluctuation compensation method provided by embodiment one of the present application. The present embodiment can be applied to the case of compensating for high-frequency fluctuations of steering hand torque during vehicle steering. The method can be performed by a steering hand torque fluctuation compensation device, which can be implemented in software and / or hardware and generally integrated into a vehicle steering system. Accordingly, as shown in Figure 1 the steering hand torque fluctuation compensation method can include:

[0056] S101, acquiring a working condition signal of the vehicle in real time.

[0057] The working condition signal includes a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal, and a steering assist motor speed signal.

[0058] It can be understood that the steering hand torque signal can be the torque size applied by the driver to the steering wheel, which reflects the force and force change of the driver when controlling the vehicle to steer. The steering assist motor can be integrated into a vehicle electric power steering system, which can also include a torque sensor, a vehicle speed sensor, a reduction mechanism, and an electronic control unit, etc. The vehicle electric power steering system adjusts the output torque of the steering assist motor according to the steering intention of the driver and other factors such as vehicle speed, thereby improving the steering comfort of the driver. The steering assist motor is used to provide additional power to assist the driver in turning the steering wheel, and the steering assist motor speed signal can reflect the running state and output power of the steering assist motor in the vehicle electric power steering system.

[0059] Specifically, the working condition signals of the vehicle are acquired in real time through various types of sensors on the vehicle, so that the vehicle speed, steering hand torque, steering wheel angle, steering assist motor speed and other signals can be monitored in real time, and the vehicle steering system can more accurately understand the current working condition of the vehicle, so as to adjust the compensation value of the steering hand torque fluctuation according to the actual driving condition, and enhance the driving comfort.

[0060] S102, determining a high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal.

[0061] In 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, the additional torque compensation value applied to the steering hand torque calculated according to the steering hand torque signal and the vehicle speed signal acquired by the vehicle steering system in real time is 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 the high-frequency granular fluctuation of the steering hand torque. At the same time, the high-frequency gain torque has the characteristic of phase advance after high-frequency filtering processing, so the high-frequency gain torque can respond in advance and offset the high-frequency part in the steering hand torque signal, so that the vehicle steering system can quickly adjust when sensing the high-frequency fluctuation of the steering hand torque, thereby smoothing the steering feel.

[0062] S103, determining a steering hand torque change rate according to the steering hand torque signal.

[0063] The steering hand torque change rate can be understood as the difference between the steering hand torque signal at the previous moment and the current moment, i.e. 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 comprises: determining the steering hand torque change rate based on a 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] Wherein, 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 can be understood that since the steering hand torque signal will change over time according to the driving condition of the driver, the steering hand torque signal ST t-Δt at the previous moment becomes the steering hand torque signal ST tThe steering hand torque change condition during the period is calculated, that is, the steering hand torque change rate ST is calculated by the first calculation formula Dev The vehicle steering system can monitor the change of the steering hand torque signal in the current time and the previous time, that is, Δt, in real time, so as to determine the change speed of the steering torque applied to the steering wheel by the driver in Δt, and to compensate for the high-frequency fluctuation of the steering hand torque in time according to the real-time change of the steering hand torque signal, and to provide appropriate steering hand torque fluctuation compensation value, so as to compensate for the high-frequency fluctuation of the steering hand torque according to the driving condition, and to make the driving process more stable and comfortable.

[0068] S104, determining a vibration 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.

[0069] During the vehicle steering process, the steering hand torque will change over time according to the driving condition of the driver, at the same time, the vehicle speed and the steering assist motor speed will also change over time according to the road condition and the driving condition. Since the change of the steering hand torque, the vehicle speed and the steering assist motor speed will cause the vibration of the vehicle, and the vibration of the vehicle will cause the high-frequency fluctuation of the steering hand torque in a short time, therefore, by comprehensively analyzing the steering hand torque change rate, the vehicle speed signal, the steering assist motor speed signal and the steering hand torque signal, the vehicle steering system can monitor the change of the steering hand torque in a short time in real time, and calculate the appropriate vibration compensation torque according to the real-time change of the steering hand torque, the vehicle speed and the steering assist motor speed, so as to timely adjust the vibration compensation for the high-frequency fluctuation of the steering hand torque according to different driving conditions, so as to make the steering process more stable and comfortable, and improve the driving experience of the driver.

[0070] S105, determining the steering hand torque fluctuation compensation value according to the high-frequency gain torque and the vibration compensation torque.

[0071] The steering hand torque fluctuation compensation value can be understood as a torque compensation value determined by the sum of the high-frequency gain torque and the vibration 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 in the steering hand torque signal, and to compensate for the high-frequency granular fluctuation of the steering hand torque in the vehicle steering process, and the vibration compensation torque is used to adjust the compensation for the high-frequency fluctuation of the steering hand torque in time according to different driving conditions. By combining the high-frequency gain torque and the vibration compensation torque, the steering hand torque fluctuation compensation value transmitted to the steering assist motor can effectively offset the high-frequency fluctuation of the steering hand torque in the vehicle steering process under all driving conditions, so as to improve the comfort and maneuverability of the driving.

[0072] In an embodiment of the present invention, by acquiring in real time working 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 a 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, a tremor compensation torque is determined, and 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 fluctuation compensation value of the steering hand torque transmitted to the steering assist motor can be determined by combining the high-frequency gain torque and the tremor compensation torque. Therefore, when compensating the fluctuation compensation value of the steering hand torque 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, and thus the driving comfort and controllability are effectively improved.

[0073] Embodiment 2

[0074] Figure 2 FIG. 7 is a schematic flow chart of a method for compensating the fluctuation of the steering hand torque provided in Embodiment 2 of the present invention. On the basis of the above embodiment, the method for determining whether to compensate the fluctuation of the steering hand torque is described in detail. Correspondingly, as Figure 2 shown, the method for compensating the fluctuation of the steering hand torque in this embodiment may include:

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

[0076] S202. According to the working condition signals of the vehicle, determine 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 the high-frequency fluctuation of the steering hand torque is compensated, the working condition signal of the vehicle obtained in real time is first judged to confirm whether the vehicle is in normal driving condition at the current time. Generally, in the normal driving condition, the vehicle speed of the vehicle is not 0, and the vehicle speed is below the preset speed limit value, i.e., the vehicle speed is between 0 km / h and 120 km / h. Meanwhile, if the driving mode of the vehicle needs to be changed in the normal driving condition, a corresponding torque, i.e., the steering hand torque, can be applied to the steering wheel, and the steering hand torque should be between the maximum torque and the minimum torque, i.e., the steering hand torque can be between 0 N and 3 N. In addition, since the steering wheel of the vehicle usually has a certain rotation limit, the steering angle of the vehicle in the normal driving condition can be between 0° and 900° to meet the normal steering demand of the steering wheel.

[0079] In the example embodiment, if it is judged according to the working condition signal of the vehicle obtained in real time that the vehicle is in the normal driving condition at the current time, the flag position of the signal fault end of the vehicle electronic control device in the electric power steering system of the vehicle can be set to 0, so that when the flag position of the signal fault end is obtained as 0, the steering hand torque high-frequency fluctuation compensation function of the electric power steering system of the vehicle can be controlled to be turned on, and then S203 to S206 are sequentially executed. When it is judged according to the working condition signal of the vehicle obtained in real time that the vehicle is in the abnormal driving condition at the current time, the flag position of the signal fault end of the vehicle electronic control device in the electric power steering system of the vehicle can be set to 1, so that when the flag position of the signal fault end is obtained as 1, the steering hand torque high-frequency fluctuation compensation function of the electric power steering system of the vehicle can be controlled to be stopped, and at this time, the driver can be reminded to check or maintain the working condition of the vehicle.

[0080] It can be understood that if the vehicle is in the normal driving condition at the current time, the steering hand torque will produce granular high-frequency fluctuation in the process of small-amplitude steering of the vehicle, and at this time, the high-frequency fluctuation of the steering hand torque needs to be compensated to improve or eliminate the high-frequency granular fluctuation of the steering hand torque. Therefore, by sequentially executing the steps of S203 to S206, the steering hand torque fluctuation compensation value can be accurately determined, and when the steering hand torque in the process of steering the vehicle is compensated by using the hand torque fluctuation compensation value, the driving comfort can be improved, which helps to optimize the vehicle performance and driving experience, and improve the stability and responsiveness of the vehicle.

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

[0082] S204, determining a steering hand torque change rate according to the steering hand torque signal.

[0083] S205, 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.

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

[0085] In this embodiment, according to the working condition signal of the vehicle, it is judged whether the vehicle meets the normal driving condition, and if so, the steps of determining the high-frequency gain torque according to the steering hand torque signal and the vehicle speed signal, and determining the steering hand torque fluctuation compensation value according to the high-frequency gain torque and the tremor compensation torque are sequentially executed, so as to ensure that the high-frequency fluctuation of the steering hand torque is compensated under appropriate driving conditions, which helps to optimize the vehicle performance and driving experience, and improve the stability and responsiveness of the vehicle.

[0086] Embodiment three

[0087] Figure 3 is a flowchart of a steering hand torque fluctuation compensation method provided by the third embodiment of the present application. Based on the above-mentioned embodiments, the method for determining the high-frequency gain torque is described in detail, and accordingly, as shown in Figure 3 , the steering hand torque fluctuation compensation method of the present embodiment can include:

[0088] S301, acquiring the working condition signal of the vehicle in real time.

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

[0090] S302, determining the current high-frequency gain coefficient according to the steering hand torque signal at the current time and the vehicle speed signal at the current time.

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

[0092] Optionally, determining the current high-frequency gain coefficient according to the steering hand torque signal at the current time and the vehicle speed signal at the current time includes: obtaining a first mapping relationship between the steering hand torque signal and the vehicle speed signal and the high-frequency gain coefficient; determining the high-frequency gain coefficient corresponding to the steering hand torque signal at the current time and the vehicle speed signal at the current time as the current high-frequency gain coefficient according to the first mapping relationship.

[0093] The first mapping relationship can be understood as a mapping corresponding relationship between the steering hand torque signal and the vehicle speed signal and the high-frequency gain coefficient. The mapping relationship can be established based on experimental data, a mathematical model, or an empirical law, and is used to map the value of the steering hand torque signal at the current time and the value of the vehicle speed signal at the current time to a corresponding high-frequency gain coefficient value, and the corresponding high-frequency gain coefficient value is taken as the current high-frequency gain coefficient. By establishing a suitable first mapping relationship, the high-frequency gain coefficient can be dynamically adjusted in real time according to the changes of the steering hand torque signal and the vehicle speed signal, thereby optimizing the performance of the vehicle steering system and improving the driving comfort and maneuverability. For example, the first mapping relationship can be realized by a MAP graph between the hand torque signal and the vehicle speed signal and the high-frequency gain coefficient.

[0094] S303, filtering the steering hand torque signal at the current time based on the high-frequency filter, and determining the filtered steering hand torque signal at the current time as the high-frequency steering hand torque signal.

[0095] The high-frequency filter can be understood as a filter that removes or weakens the low-frequency component in the steering hand torque signal at the current time and retains the high-frequency component in the steering hand torque signal at the current time. By performing high-frequency filtering on the steering hand torque signal at the current time, the high-frequency steering hand torque signal at the current time can be obtained, which contains the high-frequency fluctuation 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 effectively compensating for the high-frequency fluctuation of the steering hand torque.

[0096] It can be understood that the cutoff frequency of the high-frequency filter is determined according to the vehicle working condition signal at the current time. As the vehicle speed signal increases, the cutoff frequency of the high-frequency filter also increases, thereby improving the accuracy of high-frequency filtering of the steering hand torque at the current time. For example, the cutoff frequency of the high-frequency filter usually varies in the range of 10HZ to 40HZ to adapt to different driving conditions at different speeds. It can also be understood 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 in the steering hand torque signal, so that the vehicle steering system can quickly adjust when the high-frequency fluctuation of the steering hand torque is perceived, thereby smoothing the steering feel.

[0097] S304, determining the 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 steering feel torque signal and 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 vehicle steering, and has the characteristic of phase advance. 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 adjust 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 the 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.

[0101] S307, determine the 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 time and the vehicle speed signal at the current time. The high-frequency gain coefficient can be dynamically adjusted in real time according to the changes of the steering hand torque signal and the vehicle speed signal, thereby optimizing the performance of the vehicle steering system. The steering hand torque signal at the current time is filtered based on the high-frequency filter, and the filtered steering hand torque signal at the current time is determined as the high-frequency steering hand torque signal, which contains the high-frequency fluctuations of the steering hand torque. At the same time, the phase of the high-frequency steering hand torque signal after high-frequency filtering is 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 adjust when it senses the high-frequency fluctuations of the steering hand torque, thereby smoothing the steering feel.

[0103] Embodiment four

[0104] Figure 4 It is a flowchart of a steering hand torque fluctuation compensation method provided by the fourth embodiment of the present application. Based on the above-mentioned embodiments, the method for determining the tremor compensation torque is described in detail. Correspondingly, as shown in Figure 4 the steering hand torque fluctuation compensation method of the present embodiment can include:

[0105] S401, acquire the working condition signal of the vehicle in real time.

[0106] The working condition signal includes the vehicle speed signal, the steering hand torque signal, the steering wheel steering angle signal and the steering assist motor speed signal.

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

[0108] S403, determining a steering hand torque change rate according to the steering hand torque signal.

[0109] S404, determining a current tremor compensation coefficient according to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment.

[0110] The tremor compensation coefficient can be understood as a tremor compensation adjustment parameter related to the steering hand torque signal at the current moment and the vehicle speed signal at the current moment, which 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 condition during vehicle steering. By reasonably setting the tremor compensation coefficient, the vehicle steering system can adjust the tremor compensation for the high-frequency fluctuation of the steering hand torque in real time according to different driving conditions, and improve the driving experience of the driver.

[0111] Optionally, the current tremor compensation coefficient is determined according to 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 tremor compensation coefficient; determining the tremor 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 tremor compensation coefficient according to the second mapping relationship.

[0112] The second mapping relationship can be understood as a mapping corresponding relationship 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 model or empirical law, which 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 take the corresponding tremor compensation coefficient value as the current tremor compensation coefficient. By establishing a suitable second mapping relationship, the tremor compensation coefficient can be dynamically adjusted in real time according to the changes of the steering hand torque signal and the vehicle speed signal, so as to optimize the performance of the vehicle steering system and improve the driving comfort and maneuverability. Exemplarily, the second mapping relationship can be realized by a MAP graph between the steering hand torque signal and the vehicle speed signal and the tremor compensation coefficient.

[0113] S405, determining a cut-off frequency band when filtering the steering hand torque change rate according to the vehicle speed signal at the current moment and the steering assist motor speed signal at the current moment.

[0114] Specifically, by acquiring a third mapping relationship between the vehicle speed signal and the steering assist motor speed signal and the filtering interception frequency band, the value of the vehicle speed signal at the current time and the value of the steering assist motor speed signal at the current time are mapped to the corresponding filtering interception frequency band value, and the corresponding filtering interception frequency band value is taken as the interception frequency band when filtering the steering hand torque change rate at the current time. In another optional embodiment, the vehicle speed signal at the current time, the steering assist motor speed signal at the current time and the vehicle itself characteristics are comprehensively considered to determine the interception frequency band when filtering the steering hand torque change rate.

[0115] It can be understood that the interception frequency band when filtering the steering hand torque change rate is the main fluctuation frequency band of the steering hand torque, and by filtering the steering hand torque change rate, unnecessary high-frequency noise can be removed, the main frequency component of the steering hand torque change rate is retained, the subsequent signal processing process is simplified, and the efficiency and stability of the vehicle steering system are improved.

[0116] S406, filtering the steering hand torque change rate according to the interception frequency band, and determining the filtered steering hand torque change rate as the steering hand torque fluctuation change rate.

[0117] Specifically, the steering hand torque change rate is filtered by using a filter with the interception frequency band as the cutoff frequency, and the filtered steering hand torque change rate is determined as the steering hand torque fluctuation change rate. By filtering the steering hand torque to determine the steering hand torque fluctuation change rate, unnecessary high-frequency noise is removed, the main frequency component of the steering hand torque change rate is retained, the subsequent signal processing process is simplified, and the efficiency and stability of the vehicle steering system are improved. Illustratively, the filter can include a Butterworth filter, which has a smooth frequency response characteristic and can effectively filter out high-frequency noise, providing a relatively smooth filtering effect.

[0118] In an optional embodiment, the steering hand torque change rate is filtered according to the intercepted frequency band, and the filtered steering hand torque change rate is determined as the steering hand torque fluctuation change rate, which can specifically include: first, the steering hand torque change rate is subjected to median filtering processing, the median filtering selects a fixed size sliding window, selects the median in the sliding window as the median filtering result of the steering hand torque change rate, and takes the median filtering result as the input signal of the Butterworth filter; second, the median filtering result is filtered by using the Butterworth filter, and the filtered steering hand torque change rate is determined as the steering hand torque fluctuation change rate. Wherein, according to the vehicle speed signal at the current moment and the steering assist motor speed signal at the current moment, the band-pass low frequency band f1 and the band-pass high frequency band f2 of the Butterworth filter can be determined; therefore, the frequency range of the steering hand torque change rate after the Butterworth filter filtering processing, that is, the frequency range of the steering hand torque fluctuation change rate is limited between f1 and f2, so as to be able to compensate the steering hand torque fluctuation change rate located in the specific frequency range.

[0119] S407, determining 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 and the current tremor compensation coefficient, the tremor compensation torque can compensate the high-frequency fluctuation of the steering hand torque caused by the change of the driving condition in the vehicle steering system, therefore, the tremor compensation torque can adjust the tremor compensation of the high-frequency fluctuation of the steering hand torque in time according to different driving conditions, so as to make the steering process more stable and comfortable, and improve the driving experience of the driver.

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

[0122] The embodiment determines 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, adjusts the tremor compensation coefficient reasonably, the vehicle steering system can adjust the tremor compensation for the high-frequency fluctuation of the steering hand torque in time according to different driving conditions, determines the intercepted frequency band when filtering the steering hand torque change rate according to the vehicle speed signal at the current moment and the steering assist motor speed signal at the current moment, filters the steering hand torque change rate according to the intercepted frequency band, and determines the filtered steering hand torque change rate as the steering hand torque fluctuation change rate, removes unnecessary high-frequency noise, retains the main frequency component of the steering hand torque change rate, simplifies the subsequent signal processing process, multiplies the steering hand torque fluctuation change rate by the current tremor compensation coefficient to determine the tremor compensation torque, and the tremor compensation torque can adjust the tremor compensation for the high-frequency fluctuation of the steering hand torque in time according to different driving conditions, so that the steering process is more stable and comfortable, and the driving experience of the driver is improved.

[0123] Embodiment five

[0124] Figure 5 It is a flowchart of a steering hand torque fluctuation compensation method provided by the embodiment five of the application, the embodiment details the method of correcting the steering hand torque fluctuation compensation value on the basis of the above-mentioned embodiments, and correspondingly, as shown in Figure 5 , the steering hand torque fluctuation compensation method of the embodiment can include:

[0125] S501, acquiring the working condition signal of the vehicle in real time.

[0126] The working condition signal includes a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal and a steering assist motor speed signal.

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

[0128] S503, determining a steering hand torque change rate according to the steering hand torque signal.

[0129] S504, 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.

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

[0131] S506, correcting the steering hand torque fluctuation compensation value based on a second-order lead-lag compensation transfer function.

[0132] The second-order lead-lag compensation transfer function can be:

[0133]

[0134] Wherein, b, τ1 and τ2 are calculation coefficients, F(s) is a steering hand torque fluctuation compensation correction coefficient, and s is a Laplace transform variable of a complex number.

[0135] Specifically, after the correction coefficient is calculated by using the transfer function of the above-mentioned second-order lead-lag compensation, the correction coefficient can be multiplied by the steering hand torque fluctuation compensation value, so as to obtain a corrected steering hand torque fluctuation compensation value, which has the characteristic of phase advance, so that when the corrected steering hand torque fluctuation compensation value is used to compensate the steering hand torque in the normal driving condition of the vehicle, the high-frequency granular fluctuation during the steering of the vehicle can be improved or eliminated. Wherein, b, τ1 and τ2 can be determined by the current speed signal and the current resonance frequency of the vehicle determined by the current speed signal.

[0136] Wherein, the steering hand torque fluctuation compensation value is corrected according to the current driving condition, so as to realize the effect of phase advance, so that when the high-frequency fluctuation of the steering hand torque is compensated by the correction value of the steering hand torque fluctuation compensation value, the correction value will not lag, which effectively improves the compensation effect of the high-frequency fluctuation of the steering hand torque in the whole driving condition, thereby significantly improving the driving comfort and maneuverability. It can also be understood that by correcting the steering hand torque fluctuation compensation value to make it phase-advanced, it is helpful to avoid the occurrence of vehicle system resonance, which may cause system instability or even damage. Therefore, by correcting the steering hand torque fluctuation compensation value according to the current driving condition, the steering hand torque fluctuation compensation in different driving conditions can be realized, and the risk of vehicle system resonance is effectively reduced, and the stability and reliability of the vehicle steering system are improved.

[0137] The embodiment corrects the steering hand torque fluctuation compensation value based on the transfer function of the second-order lead-lag compensation, realizes the correction of the steering hand torque fluctuation compensation value according to the current driving condition, makes the steering hand torque fluctuation compensation value phase-advanced, effectively improves the compensation effect of the high-frequency fluctuation of the steering hand torque in the whole driving condition, and effectively reduces the risk of vehicle system resonance, thereby improving the stability and reliability of the vehicle steering system.

[0138] Embodiment six

[0139] Figure 6 is a structural schematic diagram of a steering hand torque fluctuation compensation device provided by the embodiment six of the present application. The device can realize the steering hand torque fluctuation compensation method provided by the embodiment of the present application, and can be realized by software and / or hardware, and can be generally integrated in the steering system of the vehicle. Figure 5As shown, the device comprises: 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 device has the following specific structure:

[0140] The working condition signal acquisition module 601 is used for acquiring the working condition signal of the vehicle in real time.

[0141] The working condition signal comprises a vehicle speed signal, a steering hand torque signal, a steering wheel steering angle signal, and a steering assist motor speed signal.

[0142] The high-frequency gain torque determination module 602 is used for determining 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 for determining the steering hand torque change rate according to the steering hand torque signal.

[0144] The tremor compensation torque determination module 604 is used for determining the 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.

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

[0146] In an optional embodiment of the present application, the working condition signal acquisition module 601 can also be used for: judging whether the vehicle meets the normal driving condition according to the working condition signal of the vehicle; if yes, sequentially performing each step from 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] In the normal driving condition, the vehicle speed V determined according to the vehicle speed signal has a value range of 0 km / h < V ≤ 120 km / h, the steering hand torque M determined according to the steering hand torque signal has a value range of 0 N < M ≤ 3 N, and the steering wheel steering angle θ determined according to the steering wheel steering angle signal has a value range of 0° < θ ≤ 900°.

[0148] In an optional embodiment of the present application, the high-frequency gain torque determination module 602 can also be used for: determining a 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 a high-frequency steering hand torque signal; and determining the high-frequency gain torque according to the high-frequency steering hand torque signal and the current high-frequency gain coefficient.

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

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

[0151] The first calculation formula is:

[0152]

[0153] Among them, ST Dev ST is the rate of change of steering torque. t ST is the steering torque signal at the current moment. t-Δt Δt represents the steering torque signal at the previous moment, and Δt represents the time difference between the current moment and the previous moment.

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

[0155] In an optional embodiment of the present invention, the vibration compensation torque determination module 604 may 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; and determine the vibration compensation coefficient corresponding to the steering hand torque signal and the vehicle speed signal at the current moment as the current vibration compensation coefficient based on the second mapping relationship.

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

[0157] The compensation device for the steering hand torque fluctuation can execute the compensation method for the steering hand torque fluctuation provided by any embodiment of the present application, has the function modules and beneficial effects corresponding to the execution method. The technical details not described in detail in the present embodiment can be referred to the compensation method for the steering hand torque fluctuation provided by any embodiment of the present application.

[0158] Since the compensation device for the steering hand torque fluctuation described above is a device that can execute the compensation method for the steering hand torque fluctuation in the embodiments of the present application, based on the compensation method for the steering hand torque fluctuation described in the embodiments of the present application, the skilled in the art can understand the specific implementation of the compensation device for the steering hand torque fluctuation in the embodiments of the present application and its various forms of changes, so here the compensation device for the steering hand torque fluctuation how to realize the compensation method for the steering hand torque fluctuation in the embodiments of the present application will not be described in detail. As long as the skilled in the art implements the device used in the compensation method for the steering hand torque fluctuation in the embodiments of the present application, it belongs to the scope of the present application.

[0159] Embodiment seven

[0160] Based on the same inventive concept, the present embodiment seven further provides a vehicle, the vehicle comprising a vehicle frame, a plurality of vehicle wheels arranged on the vehicle frame, a steering wheel arranged in the vehicle frame, a steering assist motor and an electronic control device, the electronic control device being configured to execute the compensation method for the steering hand torque fluctuation of the above-mentioned embodiments.

[0161] Therefore, the vehicle provided by the present embodiment has the structure and operation of the compensation device for the steering hand torque fluctuation of the above-mentioned embodiments, and can achieve the effects of the compensation method for the steering hand torque fluctuation of the above-mentioned embodiments. The same parts can be referred to the above description, which will not be described here.

[0162] It should be understood that the steps can be reordered, added or deleted using the various forms of flow shown above. For example, the steps described in the present application can be executed in parallel, sequentially or in different order, as long as the desired results of the technical solutions disclosed in the present application can be achieved, which is not limited herein.

[0163] The above specific embodiments do not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent replacement and improvement within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for compensating for steering torque fluctuations, characterized in that, Including: Obtaining 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 assist motor speed signals; Determining a high-frequency gain torque based on the steering hand torque signal and the vehicle speed signal; Determining the change rate of the steering hand torque based on the steering hand torque signal; Determining a tremor compensation torque based on 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 tremor compensation torque based on 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 a current tremor compensation coefficient based on the steering hand torque signal at the current moment and the vehicle speed signal at the current moment; determining an intercept frequency band for filtering the change rate of the steering hand torque based on the vehicle speed signal at the current moment and the steering assist motor speed signal at the current moment; filtering the change rate of the steering hand torque according to the intercept frequency band, and determining the filtered change rate of the steering hand torque as the fluctuating change rate of the steering hand torque; determining the tremor compensation torque based on the fluctuating change rate of the steering hand torque and the current tremor compensation coefficient; Determining a steering hand torque fluctuation compensation value based on the high-frequency gain torque and the tremor compensation torque; 2. The method for compensating for steering torque fluctuations according to claim 1, characterized in that, Before determining the high-frequency gain torque based on 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 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 tremor compensation torque; 3. The method for compensating for steering torque fluctuations according to claim 1, characterized in that, Determining the high-frequency gain torque based on the steering hand torque signal and the vehicle speed signal includes: Determining a current high-frequency gain coefficient based on 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 based on the high-frequency steering hand torque signal and the current high-frequency gain coefficient; 4. The method for compensating for steering torque fluctuations according to claim 3, characterized in that, Determining the current high-frequency gain coefficient based on the steering hand torque signal at the current moment and the vehicle speed signal at the current moment includes: Obtaining a first mapping relationship between the steering hand torque signal, the vehicle speed signal, and the high-frequency gain coefficient; Based on the first mapping relationship, the high-frequency gain coefficient corresponding to the steering torque signal and the vehicle speed signal at the current moment is determined as the current high-frequency gain coefficient.

5. The method for compensating for steering torque fluctuations according to claim 1, characterized in that, Based on the steering torque signal, the rate of change of steering torque is determined, including: Based on the steering torque signal at the current moment and the steering torque signal at the previous moment, the rate of change of steering torque is determined according to the first calculation formula; the first calculation formula is: ； in, The rate of change of the steering torque. This refers to the steering torque signal at the current moment. Δt is the steering torque signal of the previous moment, and Δt is the time difference between the current moment and the previous moment.

6. The method for compensating for steering torque fluctuations according to claim 1, characterized in that, Based on the steering torque signal and the vehicle speed signal at the current moment, determine the current vibration compensation coefficient, including: Obtain the second mapping relationship between the steering torque signal, the vehicle speed signal, and the vibration compensation coefficient; The vibration compensation coefficient corresponding to the steering hand torque signal and the vehicle speed signal at the current moment is determined based on the second mapping relationship and used as the current vibration compensation coefficient.

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

8. A compensation device for steering torque fluctuation, characterized in that, include: The operating condition signal acquisition module is used to acquire the vehicle's operating condition signals in real time; the operating condition signals include vehicle speed signal, steering hand torque signal, steering wheel steering angle signal, and power steering motor speed signal; A high-frequency gain torque determination module is used to determine the high-frequency gain torque based on the steering hand torque signal and the vehicle speed signal; The steering torque change rate determination module is used to determine the steering torque change rate based on the steering torque signal. The vibration compensation torque determination module is used to determine the vibration compensation torque based on the steering hand torque change rate, the vehicle speed signal, the power steering motor speed signal, and the steering hand torque signal. Determining the vibration compensation torque based on the steering torque change rate, the vehicle speed signal, the power steering motor speed signal, and the steering torque signal includes: determining the current vibration compensation coefficient based on the steering torque signal and the vehicle speed signal at the current moment; determining the cutoff frequency range for filtering the steering torque change rate based on the vehicle speed signal and the power steering motor speed signal at the current moment; filtering the steering torque change rate based on the cutoff frequency range, and determining the filtered steering torque change rate as the steering torque fluctuation change rate; and determining the vibration compensation torque based on the steering torque fluctuation change rate and the current vibration compensation coefficient. The steering torque fluctuation compensation value determination module is used to determine the steering torque fluctuation compensation value based on the high-frequency gain torque and the vibration compensation torque.

9. A vehicle, characterized in that, include: The vehicle includes a frame, a plurality of wheels mounted on the frame, a steering wheel mounted within the frame, a power steering motor, and an electronic control device, the electronic control device being used to perform the method for compensating for steering torque fluctuations as described in any one of claims 1-7.

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