Control method and device for abnormal steering impact suppression of steering system

Abstract

The invention provides a control method and device for abnormal steering impact suppression of a steering system. The problem that the expected steering impact suppression effect cannot be achieved in the prior art is solved. Relevant parameter values are acquired and calculated through various sensors, whether the vehicle is impacted or not and the type of the impacted vehicle are judged through the obtained parameter values, and finally compensation acting force for restraining steering impact is applied. And the influence of impact force on a vehicle steering system is relieved, so that the harm of hand beating of a steering wheel to a driver is relieved, and the safety of a vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle steering, and in particular to a control method and device for suppressing abnormal steering impact of a steering system. Background Art

[0002] With the rapid development of vehicle technology, the automotive steering system has also undergone tremendous changes. For example, the electric power steering system is developed from the traditional mechanical steering system. It mainly assists the driver in steering operations by outputting torque from the power-assisting motor and provides assistance to the driver. It can provide the best assistance under various working conditions. However, once the vehicle's steering system, including the tires, is impacted by the external environment, the steering wheel may hit the driver, affecting the driving experience and even threatening the driver's safety.

[0003] When the speed of the car is within a certain range, an impact event caused by external environment such as collision or shoulder jam occurs. When the impact force is in the same direction as the power assist and hand force, the steering wheel may hit the hand in the positive direction. When the impact force is in the opposite direction as the power assist and hand force, the steering wheel may hit the hand in the opposite direction. The driver may panic. If no measures are taken, the consequences will be disastrous.

[0004] The existing technology to alleviate steering wheel slapping is generally used in the working condition of uneven road surface, and the situation of steering wheel slapping is alleviated by improving the mechanical structure of the components in the steering system, etc. However, the actual working conditions are far more complicated, and it is obviously unreasonable to only improve the mechanical structure. It is also necessary to consider the problem from many aspects to achieve the expected effect. Summary of the invention

[0005] The present invention provides a control method and device for suppressing abnormal steering shock of a steering system, so as to solve the problem that the expected effect of suppressing steering shock cannot be achieved in the prior art.

[0006] In a first aspect, the present invention provides a control method for suppressing abnormal steering shock of a steering system, which specifically comprises the following steps:

[0007] Step S1, collecting the vehicle's steering wheel angle, motor position, motor direction, steering wheel input shaft torque, wheel speed, rack position and motor bridge drive power supply voltage;

[0008] Step S2, calculating the vehicle speed, wheel speed change rate, rack speed, and steering wheel angular speed according to the steering wheel angle, motor position, steering wheel input shaft torque, wheel speed, and rack position; calculating the vehicle rack speed change rate, steering wheel angular speed change rate, and motor axle drive power supply voltage change rate according to the rack speed, steering wheel angular speed, and motor axle drive; and calculating the steering wheel assist torque according to the steering wheel angular speed, vehicle speed, and steering wheel input shaft torque;

[0009] Step S3, judging whether the vehicle is impacted according to the speed of the vehicle, the steering wheel input shaft torque, the steering wheel power torque, the power supply voltage of the motor axle drive, the wheel speed change rate and the rack speed change rate;

[0010] Step S4: When the vehicle is impacted, the assist torque Ta that the motor should output is calculated based on the vehicle speed, the steering wheel angular velocity, the motor position, the motor steering signal, the steering wheel input shaft torque, the steering wheel assist torque, the rack speed change rate and the type of impact on the vehicle, and the torque output by the motor is controlled through a control algorithm.

[0011] Among them, in step S1, the steering wheel angle sensor collects the steering wheel angle; the motor position sensor collects the motor position; the motor steering sensor collects the motor steering; the torque sensor collects the steering wheel input shaft torque; the wheel speed sensor collects the wheel speed; the rack position sensor collects the rack position; and the voltage sensor collects the power supply voltage of the motor bridge drive.

[0012] Preferably, when there is no rack position sensor, the transmission ratio relationship between the steering wheel angle and the rack position is obtained according to the structural parameters of the steering system (in this application, the "steering system" refers to a series of mechanical and electronic components used to control the direction of vehicle travel) (in this application, the "structural parameters of the steering system" refers to a series of parameters that define and describe the geometric structure and physical properties of the vehicle steering system), and then the rack position is obtained.

[0013] In this application, the "steering wheel assist torque" refers to the additional torque provided by the motor power steering system in the vehicle's steering system in order to reduce the effort required to turn the steering wheel.

[0014] Preferably, in step S2, the current speed of the vehicle is calculated by a parameter estimation method.

[0015] More preferably, the parameter estimation method includes but is not limited to one or more of least squares method, extended Kalman filter, unscented Kalman filter, particle filter and adaptive filter.

[0016] Preferably, in step S3, when the speed of the vehicle is within a preset vehicle speed threshold range, the rack speed change rate exceeds a preset rack speed change rate threshold, the steering wheel assist torque and the steering wheel input shaft torque suddenly change (that is, the torque change rate exceeds a preset torque change rate threshold), and the power supply voltage of the motor bridge drive increases instantaneously (that is, the change rate of the power supply voltage of the motor bridge drive increases by more than a preset threshold), the vehicle is impacted; otherwise, the vehicle is not impacted.

[0017] Preferably, in step S4, the types of impacts to the vehicle include forward impact and reverse impact; wherein, when the speed of the vehicle is within a preset threshold range A, the rack speed change rate exceeds a preset threshold B and the direction of the rack speed change rate is opposite to the rack speed direction, the steering wheel input shaft torque Tb change rate collected by the torque sensor exceeds a preset threshold C (in the present application, the preset threshold C is a variable, and its value changes according to the change of the vehicle speed), and the power supply voltage change rate of the motor bridge drive exceeds a threshold D, then the type of impact to the vehicle is a reverse impact; otherwise, the rack speed change rate exceeds a preset threshold B and the direction of the rack speed change rate is the same as the rack speed direction, then the type of impact to the vehicle is a forward impact.

[0018] Preferably, in step S4, when the vehicle is subjected to a forward impact, the direction of the torque Ta output by the required compensation motor is opposite to the initial power-assisting direction, and conversely, the direction of the torque Ta output by the required compensation motor is the same as the initial power-assisting direction; wherein, the initial power-assisting direction indicates the force applied by the vehicle's steering system to assist the vehicle in steering when the vehicle is not subjected to an impact.

[0019] Preferably, in step S4, the control algorithm includes one or more of a feedforward control algorithm and a PID control algorithm.

[0020] In a second aspect, the present invention further provides a control device for suppressing abnormal steering impact of a steering system, which specifically includes the following modules:

[0021] A data acquisition module is used to collect the vehicle's steering wheel angle, motor position, motor direction, steering wheel input shaft torque, wheel speed, rack position and motor bridge drive power supply voltage;

[0022] A calculation module, for calculating the vehicle speed, wheel speed change rate, rack speed, and steering wheel angular speed according to the steering wheel angle, motor position, steering wheel input shaft torque, wheel speed, and rack position; calculating the vehicle rack speed change rate, steering wheel angular speed change rate, and motor axle drive power supply voltage change rate according to the rack speed, the steering wheel angular speed, and the motor axle drive; and calculating the steering wheel assist torque according to the steering wheel angular speed, the vehicle speed, and the steering wheel input shaft torque;

[0023] An impact judgment module, used to judge whether the vehicle is impacted according to the speed of the vehicle, the steering wheel input shaft torque, the steering wheel power torque, the power supply voltage of the motor axle drive, the wheel speed change rate and the rack speed change rate;

[0024] The impact suppression module is used to calculate the assist torque Ta that the motor should output based on the vehicle speed, the steering wheel angular velocity, the motor position, the motor steering signal, the steering wheel input shaft torque, the steering wheel assist torque, the rack speed change rate and the type of impact the vehicle is subjected to when the vehicle is subjected to an impact, and control the torque output by the motor through a control algorithm.

[0025] Among them, in the data acquisition module, the steering wheel angle sensor collects the steering wheel angle; the motor position sensor collects the motor position; the motor steering sensor collects the motor steering; the torque sensor collects the steering wheel input shaft torque; the wheel speed sensor collects the wheel speed; the rack position sensor collects the rack position; and the voltage sensor collects the power supply voltage of the motor bridge drive.

[0026] Preferably, when there is no rack position sensor, the transmission ratio relationship between the steering wheel angle and the rack position is obtained according to the structural parameters of the steering system, and then the rack position is obtained.

[0027] Preferably, in the calculation module, the current speed of the vehicle is calculated by a parameter estimation method.

[0028] More preferably, the parameter estimation method includes but is not limited to one or more of least squares method, extended Kalman filter, unscented Kalman filter, particle filter and adaptive filter.

[0029] Preferably, in the impact judgment module, when the speed of the vehicle is within a preset vehicle speed threshold range, the rack speed change rate exceeds a preset rack speed change rate threshold, the steering wheel assist torque and the steering wheel input shaft torque produce a sudden change (that is, the torque change rate exceeds a preset torque change rate threshold), and the power supply voltage of the motor bridge drive increases instantaneously (that is, the change rate of the power supply voltage of the motor bridge drive increases by more than a preset threshold), the vehicle is impacted; otherwise, the vehicle is not impacted.

[0030] Preferably, in the impact suppression module, the types of impacts suffered by the vehicle include forward impact and reverse impact; wherein, when the speed of the vehicle is within a preset threshold range A, the rack speed change rate exceeds a preset threshold B and the direction of the rack speed change rate is opposite to the rack speed direction, the steering wheel input shaft torque Tb change rate collected by the torque sensor exceeds a preset threshold C, and the power supply voltage change rate of the motor bridge drive exceeds a threshold D, then the type of impact suffered by the vehicle is a reverse impact; otherwise, the rack speed change rate exceeds a preset threshold B and the direction of the rack speed change rate is the same as the rack speed direction, then the type of impact suffered by the vehicle is a forward impact.

[0031] Preferably, in the impact suppression module, when the vehicle is subjected to a forward impact, the direction of the torque Ta output by the required compensation motor is opposite to the initial power-assisting direction, and conversely, the direction of the torque Ta output by the required compensation motor is the same as the initial power-assisting direction; wherein, the initial power-assisting direction represents the force applied by the vehicle's steering system to assist the vehicle in steering when the vehicle is not subjected to an impact.

[0032] Preferably, in the impact suppression module, the control algorithm includes one or more of a feedforward control algorithm and a PID control algorithm.

[0033] In a third aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a control method for suppressing abnormal steering shock of a steering system as described in any one of the first aspects of the present application.

[0034] In a fourth aspect, the present invention further provides an electronic device, comprising: a memory storing a computer program; and a processor communicating with the memory, for executing a control method for suppressing abnormal steering impact of a steering system as described in any one of the first aspects of the present application when the computer program is called.

[0035] Compared with the prior art, the present invention has the following obvious outstanding substantive features and significant advantages:

[0036] The present invention provides a control method and device for suppressing abnormal steering shock of a steering system, which solves the problem that the expected effect of steering shock suppression cannot be achieved in the prior art. Relevant parameter values ​​are collected and calculated by multiple sensors, and the obtained parameter values ​​are used to judge whether the vehicle is impacted and the type of impact on the vehicle, and finally a compensating force for suppressing the steering shock is applied. The impact of the impact force on the steering system including the tires is alleviated, thereby reducing the damage to the driver caused by the steering wheel hitting the driver and improving the safety of the car. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which constitute part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. In the accompanying drawings:

[0038] Figure 1 The present invention is a flowchart of a control method for suppressing abnormal steering shock of a steering system according to a preferred embodiment of the present invention.

[0039] Figure 2 It is a schematic diagram of the structure of a control device for suppressing abnormal steering shock of a steering system according to a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0040] The present invention provides a control method and device for suppressing abnormal steering shock of a steering system. In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0042] Embodiment 1:

[0043] like Figure 1 As shown, a control method for suppressing abnormal steering shock of a steering system according to this embodiment specifically includes the following steps:

[0044] Step S1, collecting the vehicle's steering wheel angle, motor position, motor steering, steering wheel input shaft torque, wheel speed, rack position and motor axle drive power supply voltage; wherein, the steering wheel angle sensor collects the steering wheel angle; the motor position sensor collects the motor position; the motor steering sensor collects the motor steering; the torque sensor collects the steering wheel input shaft torque; the wheel speed sensor collects the wheel speed; the rack position sensor collects the rack position; the voltage sensor collects the motor axle drive power supply voltage.

[0045] Optionally, when there is no rack position sensor, the transmission ratio relationship between the steering wheel angle and the rack position is obtained according to the structural parameters of the steering system, and then the rack position is obtained.

[0046] Step S2, according to the steering wheel angle, motor position, steering wheel input shaft torque, wheel speed and rack position, calculate the vehicle speed, wheel speed change rate, rack speed, steering wheel angular speed, according to the rack speed, the steering wheel angular speed and the power supply voltage of the motor bridge drive, calculate the vehicle rack speed change rate, steering wheel angular speed change rate and motor bridge drive power supply voltage change rate, according to the steering wheel angular speed, the vehicle speed and the steering wheel input shaft torque, calculate the steering wheel assist torque; wherein, the current speed of the vehicle is calculated by a parameter estimation method. Optionally, the parameter estimation method includes but is not limited to one or more of the least squares method, extended Kalman filter, unscented Kalman filter, particle filter and adaptive filter. In this embodiment, the least squares method is used to achieve parameter estimation.

[0047] Step S3, judging whether the vehicle is impacted according to the speed of the vehicle, the steering wheel input shaft torque, the steering wheel assist torque, the power supply voltage of the motor axle drive, the wheel speed change rate and the rack speed change rate.

[0048] Among them, when the speed of the vehicle is within the preset vehicle speed threshold range, the rack speed change rate exceeds the preset rack speed change rate threshold, the steering wheel assist torque and the steering wheel input shaft torque produce a sudden change (that is, the torque change rate exceeds the preset torque change rate threshold) and the power supply voltage of the motor bridge drive increases instantaneously (that is, the change rate of the power supply voltage of the motor bridge drive increases by more than the preset threshold), the vehicle is impacted; otherwise, the vehicle is not impacted.

[0049] Step S4: When the vehicle is impacted, the assist torque Ta that the motor should output is calculated based on the vehicle speed, the steering wheel angular velocity, the motor position, the motor steering signal, the steering wheel input shaft torque, the steering wheel assist torque, the rack speed change rate and the type of impact on the vehicle, and the torque output by the motor is controlled through a control algorithm.

[0050] Among them, the types of impacts on the vehicle include forward impact and reverse impact; among them, when the speed of the vehicle is within a preset threshold range A, the rack speed change rate exceeds the preset threshold B and the direction of the rack speed change rate is opposite to the rack speed direction, the steering wheel input shaft torque Tb change rate collected by the torque sensor exceeds the preset threshold C, and the power supply voltage change rate of the motor bridge drive exceeds the threshold D, then the type of impact on the vehicle is reverse impact, otherwise, the rack speed change rate exceeds the preset threshold B and the direction of the rack speed change rate is the same as the rack speed direction, then the type of impact on the vehicle is forward impact; when the vehicle is subjected to a forward impact, the direction of the torque Ta output by the required compensation motor is opposite to the initial power-assisting direction, otherwise, the direction of the torque Ta output by the required compensation motor is the same as the initial power-assisting direction; the initial power-assisting direction indicates the force applied by the vehicle's steering system to assist the vehicle's steering when the vehicle is not subjected to an impact; the control algorithm includes one or more of a feedforward control algorithm and a PID control algorithm. In this embodiment, the size of the torque Ta required to compensate the output of the motor is related to factors such as the strength of the impact, the duration of the impact, and the speed of the impact attenuation; and after calculating the torque Ta required to compensate the output of the motor, the torque output of the motor is controlled by the PID control algorithm, so that the output power of the motor changes to generate a force to suppress the impact.

[0051] Embodiment 2:

[0052] like Figure 2 As shown, the control device for suppressing abnormal steering shock of a steering system described in this embodiment specifically includes the following modules:

[0053] The data acquisition module is used to collect the vehicle's steering wheel angle, motor position, motor steering, steering wheel input shaft torque, wheel speed, rack position and motor axle drive power supply voltage; wherein the steering wheel angle sensor collects the steering wheel angle; the motor position sensor collects the motor position; the motor steering sensor collects the motor steering; the torque sensor collects the steering wheel input shaft torque; the wheel speed sensor collects the wheel speed; the rack position sensor collects the rack position; and the voltage sensor collects the motor axle drive power supply voltage.

[0054] Optionally, when there is no rack position sensor, the transmission ratio relationship between the steering wheel angle and the rack position is obtained according to the structural parameters of the steering system, and then the rack position is obtained.

[0055] A calculation module is used to calculate the vehicle speed, wheel speed change rate, rack speed, and steering wheel angular speed according to the steering wheel angle, motor position, steering wheel input shaft torque, wheel speed, and rack position; the vehicle rack speed change rate, steering wheel angular speed change rate, and motor bridge drive power supply voltage change rate are calculated according to the rack speed, the steering wheel angular speed, and the motor bridge drive; the steering wheel assist torque is calculated according to the steering wheel angular speed, the vehicle speed, and the steering wheel input shaft torque; wherein the current speed of the vehicle is calculated by a parameter estimation method. Optionally, the parameter estimation method includes but is not limited to one or more of least squares method, extended Kalman filter, unscented Kalman filter, particle filter, and adaptive filter.

[0056] The impact judgment module is used to judge whether the vehicle is impacted according to the speed of the vehicle, the steering wheel input shaft torque, the steering wheel assist torque, the power supply voltage of the motor axle drive, the wheel speed change rate and the rack speed change rate.

[0057] Among them, when the speed of the vehicle is within the preset vehicle speed threshold range, the rack speed change rate exceeds the preset rack speed change rate threshold, the steering wheel assist torque and the steering wheel input shaft torque produce a sudden change (that is, the torque change rate exceeds the preset torque change rate threshold) and the power supply voltage of the motor bridge drive increases instantaneously (that is, the change rate of the power supply voltage of the motor bridge drive increases by more than the preset threshold), the vehicle is impacted; otherwise, the vehicle is not impacted.

[0058] The impact suppression module is used to calculate the assist torque Ta that the motor should output based on the vehicle speed, the steering wheel angular velocity, the motor position, the motor steering signal, the steering wheel input shaft torque, the steering wheel assist torque, the rack speed change rate and the type of impact the vehicle is subjected to when the vehicle is subjected to an impact, and control the torque output by the motor through a control algorithm.

[0059] Among them, the types of impacts suffered by the vehicle include forward impact and reverse impact; among them, when the speed of the vehicle is within the preset threshold range A, the rack speed change rate exceeds the preset threshold B and the direction of the rack speed change rate is opposite to the rack speed direction, the steering wheel input shaft torque Tb change rate collected by the torque sensor exceeds the preset threshold C, and the power supply voltage change rate of the motor bridge drive exceeds the threshold D, then the type of impact suffered by the vehicle is reverse impact, otherwise, the rack speed change rate exceeds the preset threshold B and the direction of the rack speed change rate is the same as the rack speed direction, then the type of impact suffered by the vehicle is forward impact.

[0060] Among them, when the vehicle is subjected to a positive impact, the direction of the torque Ta required to be output by the compensation motor is opposite to the initial power-assisting direction, otherwise, the direction of the torque Ta required to be output by the compensation motor is the same as the initial power-assisting direction; wherein, the initial power-assisting direction represents the force applied by the vehicle's steering system to assist the vehicle's steering when the vehicle is not subjected to an impact.

[0061] The control algorithm includes one or more of a feedforward control algorithm and a PID control algorithm.

[0062] The specific embodiments of the present invention are described in detail above, but they are only examples, and the present invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions made to the present invention are also within the scope of the present invention. Therefore, the equalization changes and modifications made without departing from the spirit and scope of the present invention should be included in the scope of the present invention.

Claims

1. A control method for suppressing abnormal steering shock of a steering system, characterized in that: The specific steps include: Step S1, collecting the vehicle's steering wheel angle, motor position, motor direction, steering wheel input shaft torque, wheel speed, rack position and motor bridge drive power supply voltage; Step S2, calculating the vehicle speed, wheel speed change rate, rack speed, and steering wheel angular speed according to the steering wheel angle, motor position, steering wheel input shaft torque, wheel speed, and rack position; calculating the vehicle rack speed change rate, steering wheel angular speed change rate, and motor axle drive power supply voltage change rate according to the rack speed, steering wheel angular speed, and motor axle drive; and calculating the steering wheel assist torque according to the steering wheel angular speed, vehicle speed, and steering wheel input shaft torque; Step S3, judging whether the vehicle is impacted according to the speed of the vehicle, the steering wheel input shaft torque, the steering wheel power torque, the power supply voltage of the motor axle drive, the wheel speed change rate and the rack speed change rate; Step S4, when the vehicle is impacted, the assist torque Ta that the motor should output is calculated according to the speed of the vehicle, the steering wheel angular velocity, the motor position, the motor steering signal, the steering wheel input shaft torque, the steering wheel assist torque, the rack speed change rate and the type of impact to the vehicle, and the torque output by the motor is controlled by a control algorithm; Among them, in step S1, the steering wheel angle sensor collects the steering wheel angle; the motor position sensor collects the motor position; the motor steering sensor collects the motor steering; the torque sensor collects the steering wheel input shaft torque; the wheel speed sensor collects the wheel speed; the rack position sensor collects the rack position; and the voltage sensor collects the power supply voltage of the motor bridge drive.

2. A control method for suppressing abnormal steering shock of a steering system according to claim 1, characterized in that: In step S1, when there is no rack position sensor, the transmission ratio relationship between the steering wheel angle and the rack position is obtained according to the structural parameters of the steering system, and then the rack position is obtained.

3. The control method for suppressing abnormal steering shock of a steering system according to claim 1, characterized in that: In step S2, the current speed of the vehicle is calculated by a parameter estimation method.

4. A control method for suppressing abnormal steering shock of a steering system according to claim 3, characterized in that: The parameter estimation method includes but is not limited to one or more of least squares method, extended Kalman filter, unscented Kalman filter, particle filter and adaptive filter.

5. The control method for suppressing abnormal steering shock of a steering system according to claim 1, characterized in that: In step S3, when the vehicle speed is within a preset vehicle speed threshold range, the rack speed change rate exceeds a preset rack speed change rate threshold, the steering wheel assist torque and the steering wheel input shaft torque change rate exceed a preset torque change rate threshold, and the motor bridge drive power supply voltage motor bridge drive power supply voltage change rate exceeds a preset threshold, the vehicle is impacted; otherwise, the vehicle is not impacted.

6. The control method for suppressing abnormal steering shock of a steering system according to claim 1, characterized in that: In step S4, the types of impacts on the vehicle include forward impact and reverse impact; wherein, when the speed of the vehicle is within a preset threshold range A, the rack speed change rate exceeds a preset threshold B and the direction of the rack speed change rate is opposite to the rack speed direction, the steering wheel input shaft torque Tb change rate collected by the torque sensor exceeds a preset threshold C, and the motor bridge drive power supply voltage change rate exceeds a threshold D, then the type of impact on the vehicle is reverse impact; otherwise, the rack speed change rate exceeds a preset threshold B and the direction of the rack speed change rate is the same as the rack speed direction, then the type of impact on the vehicle is forward impact; Among them, when the vehicle is subjected to a positive impact, the direction of the torque Ta required to be output by the compensation motor is opposite to the initial power-assisting direction, otherwise, the direction of the torque Ta required to be output by the compensation motor is the same as the initial power-assisting direction; wherein, the initial power-assisting direction represents the force applied by the vehicle's steering system to assist the vehicle's steering when the vehicle is not subjected to an impact.

7. The control method for suppressing abnormal steering shock of a steering system according to claim 1, characterized in that: In step S4, the control algorithm includes one or more of a feedforward control algorithm and a PID control algorithm.

8. A control device for suppressing abnormal steering shock of a steering system, characterized in that: The modules include: A data acquisition module is used to collect the vehicle's steering wheel angle, motor position, motor direction, steering wheel input shaft torque, wheel speed, rack position and motor bridge drive power supply voltage; A calculation module, for calculating the vehicle speed, wheel speed change rate, rack speed, and steering wheel angular speed according to the steering wheel angle, motor position, steering wheel input shaft torque, wheel speed, and rack position; calculating the vehicle rack speed change rate, steering wheel angular speed change rate, and motor axle drive power supply voltage change rate according to the rack speed, the steering wheel angular speed, and the motor axle drive; and calculating the steering wheel assist torque according to the steering wheel angular speed, the vehicle speed, and the steering wheel input shaft torque; An impact judgment module, used to judge whether the vehicle is impacted according to the speed of the vehicle, the steering wheel input shaft torque, the steering wheel power torque, the power supply voltage of the motor axle drive, the wheel speed change rate and the rack speed change rate; An impact suppression module is used to calculate the assist torque Ta that the motor should output according to the speed of the vehicle, the steering wheel angular velocity, the motor position, the motor steering signal, the steering wheel input shaft torque, the rack speed change rate and the type of impact to the vehicle when the vehicle is impacted, and control the torque output by the motor through a control algorithm; Among them, in the data acquisition module, the steering wheel angle sensor collects the steering wheel angle; the motor position sensor collects the motor position; the motor steering sensor collects the motor steering; the torque sensor collects the steering wheel input shaft torque; the wheel speed sensor collects the wheel speed; the rack position sensor collects the rack position; and the voltage sensor collects the power supply voltage of the motor bridge drive.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the control method for suppressing abnormal steering impact of a steering system according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: It comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a control method for suppressing abnormal steering shock of a steering system as described in any one of claims 1 to 7 is implemented.

Images