Steering damping control method and device based on vehicle load

Abstract

The invention discloses a steering damping control method and device based on a vehicle load. The method comprises the steps of obtaining load information of a vehicle; determining a load factor influencing damping control according to the load information of the vehicle; and determining a damping torque value for assisting steering of the vehicle based on the load factor and an active damping control algorithm. According to the technical scheme, the vehicle load information is applied to vehicle auxiliary steering control for the first time, the calculation precision of the torque needed by auxiliary steering is improved, the torque output of the auxiliary steering system better conforms to the actual load condition of the vehicle, and therefore the driving experience of a user is improved.

Description

Technical Field

[0001] The invention relates to the field of vehicle control, and in particular to a steering damping control method and device based on vehicle load. Background Art

[0002] For commercial vehicles, especially heavy trucks, when the load reaches a certain level, it will cause an impact on the vehicle chassis, causing its shape to change, thereby affecting the driver's steering feel, causing the driver to apply inaccurate force on the steering wheel, and also affecting the driver's driving experience. Summary of the invention

[0003] In view of the above problems, the present invention is proposed to provide a vehicle load-based steering damping control method and device that overcomes the above problems or at least partially solves the above problems.

[0004] According to one aspect of the present invention, a steering damping control method based on vehicle load is provided, the method comprising:

[0005] Get vehicle load information;

[0006] determining a load factor affecting damping control according to load information of the vehicle; and

[0007] A damping torque value for assisting steering of the vehicle is determined based on the load factor.

[0008] In some implementations, obtaining the load information of the vehicle includes:

[0009] The load information of the vehicle is obtained from the vehicle bus.

[0010] In some implementations, determining a load factor affecting damping control according to the load information of the vehicle includes:

[0011] According to the load value in the load information, a load factor under the load value is determined based on a predetermined correction rule.

[0012] In some embodiments, the predetermined correction rule is determined based on vehicle and damping control prior knowledge and / or vehicle and damping control test methods.

[0013] In some embodiments, the predetermined correction rule is constituted as a calculation formula, wherein the load factor is determined by the following calculation formula:

[0014] Load factor = (LOAD^a) / b, where LOAD is the load value in N, and a and b are constants.

[0015] In some embodiments, determining a damping torque value for assisting steering of the vehicle based on the load factor includes:

[0016] obtaining a predetermined damping factor of the vehicle;

[0017] Obtain the steering shaft stiffness characterization coefficient;

[0018] Obtain a steering speed characterization coefficient of a steering axis;

[0019] A damping torque value is determined based on the damping factor, the coefficient representing the stiffness of the steering shaft, the coefficient representing the steering speed of the steering shaft, and the load factor.

[0020] In some embodiments, the damping torque value is determined by multiplying a damping factor, a coefficient representing the stiffness of the steering shaft, a coefficient representing the steering speed of the steering shaft, and the load factor.

[0021] In some embodiments, the steering shaft stiffness characterization coefficient is determined as follows:

[0022] Determine a hand force torque value and a calibrated torque value according to the detected steering wheel state data and / or vehicle driving parameters;

[0023] Acquire the lateral or transverse wind force and / or road crown condition to which the vehicle is subjected during driving, and determine the tension compensation value according to the lateral or transverse wind force and / or road crown condition;

[0024] The steering shaft stiffness characterization coefficient is determined according to at least one of the hand force torque value, the calibrated torque value and the pulling force compensation value.

[0025] In some embodiments, the calibrated torque value is obtained by querying a preset table, which is prepared in advance by the vehicle system based on the correlation between the rotation angle of the steering shaft turned by the driver, the corresponding torque value and the vehicle speed.

[0026] In some embodiments, the method further comprises:

[0027] Obtaining a required torque value based on the hand force torque value, the damping torque value, and the steering wheel balance correction value;

[0028] The steering wheel balance correction value is used to correct the center of gravity deviation caused by the manufacturing tolerance of the steering wheel system.

[0029] In some implementations, obtaining the required torque value based on the hand force torque value, the damping torque value, and the steering wheel balance correction value includes:

[0030] Obtaining a sum of the damping torque value and the hand force torque value or a torque value obtained from the hand force torque value to obtain an intermediate torque value;

[0031] The difference between the intermediate torque value and the steering wheel balance correction value is calculated to obtain the required torque value.

[0032] According to another aspect of the present invention, there is provided a steering damping control device based on vehicle load, the device comprising:

[0033] An information acquisition module, adapted to acquire load information of a vehicle;

[0034] a factor determination module, adapted to determine a load factor affecting damping control according to load information of the vehicle; and

[0035] The torque determination module is adapted to determine a damping torque value for assisting the vehicle steering based on the load factor and an active damping control algorithm.

[0036] According to another aspect of the present invention, there is provided an electronic hydraulic power steering system, comprising: an electronic control unit, the electronic control unit comprising the vehicle load-based steering damping control device according to the above embodiment,

[0037] According to another aspect of the present invention, an electronic device is provided, comprising: a processor; and a memory arranged to store computer executable instructions, wherein when the executable instructions are executed, the processor executes the vehicle load-based steering damping control method according to any one of the above items.

[0038] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores one or more programs, and when the one or more programs are executed by a processor, the steering damping control method based on vehicle load according to any one of the above items is implemented.

[0039] To sum up, the above technical solution disclosed in the present invention applies vehicle load information to vehicle assisted steering control for the first time, improves the calculation accuracy of the torque required for assisted steering, and makes the torque output of the assisted steering system more in line with the actual load conditions of the vehicle, thereby improving the user's driving experience.

[0040] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0042] Figure 1 A schematic flow chart of a steering damping control method based on vehicle load according to some embodiments of the present invention is shown;

[0043] Figure 2 A schematic diagram showing the principle of an active damping control algorithm according to some embodiments of the present invention is shown;

[0044] Figure 3 A schematic structural diagram of a steering damping control device based on vehicle load according to some embodiments of the present invention is shown;

[0045] Figure 4 A schematic structural diagram of an electronic device according to some embodiments of the present invention is shown. DETAILED DESCRIPTION

[0046] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present invention and to enable the scope of the present invention to be fully communicated to those skilled in the art.

[0047] The embodiment of the present invention is particularly suitable for hydraulic power steering systems, especially electronic hydraulic power steering systems (EHPS), whose steering oil pump can be driven by an engine or a motor, and the motor can also provide auxiliary steering force to achieve the purpose of reducing the driver's driving force. EHPS is equipped with an electronic control system so that the magnitude of the steering auxiliary force is not only related to the steering angle, but also to the vehicle speed; in addition, the installed electronic control system includes a vehicle speed sensor steering electronic control unit (ECU).

[0048] Specifically, Figure 1 A schematic flow chart of a steering damping control method based on vehicle load according to an embodiment of the present invention is shown, comprising the following steps:

[0049] Step S110, obtaining vehicle load information;

[0050] Step S120, determining a load factor affecting damping control according to the load information of the vehicle; and

[0051] Step S130: determining a damping torque value for assisting the vehicle steering based on the load factor.

[0052] Among them, this step combines the load factor into the active damping control algorithm in the EHPS, thereby obtaining the motor damping control coefficient corrected by the load factor, and then obtaining the corrected damping torque value, so that the obtained damping torque value can be adapted to the current actual load condition.

[0053] This application applies vehicle load information to vehicle assisted steering control for the first time, improving the calculation accuracy of the torque required for assisted steering, making the torque output of the assisted steering system more consistent with the actual load conditions of the vehicle, thereby improving the user's driving experience.

[0054] In some embodiments, obtaining the load information of the vehicle includes:

[0055] The load information of the vehicle is acquired from a vehicle bus, such as a CAN bus.

[0056] CAN (Controller Area Network) bus is a serial communication protocol bus for real-time applications. It can use twisted pair cables to transmit signals and is one of the most widely used field buses. The CAN protocol is used for communication between various components in the car, replacing expensive and bulky distribution harnesses. Information such as the current vehicle load can be obtained from the CAN bus.

[0057] In some embodiments, the load information of the vehicle can be measured by means of a sensor, such as a deformation sensor. In other embodiments, the load information of the vehicle can be calculated or estimated by means of a control device based on vehicle operating parameters. Of course, the weight information of the vehicle can also be calculated or estimated by other methods. For example, in some embodiments, the load information of the vehicle can also be given by input of a human-machine interface.

[0058] In some embodiments, in combination Figure 2 As shown, determining the load factor affecting damping control according to the load information of the vehicle includes:

[0059] The load factor is determined based on a predetermined correction rule according to the load value in the load information.

[0060] In some optional embodiments, the predetermined correction rule may be determined based on prior knowledge of the vehicle and damping control and / or a vehicle and damping control test method. Additionally or alternatively, the predetermined correction rule may be obtained based on system simulation.

[0061] Specifically, the load factor may be obtained according to the load information and a preset load balancing algorithm, wherein the load balancing algorithm may solve the load factor according to prior knowledge and test methods of vehicle driving and damping control.

[0062] Specifically, the influence of the load on the damping can be determined by setting a load balancing algorithm module. For example, the load balancing algorithm module can receive load information as input and calculate and determine the load factor under the load information based on a predetermined correction rule. In some embodiments, the predetermined correction rule can be implemented as a mapping query table. In other embodiments, the predetermined correction rule can involve a calculation formula based on the load information.

[0063] In some embodiments, the calculation formula of the load factor includes:

[0064] Load factor = (LOAD^a) / b, where LOAD is the load value in N, a and b are constants, and ^ represents exponential operation.

[0065] For example, in some embodiments, the load balancing algorithm may include performing a square root operation and a product operation on the load value. Optionally, load factor = (LOAD^0.5) / 400, where LOAD is the load value in N (Newton), and LOAD^0.5 represents performing a square root operation on LOAD. It should be understood that the specific calculation formula may be adapted and adjusted based on simulation and / or experimental testing.

[0066] In some embodiments, the load factor used as the reference load level is obtained by using the predetermined maximum value of the load value and the calculation formula of the load factor. For example, the maximum value of the load value LOAD may be 321275N, and the load factor is 1.42 according to the calculation formula of the load factor. This value may be used as a theoretical value and a reference load level, and may be increased or decreased according to the actual situation of the vehicle in specific applications.

[0067] At a certain vehicle speed (>3km / h), increased load will prolong the active return time, and this effect will be offset by increasing the steering system damping with a higher load factor.

[0068] It should be noted that the above-mentioned load balancing algorithm is only an example and is not a limitation on the determination of the load factor. The main logic of load balancing is: to correct the damping torque value according to the vehicle load information, and then to correct the required torque value for controlling the power-assist motor, etc. based on the corrected damping torque value, thereby at least to a certain extent reducing the change in driving feel caused by load changes, and obtaining a comfortable driving coefficient and driving feel.

[0069] In some embodiments, determining a damping torque value for assisting steering of the vehicle based on the load factor includes:

[0070] obtaining a predetermined damping factor of the vehicle;

[0071] Obtain the steering shaft stiffness characterization coefficient;

[0072] Obtain a steering speed characterization coefficient of a steering axis;

[0073] A damping torque value is determined based on the damping factor, the coefficient representing the stiffness of the steering shaft, the coefficient representing the steering speed of the steering shaft, and the load factor.

[0074] Among them, the damping factor can be a calibration parameter determined during the vehicle design and development process; the steering shaft steering speed characterization coefficient is a parameter that can characterize the rotation speed of the steering wheel, for example, it can be obtained by detecting the speed at which the driver turns the steering wheel. The larger the value, the greater the damping torque required by the driver to turn the steering wheel.

[0075] It should be noted that the steering shaft stiffness characterization coefficient in this embodiment is a parameter that can characterize the degree of deformation of the steering shaft, and the degree of deformation of the steering shaft can affect the magnitude of the steering damping. Therefore, the steering shaft stiffness characterization coefficient can characterize how much damping is required (overcome) to rotate the steering shaft under the current circumstances, and its value is mainly determined based on the hand force torque value applied by the driver when operating the steering wheel, the calibrated torque value, and other forces on the vehicle during driving. The steering shaft stiffness characterization coefficient can be considered as an empirical value determined based on the above-mentioned force conditions according to expert experience. Of course, its specific value can be realized according to a preset steering wheel stiffness algorithm module, wherein the steering wheel stiffness algorithm module belongs to the control software component, which is used to calculate the coefficient of adjusting the steering shaft stiffness, thereby ultimately affecting the damping control.

[0076] Based on the damping factor, the steering shaft stiffness characterization coefficient, the steering shaft steering speed characterization coefficient and the load factor, the damping torque value is obtained according to a predetermined rule, and the predetermined rule can be, for example, constituted as a calculation formula, such as multiplying each coefficient or factor with a proportional coefficient, a weight or a constant and then summing them, or performing an exponential operation such as square root on each coefficient or factor and then adding or multiplying them, etc. It should be understood that the specific calculation formula can be adapted and adjusted based on simulation and / or experimental testing.

[0077] In some optional embodiments, the damping torque value is determined by multiplying the damping factor, the steering shaft stiffness characterization coefficient, the steering shaft steering speed characterization coefficient, and the load factor.

[0078] Of course, in addition to the multiplication of the above coefficients, it can also include multiplication with numerical values ​​such as proportional coefficients or weights, and satisfy the unit relationship of torque.

[0079] In some embodiments, the steering shaft stiffness characterization coefficient is determined as follows:

[0080] Determine a hand force torque value and a calibrated torque value according to the detected steering wheel state data and / or vehicle driving parameters;

[0081] Acquire the lateral or transverse wind force and / or road crown condition to which the vehicle is subjected during driving, and determine the tension compensation value according to the lateral or transverse wind force and / or road crown condition;

[0082] The steering shaft stiffness characterization coefficient is determined according to at least one of the hand force torque value, the calibrated torque value and the pulling force compensation value.

[0083] Specifically, the hand force torque value is also called torque feel (Torque Feel), which can be calculated by the control module / component according to the current driving state of the vehicle driver and is used to indicate the torque required to turn the steering wheel and steering shaft.

[0084] Among them, the steering axis stiffness characterization coefficient is determined according to at least one of the hand force torque value, the calibrated torque value and the tension compensation value. The steering axis stiffness characterization coefficient can be obtained by adding or multiplying the above torque values. The addition or multiplication can also include a proportional coefficient or weight, etc.

[0085] In some optional embodiments, the calibrated torque value is obtained by querying a preset table, which is prepared in advance by the vehicle system based on the correlation between the rotation angle of the steering shaft turned by the driver, the corresponding torque value and the vehicle speed.

[0086] Specifically, the preset table includes at least two calibrated torque values ​​T2 and T3, which are used to indicate the force with which the driver turns the steering wheel. Usually, the calibrated torque values ​​(T2 and T3) are derived from subjective evaluations during vehicle development and are determined by the force applied to the steering shaft at different rotation angles. Of course, the torque values ​​are also different at different vehicle speeds.

[0087] In some embodiments, in combination Figure 2 As shown, the method also includes:

[0088] Obtaining a required torque value based on the hand force torque value, the damping torque value, and the steering wheel balance correction value;

[0089] The steering wheel balance correction value is used to correct the center of gravity deviation caused by the manufacturing tolerance of the steering wheel system.

[0090] In some embodiments, obtaining the required torque value based on the hand force torque value, the damping torque value, and the steering wheel balance correction value includes:

[0091] Obtaining a sum of the damping torque value and the hand force torque value or a corresponding torque value obtained from the hand force torque value to obtain an intermediate torque value;

[0092] The difference between the intermediate torque value and the steering wheel balance correction value is calculated to obtain the required torque value.

[0093] According to this embodiment, the above-mentioned required torque value is a comprehensive demand after considering the hand force torque value, damping torque value and steering wheel balance compensation required by the driver during steering, that is, torque demand = torque feeling + damping torque - steering wheel balance correction. It should be noted that the above-mentioned required torque value is executed by the power device of the auxiliary steering system, and the power device includes a motor, an engine, etc., so as to improve the user's steering driving experience.

[0094] According to another aspect of the present invention, see Figure 3 As shown, a steering damping control device 300 based on vehicle load is provided, and the device 300 includes:

[0095] An information acquisition module 310, adapted to acquire load information of a vehicle;

[0096] a factor determination module 320, adapted to determine a load factor affecting damping control according to load information of the vehicle; and

[0097] The torque determination module 330 is adapted to determine a damping torque value for assisting the vehicle steering based on the load factor.

[0098] According to the above device, vehicle load information is applied to vehicle assisted steering control for the first time, which improves the calculation accuracy of the torque required for assisted steering and makes the torque output of the assisted steering system more consistent with the actual load condition of the vehicle, thereby improving the user's driving experience.

[0099] In some embodiments, the information acquisition module 310 is further adapted to:

[0100] The load information of the vehicle is obtained from the vehicle bus.

[0101] In some embodiments, the factor determination module 320 is further adapted to:

[0102] According to the load value in the load information, a load factor under the load value is determined based on a predetermined correction rule.

[0103] In some embodiments, the predetermined correction rule is determined based on vehicle and damping control prior knowledge and / or vehicle and damping control test methods.

[0104] In some embodiments, the predetermined correction rule is constituted as a calculation formula, wherein the load factor is determined by the following calculation formula:

[0105] Load factor = (LOAD^a) / b, where LOAD is the load value in N, and a and b are constants.

[0106] In some embodiments, the torque determination module 330 is further adapted to:

[0107] obtaining a predetermined damping factor of the vehicle;

[0108] Obtain the steering shaft stiffness characterization coefficient;

[0109] Obtain a steering speed characterization coefficient of a steering axis;

[0110] A damping torque value is determined based on the damping factor, the coefficient representing the stiffness of the steering shaft, the coefficient representing the steering speed of the steering shaft, and the load factor.

[0111] In some embodiments, the damping torque value is determined by multiplying a damping factor, a coefficient representing the stiffness of the steering shaft, a coefficient representing the steering speed of the steering shaft, and the load factor.

[0112] In some embodiments, the steering shaft stiffness characterization coefficient is determined by: determining a hand force torque value and a calibration torque value according to detected steering wheel state data and / or vehicle driving parameters;

[0113] Acquire the lateral or transverse wind force and / or road crown condition to which the vehicle is subjected during driving, and determine the tension compensation value according to the lateral or transverse wind force and / or road crown condition;

[0114] The steering shaft stiffness characterization coefficient is determined according to at least one of the hand force torque value, the calibrated torque value and the pulling force compensation value.

[0115] In some embodiments, the calibrated torque value is obtained by querying a preset table, which is prepared in advance by the vehicle system based on the correlation between the rotation angle of the steering shaft turned by the driver, the corresponding torque value and the vehicle speed.

[0116] In some embodiments, the apparatus 300 is further adapted to:

[0117] Obtaining a required torque value based on the hand force torque value, the damping torque value, and the steering wheel balance correction value;

[0118] The steering wheel balance correction value is used to correct the center of gravity deviation caused by the manufacturing tolerance of the steering wheel system.

[0119] In some embodiments, the above-mentioned method of obtaining the required torque value based on the hand force torque value, the damping torque value, and the steering wheel balance correction value includes:

[0120] Obtaining a sum of the damping torque value and the hand force torque value or a torque value obtained from the hand force torque value to obtain an intermediate torque value;

[0121] The difference between the intermediate torque value and the steering wheel balance correction value is calculated to obtain the required torque value.

[0122] It should be noted that the specific implementation of the above-mentioned device embodiments can be carried out with reference to the specific implementation of the above-mentioned corresponding method embodiments, which will not be repeated here.

[0123] The embodiment of the present invention further discloses an electronic hydraulic power steering system, comprising: an electronic control unit ECU, wherein the electronic control unit comprises a steering damping control device based on vehicle load according to any one of the above embodiments. It should be noted that the electronic hydraulic power steering system may also include detection devices such as an angle sensor, a torque sensor, and a motor position sensor, which will not be described in detail here.

[0124] It should be noted that:

[0125] The algorithm and display provided herein are not inherently related to any particular computer, virtual device or other equipment. Various general-purpose devices can also be used together with the teachings based on this. According to the above description, it is obvious to construct the structure required for this type of device. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to realize the content of the present invention described herein, and the description of the above specific language is for the purpose of disclosing the best mode of the present invention.

[0126] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0127] Similarly, it should be understood that in order to streamline the present invention and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, this method of disclosure should not be interpreted as reflecting an intention that the claimed invention requires more features than are expressly recited in each claim.

[0128] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and in addition they may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this manner may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature providing the same, equivalent or similar purpose.

[0129] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0130] The various component embodiments of the present invention can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the steering damping control device based on vehicle load according to an embodiment of the present invention. The present invention can also be implemented as a device or device program (e.g., a computer program and a computer program product) for executing part or all of the methods described herein. Such a program for implementing the present invention can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0131] An embodiment of the present invention provides a non-volatile computer storage medium, wherein the computer storage medium stores at least one executable instruction, and the computer executable instruction can execute the above-mentioned steering damping control method based on vehicle load in any of the above-mentioned method embodiments.

[0132] The figure shows a schematic diagram of the structure of an electronic device embodiment of the present invention. The specific embodiment of the present invention does not limit the specific implementation of the electronics, including the electronic device in a vehicle.

[0133] like Figure 4As shown, the electronic device may include: a processor (processor) 402 , a communication interface (Communications Interface) 404 , a memory (memory) 406 , and a communication bus 408 .

[0134] The processor 402, the communication interface 404, and the memory 406 communicate with each other via the communication bus 408. The communication interface 404 is used to communicate with other devices such as a client or other server network elements. The processor 402 is used to execute the program 410, which can specifically execute the relevant steps in the above-mentioned embodiment of the steering damping control method based on vehicle load for the electronic device.

[0135] Specifically, the program 410 may include program codes, which include computer operation instructions.

[0136] The processor 402 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the onboard image processing board may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0137] The memory 406 is used to store the program 410. The memory 406 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0138] The program 410 may be specifically used to enable the processor 402 to execute operations corresponding to the above-mentioned steering damping control method embodiment based on vehicle load.

[0139] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

Claims

1. A steering damping control method based on vehicle load, the method comprising: Get vehicle load information; determining a load factor affecting damping control according to load information of the vehicle; as well as A damping torque value for assisting steering of the vehicle is determined based on the load factor.

2. The method according to claim 1, characterized in that: Obtaining vehicle load information includes: The load information of the vehicle is obtained from the vehicle bus.

3. The method according to claim 1, characterized in that Determining the load factor affecting damping control according to the load information of the vehicle includes: According to the load value in the load information, a load factor under the load value is determined based on a predetermined correction rule.

4. The method according to claim 3, characterized in that The predetermined correction rule is determined based on vehicle and damping control prior knowledge and / or vehicle and damping control test methods.

5. The method according to claim 3, characterized in that: The predetermined correction rule is constituted as a calculation formula, wherein the load factor is determined by the following calculation formula: Load factor = (LOAD^a) / b, where LOAD is the load value in N, and a and b are constants.

6. The method according to any one of claims 1 to 5, characterized in that Determining a damping torque value for assisting the vehicle steering based on the load factor includes: obtaining a predetermined damping factor of the vehicle; Obtain the steering shaft stiffness characterization coefficient; Obtain a steering speed characterization coefficient of a steering axis; A damping torque value is determined based on the damping factor, a coefficient representing the stiffness of the steering shaft, a coefficient representing the steering speed of the steering shaft, and the load factor.

7. The method according to claim 6, characterized in that The damping torque value is determined by multiplying the damping factor, the coefficient representing the stiffness of the steering shaft, the coefficient representing the steering speed of the steering shaft, and the load factor.

8. The method according to claim 6, characterized in that The steering axle stiffness characterization factor is determined as follows: Determine a hand force torque value and a calibrated torque value according to the detected steering wheel state data and / or vehicle driving parameters; Acquire the lateral or transverse wind force and / or road crown condition to which the vehicle is subjected during driving, and determine the tension compensation value according to the lateral or transverse wind force and / or road crown condition; The steering shaft stiffness characterization coefficient is determined according to at least one of the hand force torque value, the calibrated torque value and the pulling force compensation value.

9. The method according to claim 6, characterized in that The calibrated torque value is obtained by querying a preset table, which is prepared in advance by the vehicle system based on the correlation between the rotation angle of the steering shaft turned by the driver, the corresponding torque value and the vehicle speed.

10. The method according to claim 6, characterized in that The method further comprises: Obtaining a required torque value based on the hand force torque value, the damping torque value, and the steering wheel balance correction value; The steering wheel balance correction value is used to correct the center of gravity deviation caused by the manufacturing tolerance of the steering wheel system.

11. The method according to claim 10, characterized in that The required torque value is obtained based on the hand force torque value, the damping torque value, and the steering wheel balance correction value, including: Obtaining a sum of the damping torque value and the hand force torque value or a torque value obtained from the hand force torque value to obtain an intermediate torque value; The difference between the intermediate torque value and the steering wheel balance correction value is calculated to obtain the required torque value.

12. A steering damping control device based on vehicle load, the device comprising: An information acquisition module, adapted to acquire load information of a vehicle; a factor determination module, adapted to determine a load factor affecting damping control according to load information of the vehicle; as well as The torque determination module is adapted to determine a damping torque value for assisting the vehicle steering based on the load factor and an active damping control algorithm.

13. An electronic hydraulic power steering system, comprising: An electronic control unit comprising the vehicle load-based steering damping control device according to claim 12.

14. An electronic device comprising: processor; and a memory arranged to store computer executable instructions, which, when executed, cause the processor to perform the vehicle load-based steering damping control method according to any one of claims 1-11.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, which, when executed by a processor, implement the steering damping control method based on vehicle load according to any one of claims 1-11.

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