Vehicle motor control method and device, vehicle and storage medium

Abstract

The invention provides a vehicle motor control method and device, a vehicle and a storage medium, the method is applied to the technical field of motor control, and the method comprises the steps that the rotation period of a steering actuator motor and output current change information of the steering actuator motor are obtained; determining a duty ratio based on the rotation period and the output current change information; generating a pulse width modulation (PWM) signal based on the duty ratio and the rotation period; and adjusting the torque of the road sensing motor based on the PWM signal. The method can improve the reliability and safety of vehicle driving.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and more specifically, to a vehicle motor control method, device, vehicle and storage medium in the field of motor control technology. Background Art

[0002] Traditional automotive steering systems, as a long-standing technology in the automotive field, mainly rely on mechanical connections to transmit the driver's operation directly to the wheels, and also transmit road feedback (such as road smoothness, tire adhesion, etc.) back to the steering wheel through mechanical connections, so that the driver can intuitively feel the state of the vehicle. Although this system is reliable and intuitive, it also has some shortcomings, such as limited response speed, difficulty in integrating advanced driver assistance functions, and low space utilization.

[0003] With the acceleration of the trend of automobile intelligence and electrification, the wire-controlled steering system has emerged, marking a major shift from traditional mechanical connection to electronic control. However, wire-controlled steering eliminates the direct physical connection between the steering wheel and the wheel, making it difficult to transmit the road surface state and road surface excitation to the steering wheel through traditional mechanical means, which may lead to lower reliability and safety of vehicle driving. Summary of the invention

[0004] The present application provides a vehicle motor control method, device, vehicle and storage medium, which can reduce the probability of driving errors and accidents caused by dangerous road conditions, thereby improving the reliability and safety of vehicle driving.

[0005] In a first aspect, a vehicle motor control method is provided, which is applied to a vehicle, wherein the vehicle includes a steering actuator motor and a road sensing motor, and the method includes:

[0006] Obtaining the rotation period of the steering actuator motor and the output current change information of the steering actuator motor;

[0007] Determine a duty cycle based on the rotation cycle and the output current change information;

[0008] Generate a pulse width modulation (PWM) signal based on the duty cycle and the rotation period;

[0009] The torque of the road sensing motor is adjusted based on the PWM signal.

[0010] The beneficial effects brought about by the technical solution of the first aspect above include at least: when the current of the steering actuator motor changes due to changes in the road surface, the required PWM signal duty cycle is accurately calculated by obtaining the current change information and rotation cycle of the steering actuator motor in real time, and then the torque output of the road sense motor is adjusted accordingly in time, so that the driver can perceive the road condition in real time. Timely road sense feedback can help the driver perceive potential road changes more quickly, reduce the probability of driving errors and accidents caused by dangerous road conditions, and thus improve the reliability and safety of vehicle driving.

[0011] In some possible implementations, the generating of a pulse width modulation (PWM) signal based on the duty cycle and the rotation period includes:

[0012] generating a timing event based on the rotation cycle;

[0013] Determine a counting threshold based on the duty cycle and the rotation period;

[0014] A PWM signal is generated based on the timing event and the count threshold.

[0015] Through the technical solutions in the above possible implementation methods, by generating timing events based on the rotation cycle, the generation of the PWM signal can be made consistent with the rotation of the steering actuator motor, and then a PWM signal matching the rotation of the steering actuator motor can be generated, thereby improving the accuracy of subsequent control of the road sense motor based on the PWM signal.

[0016] In some possible implementations, the vehicle further includes a timer and a comparison register, and the generating of the PWM signal based on the timing event and the counting threshold includes:

[0017] Execute the above timing event by the above timer;

[0018] The storage value of the comparison register is controlled to continuously increase during the execution of the timing event. When the storage value is less than the counting threshold, a high level is output. When the storage value is equal to the counting threshold, the current output state is switched. When the storage value is greater than the counting threshold, a low level is output to generate a PWM signal.

[0019] Through the technical solutions in the above possible implementations, the frequency and duty cycle of the PWM signal can be accurately controlled by the precise time interval generated by the timer, so that the torque of the road sensing motor can be more accurately controlled. The combination of the timer and the comparison register is used to generate the PWM signal, avoiding overly complex hardware design. By directly comparing the comparison register with the count value of the timer, efficient PWM modulation can be achieved.

[0020] In some possible implementations, the vehicle further includes an inverter, and the step of adjusting the torque of the road sensing motor based on the PWM signal includes:

[0021] Sending a plurality of continuous PWM signals to the inverter, and controlling the inverter to turn on and off the switching devices of the inverter based on the plurality of PWM signals, so as to generate an AC signal corresponding to the PWM signal;

[0022] Sending the AC signal to the road sensor motor;

[0023] Controlling the road sensing motor to output a target output current corresponding to the AC signal;

[0024] The torque of the road sensing motor is adjusted based on the target output current.

[0025] Through the technical solutions in the above possible implementations, the switching devices of the inverter can be accurately controlled through the duty cycle of the PWM signal, thereby adjusting the average voltage of the AC signal. This directly affects the current output of the road sense motor, and the target output current determines the torque of the road sense motor. In this way, the motor output torque can be accurately controlled to meet different load requirements.

[0026] In some possible implementations, controlling the inverter to turn on and off a switch device of the inverter based on the plurality of PWM signals to generate an AC signal corresponding to the PWM signal includes:

[0027] For each of the multiple PWM signals, when the PWM signal is in a high level stage, the switching device of the inverter is controlled to be turned on, and when the PWM signal is in a low level stage, the switching device of the inverter is controlled to be turned off, so as to generate an AC signal corresponding to the PWM signal.

[0028] Through the technical solutions in the above possible implementations, the power of the output AC signal can be accurately controlled by controlling the on and off of the inverter switch device through the PWM signal.

[0029] In some possible implementations, the vehicle further includes a power supply, the power supply is used to supply power to the steering actuator motor, the steering actuator motor includes a sensor, and the method further includes:

[0030] collecting the rotation speed of the steering actuator motor through a sensor in the steering actuator motor;

[0031] A rotation period of the steering actuator motor is determined based on the rotation rate, the number of magnetic poles of the steering actuator motor, and the power supply frequency of the power supply.

[0032] Through the technical solutions in the above possible implementations, the rotation period can be accurately calculated by considering the rotation rate, number of magnetic poles and power supply frequency of the steering actuator motor. This method combines the physical characteristics of the motor, making the control strategy more accurate and stable, and can effectively adapt to different working environments and load conditions.

[0033] In some possible implementations, adjusting the torque of the road sensing motor based on the target output current includes:

[0034] Obtaining the initial output current of the road sensing motor;

[0035] comparing the initial output current with the target output current;

[0036] When the target output current is greater than the initial output current, controlling the torque of the road sensing motor to increase;

[0037] When the target output current is less than the initial output current, the torque of the road sensing motor is controlled to decrease.

[0038] Through the technical solutions in the above possible implementations, by accurately adjusting the torque of the road sense motor, the vibration of the driver during vehicle driving can be reduced, making the driving experience smoother. For example, on uneven roads, the system buffers vibrations by increasing torque to reduce uncomfortable jumping sensations. This adjustment mechanism enables the vehicle to adapt to different road conditions in real time, improving driving comfort and flexibility.

[0039] In a second aspect, a vehicle motor control device is provided, which is applied to a vehicle, wherein the vehicle includes a steering actuator motor and a road sensing motor, and the device includes:

[0040] An acquisition module, used to acquire the rotation period of the steering actuator motor and the output current change information of the steering actuator motor;

[0041] A first determination module, configured to determine a duty cycle based on the rotation cycle and the output current change information;

[0042] A generating module, used for generating a pulse width modulation (PWM) signal based on the duty cycle and the rotation period;

[0043] The adjustment module is used to adjust the torque of the road sensing motor based on the PWM signal.

[0044] A third aspect provides a vehicle, comprising:

[0045] Steering actuator motor and road sensing motor;

[0046] A memory for storing executable program codes;

[0047] A processor is used to call and run the above-mentioned executable program code from the above-mentioned memory, so that the above-mentioned vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0048] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0049] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is a schematic diagram of the architecture of a vehicle motor control method provided in an embodiment of the present application;

[0051] Figure 2 is a flow chart of a vehicle motor control method provided in an embodiment of the present application;

[0052] Figure 3 A schematic diagram of a PWM signal generation process provided in an embodiment of the present application;

[0053] Figure 4 is a flow chart of a vehicle motor control method provided in an embodiment of the present application;

[0054] Figure 5 It is a flow chart of a torque adjustment method of a road sensing motor provided in an embodiment of the present application;

[0055] Figure 6 It is a structural schematic diagram of a vehicle motor control device provided in an embodiment of the present application;

[0056] Figure 7 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0058] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0059] Traditional automotive steering systems, as a long-standing technology in the automotive field, mainly rely on mechanical connections to transmit the driver's operation directly to the wheels, and also transmit road feedback (such as road smoothness, tire adhesion, etc.) back to the steering wheel through mechanical connections, so that the driver can intuitively feel the state of the vehicle. Although this system is reliable and intuitive, it also has some shortcomings, such as limited response speed, difficulty in integrating advanced driver assistance functions, and low space utilization.

[0060] With the acceleration of the trend of automobile intelligence and electrification, the wire-controlled steering system has emerged, marking a major shift from traditional mechanical connection to electronic control. However, wire-controlled steering eliminates the direct physical connection between the steering wheel and the wheel, making it difficult to transmit the road surface state and road surface excitation to the steering wheel through traditional mechanical means, which may lead to lower reliability and safety of vehicle driving.

[0061] Therefore, an embodiment of the present application provides a vehicle motor control method to solve the technical problem that the above-mentioned road surface conditions and road surface excitations are difficult to transmit to the steering wheel through traditional mechanical methods, which may lead to low reliability and safety of vehicle driving.

[0062] Figure 1 is a schematic diagram of the architecture of a vehicle motor control method provided by an embodiment of the present application, such as Figure 1 The architecture is applied to a vehicle 100, which includes a steering actuator motor 110 and a road sensing motor 120. The steering actuator motor 110 is used to execute a steering command so that the steering system of the vehicle rotates according to the input of the driver. The road sensing motor 120 can be installed on the steering column of the vehicle, and can apply a power torque to the steering column to assist the driver in controlling the steering wheel, making steering easier.

[0063] Optionally, the vehicle 100 may further include a controller (not shown in the figure), which is connected to the steering actuator motor 110 and the road sensing motor 120 respectively, and is used to control the steering actuator motor 110 and the road sensing motor 120 .

[0064] Optionally, the controller can be used to execute the following vehicle motor control method: obtain the rotation period of the steering actuator motor and the output current change information of the steering actuator motor; determine the duty cycle based on the rotation period and the output current change information; generate a pulse width modulation (PWM) signal based on the duty cycle and the rotation period; and adjust the torque of the road sensing motor based on the PWM signal.

[0065] Optionally, the rotation cycle of the steering actuator motor is the time required for the steering actuator motor to complete a full rotation.

[0066] Optionally, adjusting the torque according to the PWM signal will have corresponding feedback, because the PWM signal affects the torque output of the road sense motor by controlling the power output of the road sense motor, and the torque directly affects the feedback force in the steering system. The feedback force is not only a direct reflection of the output of the road sense motor, but also closely related to factors such as road conditions, vehicle dynamics, and driver control behavior. Through closed-loop control, the steering system can adjust the PWM signal in real time to optimize the driver's control experience and improve control accuracy and comfort.

[0067] An exemplary embodiment of the present application provides a vehicle motor control method. The vehicle motor control method can be applied to the above controller. For details, please refer to Figure 2 , which exemplarily shows a flow chart of a vehicle motor control method provided by an embodiment of the present application. Figure 2 As shown, the vehicle motor control method includes the following S21-S24:

[0068] S21. Obtaining the rotation period of the steering actuator motor and the output current change information of the steering actuator motor.

[0069] The rotation period of the steering actuator motor is the time required for the steering actuator motor to complete one full rotation.

[0070] Optionally, the output current change information of the steering actuator motor refers to the change of the current at the output end of the steering actuator motor over a period of time, which can be used to characterize the working state of the steering actuator motor, such as load change, friction change, etc. Specifically, it can include the waveform of the output current of the steering actuator motor.

[0071] Optionally, the output current of the steering actuator motor can be collected by a current sensor. By collecting current over a period of time and converting the current signal into a standard analog signal (such as 4-20 mA), the output current change information of the steering actuator motor can be obtained, and the output current change information can be transmitted to the above-mentioned controller through a standard analog input port for subsequent processing.

[0072] It is understandable that during the driving process, the road conditions have a significant impact on the vehicle dynamics, especially when the vehicle passes through different types of road surfaces (such as potholes, cracks, gravel roads, etc.). These road surface irregularities will directly stimulate the tires, thereby affecting the vehicle's handling stability. Specifically, the excitation caused by the uneven road surface not only affects the vehicle's suspension system and overall dynamic response, but also directly changes the contact state between the tire and the road surface. In these cases, the tire will deform, especially when the tire contacts the irregular road surface, local compression, stretching or lateral displacement may occur. This deformation not only causes the load distribution of the tire to change, but also affects the traction and rolling resistance of the tire, thereby affecting the driving characteristics of the vehicle. As the tire deformation changes, the vehicle's steering actuator motor will sense this change and generate current fluctuations. The current change of the steering actuator motor directly reflects the dynamic changes of the vehicle under complex road conditions, such as tire deformation, load changes and steering response. This current change can provide feedback to the steering system, helping the system to dynamically adjust the torque output, thereby achieving more precise steering control.

[0073] S22. Determine a duty cycle based on the rotation cycle and the output current change information.

[0074] The duty cycle may be a ratio calculated based on the rotation cycle and the output current change information, and is used to indicate the proportion of the high level duration in the subsequently generated pulse width modulation (PWM) signal to the entire cycle.

[0075] S23, generating a pulse width modulation (PWM) signal based on the duty ratio and the rotation period.

[0076] Among them, pulse width modulation is an analog control method that modulates the bias of the transistor base or the gate of the Metal Oxide Semiconductor Field Effect Transistor (MOS tube) according to the change of the corresponding load to achieve the change of the conduction time of the transistor or MOS tube, thereby achieving the change of the output of the switching regulated power supply.

[0077] Optionally, a high level and a low level may be periodically output based on a duty cycle and a rotation period, thereby generating a PWM signal.

[0078] S24, adjusting the torque of the road sensing motor based on the PWM signal.

[0079] Adjusting the torque according to the PWM signal will have corresponding feedback, because the PWM signal controls the power output of the road sense motor, which in turn affects the torque output of the road sense motor, and the torque directly affects the feedback force in the steering system. The feedback force is not only a direct reflection of the output of the road sense motor, but is also closely related to factors such as road conditions, vehicle dynamics, and driver control behavior. Through closed-loop control, the steering system can adjust the PWM signal in real time to optimize the driver's control experience and improve control accuracy and comfort.

[0080] In an embodiment of the present application, the rotation period of the steering actuator motor and the output current change information of the steering actuator motor are obtained; the duty cycle is determined based on the rotation period and the output current change information; a pulse width modulation PWM signal is generated based on the duty cycle and the rotation period; and the torque of the road sensing motor is adjusted based on the PWM signal. Thus, when the current of the steering actuator motor changes due to changes in the road surface, the required PWM signal duty cycle can be accurately calculated by obtaining the current change information and the rotation period of the steering actuator motor in real time, and then the torque output of the road sensing motor can be adjusted accordingly in time, so that the driver can perceive the road surface conditions in real time. Timely road sense feedback can help the driver perceive potential road surface changes more quickly, reduce the probability of driving errors and accidents caused by dangerous road conditions, and thus improve the reliability and safety of vehicle driving.

[0081] Optionally, in the above S22, the above determining the duty cycle based on the above rotation cycle and the above output current change information includes: determining the duty cycle based on the above rotation cycle and the above output current change information through the area equivalence principle.

[0082] The core idea of ​​the area equivalence principle is that when narrow pulses with equal impulses but different shapes are added to a link with inertia, the effects are basically the same; the impulse is the area of ​​the narrow pulse, and the basically same effect means that the output waveforms of the link are basically the same. If the input waveforms are analyzed using Fourier transform, their low frequency bands are very similar, with only slight differences in the high frequencies.

[0083] Specifically, assuming that the output current of the steering actuator motor changes with time, the change in the current waveform can reflect the load change of the steering actuator motor. In order to achieve precise control of the steering actuator motor, the duty cycle can be determined by applying the area equivalence principle through the following steps:

[0084] Assume that within a rotation cycle T, the output current of the steering actuator motor changes from I min To I max By measuring or calculating the integral (area) of the current waveform, the total energy of the current waveform can be obtained. Assume that the integral result of the current is A I .

[0085] First, integrate the current waveform to get the total area of ​​the current waveform:

[0086]

[0087] Where I(t) is the current of the steering actuator motor as a function of time, and T is the rotation period.

[0088] Similarly, the area of ​​the PWM signal waveform is proportional to its duty cycle, so the area of ​​the PWM signal waveform can be expressed as:

[0089] A PWM =D×V×T

[0090] Where D is the above duty cycle and V is the driving voltage of the steering actuator motor.

[0091] According to the area equivalence principle, by adjusting the duty cycle D, the area A of the current waveform is I The area A of the PWM signal waveform PWM are equal, which means: Through this formula, the corresponding duty cycle D can be calculated from the integration result of the current waveform.

[0092] In the embodiment of the present application, by adjusting the duty cycle according to the integral of the output current waveform, precise control of the load change of the steering actuator motor can be achieved. The area equivalence principle enables precise control of the motor without the need for complex mathematical modeling and real-time calculation. By measuring the total area of ​​the current waveform and matching it with the area of ​​the PWM signal, the required duty cycle can be quickly calculated, which simplifies the control strategy of the motor and effectively improves the control accuracy and efficiency.

[0093] Optionally, the vehicle further comprises a power supply, and the power supply is used to supply power to the steering actuator motor.

[0094] Optionally, the steering actuator motor comprises a sensor.

[0095] Optionally, when the vehicle includes a power source and the steering actuator motor includes a sensor, the method further includes S201-S202 for determining the rotation period:

[0096] S201 . Detecting the rotation speed of the steering actuator motor through a sensor in the steering actuator motor.

[0097] Optionally, the sensor in the steering actuator motor may be any one or more of sensors such as a rotary encoder, a Hall sensor, a magnetic sensor, an acceleration sensor, and a gyroscope.

[0098] Optionally, the vehicle may further include a frequency converter. When the vehicle includes a frequency converter, the sensor in the steering actuator motor may be a current sensor. The current sensor collects the output current of the steering actuator motor and converts the output current signal into a standard analog signal, and then sends the analog signal to the frequency converter. After receiving the analog signal, the frequency converter calculates the rotation rate of the steering actuator motor based on the analog signal. Because the current signal is closely related to the load and rotation rate of the steering actuator motor, the frequency converter can calculate the current actual rotation rate of the steering actuator motor by analyzing the current signal.

[0099] S202: Determine a rotation period of the steering actuator motor based on the rotation rate, the number of magnetic poles of the steering actuator motor and the power supply frequency of the power supply.

[0100] The number of poles refers to the total number of poles on the motor rotor. The motor rotor is composed of permanent magnets or electromagnetic coils, which are arranged alternately to generate a magnetic field. The number of poles in a motor is usually an even number.

[0101] Optionally, in S202, the rotation period of the steering actuator motor is determined based on the rotation rate, the number of magnetic poles of the steering actuator motor and the power supply frequency of the power supply, including S2021-S2023:

[0102] S2021. Determine half of the above number of magnetic poles as the number of pole pairs.

[0103] S2022. Determine the rotation frequency of the steering actuator motor based on the rotation rate, the pole pair number and the power supply frequency.

[0104] Specifically, the rotation frequency f of the steering actuator motor can be expressed as:

[0105] f=n×p / 60

[0106] The unit of the rotation frequency f is Hertz (Hz), p represents the number of pole pairs, and n represents the rotation rate (rpm).

[0107] S2023. Determine the rotation period of the steering actuator motor according to the rotation frequency.

[0108] The rotation period of the steering actuator motor is the inverse of the above rotation frequency, that is, the rotation period T of the steering actuator motor can be expressed as:

[0109] T = 60 / (n×p)

[0110] In the embodiment of the present application, the rotation period can be accurately calculated by considering the rotation rate, number of magnetic poles and power supply frequency of the steering actuator motor. This method combines the physical characteristics of the motor, making the control strategy more accurate and stable, and can effectively adapt to different working environments and load conditions.

[0111] Optionally, in the above S23, a pulse width modulation (PWM) signal is generated based on the above duty cycle and the above rotation period, including S231-S233:

[0112] S231, generating a timing event based on the above rotation cycle.

[0113] Among them, the timing event is an event triggered based on the rotation cycle, which is used to control the generation of the PWM signal. Specifically, the timing event can be used to control the generation cycle of the PWM signal. For example, the timing event can be responsible for completing a high and low level switch in each rotation cycle. If the rotation cycle is 1 second, the timing event is triggered once every 1 second, thereby making the generation cycle of the PWM signal 1 second.

[0114] S232. Determine a counting threshold based on the duty cycle and the rotation period.

[0115] The counting threshold refers to a preset value used to determine how the PWM signal should be generated when a timing event occurs.

[0116] Optionally, in S232, determining a counting threshold based on the duty cycle and the rotation period includes: determining a product of the duty cycle and the rotation period as the counting threshold.

[0117] S233 , generating a PWM signal based on the timing event and the counting threshold.

[0118] Optionally, the timing event enables the PWM signal to be stably generated according to a predetermined period (ie, a rotation period), and the counting threshold determines the frequency of the PWM signal.

[0119] In an embodiment of the present application, by generating a timing event based on a rotation cycle, the generation of a PWM signal can be made consistent with the rotation of the steering actuator motor, and then a PWM signal matching the rotation of the steering actuator motor can be generated, thereby improving the accuracy of subsequent control of the road sensing motor based on the PWM signal.

[0120] Optionally, the vehicle may further include a timer and a comparison register. In S233, the PWM signal is generated based on the timing event and the counting threshold, including S2331-S2332:

[0121] S2331. Execute the above timing event through the above timer.

[0122] The timer is a timing tool in hardware or software, which is used to generate an accurate time interval. In the embodiment of the present application, the timer is used to generate a timing event according to the rotation cycle.

[0123] S2332, control the storage value of the comparison register to continuously increase during the execution of the timing event, output a high level when the storage value is less than the counting threshold, switch the current output state when the storage value is equal to the counting threshold, and output a low level when the storage value is greater than the counting threshold to generate a PWM signal.

[0124] Among them, the compare register is a register used to store values ​​and compare them with the count value of the timer. It can be configured in the timer to set a count threshold. When the count value of the timer is compared with this count threshold, the corresponding operation is performed (such as deciding whether to output a high level or a low level). The storage value of the compare register will increase according to a fixed step size.

[0125] Optionally, when the above-mentioned stored value is equal to the above-mentioned counting threshold, the state of the PWM signal will switch, that is, switch between high level and low level. For example, if the previous output is high level, it will output low level after switching; if the previous output is low level, it will output high level after switching. The value of the duty cycle determines the proportion of the high level in the rotation period.

[0126] Figure 3 A schematic diagram of a PWM signal generation process provided by an exemplary embodiment of the present application. Figure 3 As shown, T is the rotation period, j is the maximum count value of the timing event, that is, within the rotation period T, the timer continuously increases from 0 to j with a fixed step size, and i represents the count threshold. When the storage value in the comparison register is less than the count threshold i, a high level (1) is output. When the storage value is equal to the count threshold i, the current output state is switched. When the storage value is greater than the count threshold i, a low level (0) is output. Since the timer continuously increases and compares within the rotation period T, the output signal will periodically switch between high and low levels to form a stable PWM signal.

[0127] In the embodiment of the present application, the frequency and duty cycle of the PWM signal can be accurately controlled by the precise time interval generated by the timer, so that the torque of the road sensing motor can be more accurately controlled. The combination of the timer and the comparison register is used to generate the PWM signal, avoiding overly complex hardware design. By directly comparing the comparison register with the count value of the timer, efficient PWM modulation can be achieved.

[0128] Optionally, the vehicle further comprises an inverter, which is a device for converting direct current into alternating current. The inverter may comprise a plurality of switching devices (such as transistors).

[0129] Optionally, in the case where the vehicle includes an inverter, in the above S24, adjusting the torque of the above road sensing motor based on the above PWM signal includes S241-S244:

[0130] S241, sending the above-mentioned multiple continuous PWM signals to the inverter, and controlling the above-mentioned inverter to control the switching device of the above-mentioned inverter to turn on and off based on the above-mentioned multiple PWM signals, so as to generate an AC signal corresponding to the above-mentioned PWM signal.

[0131] Optionally, the switch device is turned on to form a closed path in the circuit, allowing current to flow, while the switch device is turned off to disconnect the circuit and stop the current from flowing. In the inverter, the switch device controls the conduction and disconnection of the current, and determines the waveform and frequency of the alternating current.

[0132] Optionally, in S241, controlling the inverter to control the switching device of the inverter to turn on and off based on the multiple PWM signals to generate an AC signal corresponding to the PWM signal includes:

[0133] For each of the multiple PWM signals, when the PWM signal is in a high level stage, the switching device of the inverter is controlled to be turned on, and when the PWM signal is in a low level stage, the switching device of the inverter is controlled to be turned off, so as to generate an AC signal corresponding to the PWM signal.

[0134] It is understandable that by controlling the on and off of the switching devices, the inverter can eventually generate an AC waveform corresponding to the PWM signal. For example, if the duty cycle of the PWM signal is high, the average voltage of the AC is high; if the duty cycle is low, the average voltage of the AC is low.

[0135] The duty cycle of the PWM signal determines the on-time of the switching device in one cycle. Therefore, by controlling the on and off of the inverter switching device through the PWM signal, the power of the output AC signal can be accurately controlled.

[0136] S242, sending the AC signal to the road sensing motor.

[0137] S243, controlling the road sensing motor to output a target output current corresponding to the AC signal.

[0138] Optionally, the road sensing motor will output a corresponding current according to the received AC signal. The target output current is the current required by the road sensing motor.

[0139] S244: Adjust the torque of the road sensing motor based on the target output current.

[0140] It can be understood that the duty cycle is the ratio of the time when the PWM signal outputs a high level in one cycle to the total time of the cycle. For example, if the duty cycle is 50%, it means that in one cycle, the PWM signal is in a high level stage for half of the time and in a low level stage for the other half of the time. The larger the duty cycle, the longer the high level stage, and the larger the average value of the target output current, because the motor will get more electrical energy. The smaller the duty cycle, the shorter the low level stage, the smaller the average value of the target output current, and the electrical energy obtained by the motor is relatively reduced.

[0141] The size of the target output current directly affects the torque of the road sense motor. Generally, the larger the target output current, the greater the torque of the road sense motor. Therefore, the torque of the road sense motor can be accurately controlled by the size of the target output current, thereby achieving precise control of the motor.

[0142] In the embodiment of the present application, the switch device of the inverter can be accurately controlled by the duty cycle of the PWM signal, thereby adjusting the average voltage of the AC signal. This directly affects the current output of the road sense motor, and the target output current determines the torque of the road sense motor. In this way, the motor output torque can be accurately controlled to meet different load requirements.

[0143] Optionally, in S244, the torque of the road sensing motor is adjusted based on the target output current, including S2441-S2444:

[0144] S2441. Obtain the initial output current of the road sensing motor.

[0145] The initial output current of the road sensing motor is the output current before the PWM signal is generated. Optionally, the initial output current can be obtained by a current sensor or a feedback system. This current value can be regarded as the current working state of the road sensing motor and used as a reference for subsequent control decisions.

[0146] S2442. Compare the initial output current and the target output current.

[0147] The purpose of comparing the initial output current with the target output current is to determine the difference between the current output current and the target output current, thereby determining whether the torque of the motor needs to be adjusted.

[0148] S2443. When the target output current is greater than the initial output current, control the torque of the road sensing motor to increase.

[0149] S2444. When the target output current is less than the initial output current, control the torque of the road sensing motor to decrease.

[0150] Optionally, the output current of the road sensing motor can be proportional to the torque of the road sensing motor. If the vehicle encounters a relatively large uneven road surface, the load of the road sensing motor increases, the output current rises, and the torque of the road sensing motor increases accordingly to adapt to the new load change. Conversely, when the load of the road sensing motor decreases, the current of the road sensing motor will also decrease, and the torque will decrease accordingly.

[0151] In the embodiment of the present application, by precisely adjusting the torque of the road sensing motor, the vibration of the driver during the vehicle driving process can be reduced, making the driving experience smoother. For example, on uneven roads, the system buffers the vibration by increasing the torque to reduce the uncomfortable jumping feeling. This adjustment mechanism enables the vehicle to adapt to different road conditions in real time, improving driving comfort and flexibility.

[0152] See also Figure 4 , Figure 4 A schematic flow chart of a vehicle motor control method provided in an embodiment of the present application.

[0153] like Figure 4 As shown, the vehicle motor control method may at least include S401-S409:

[0154] S401 : Acquire the rotation period of the steering actuator motor and the output current change information of the steering actuator motor.

[0155] S402: Determine a duty cycle based on the rotation cycle and output current change information.

[0156] Optionally, the specific steps of S401-S402 are consistent with the specific steps of S21-S22 described above, and are not repeated here.

[0157] S403: Generate a timing event based on the rotation cycle, and determine a counting threshold based on the duty cycle and the rotation cycle.

[0158] S404: Execute a timing event through a timer.

[0159] S405, control the storage value of the comparison register to continuously increase during the execution of the timing event, output a high level when the storage value is less than the counting threshold, switch the current output state when the storage value is equal to the counting threshold, and output a low level when the storage value is greater than the counting threshold to generate a PWM signal.

[0160] Optionally, the specific steps of S403-S405 are consistent with the specific steps of S231-S233 described above, and are not repeated here.

[0161] S406: Send multiple continuous PWM signals to the inverter, control the inverter to turn on and off the switching devices of the inverter based on the multiple PWM signals, and generate an AC signal corresponding to the PWM signal.

[0162] S407: Send an AC signal to the road sensor motor.

[0163] S408 , controlling the road sensing motor to output a target output current corresponding to the AC signal.

[0164] S409: Adjust the torque of the road sensing motor based on the target output current.

[0165] Optionally, the specific steps of S406-S409 are consistent with the specific steps of S241-S244 described above, and are not repeated here.

[0166] Furthermore, if Figure 5 In the above S409, adjusting the torque of the road sensing motor based on the target output current may specifically include the following S501-S505:

[0167] S501: Obtain an initial output current of a road sensing motor.

[0168] S502: Determine whether the target output current is equal to the initial output current. If yes, end the adjustment process; if no, execute S503.

[0169] S503: Determine whether the target output current is greater than the initial output current. If yes, execute S504; if no, execute S505.

[0170] S504: Control the torque of the road sense motor to increase.

[0171] S505: Control the torque of the road sense motor to decrease.

[0172] Therefore, by obtaining the output current change information of the steering actuator motor, the change of the motor load can be monitored in real time, so as to adjust the output current and torque of the road sensing motor according to the road conditions. For example, in the case of uneven road surface, by appropriately increasing or decreasing the motor torque, it is possible to respond more flexibly to sudden changes in the road surface and avoid driving instability or difficulty in control due to excessive changes in the road surface. During the adjustment process, it can determine whether the torque needs to be increased or decreased based on the comparison between the target output current and the initial output current, provide precise adjustment, and avoid excessive response or no response; when the road surface is uneven or obstacles appear, through precise torque adjustment, the vehicle's steering system can be made smoother, vibration or unnecessary steering errors can be reduced, driving comfort can be improved, and driving safety and stability can be improved.

[0173] Optionally, the method further includes: determining a torque adjustment amount of the road sense motor according to the initial output current and the target output current, and then adjusting the torque of the road sense motor based on the torque adjustment amount.

[0174] It can be understood that the output current of the road sense motor is proportional to the torque, and by determining the output current change of the road sense motor, the corresponding torque change can be calculated.

[0175] In some embodiments, when the target output current is greater than the initial output current, the torque adjustment amount of the road sensing motor can be calculated by the following formula:

[0176] ΔT=K(I0-I1)

[0177] Among them, ΔT is the torque adjustment amount (torque increase), K is the constant of the road sense motor (which can be determined by the road sense motor parameters), I0 is the target output current, and I1 is the initial output current.

[0178] In other embodiments, when the target output current is less than the initial output current, the torque adjustment amount of the road sensing motor can be calculated by the following formula:

[0179] ΔT=K(I1-I0)

[0180] Among them, ΔT is the torque adjustment amount (torque reduction amount), K is the constant of the road sense motor (which can be determined by the road sense motor parameters), I0 is the target output current, and I1 is the initial output current.

[0181] In the embodiment of the present application, by adjusting the torque of the road sensing motor in real time according to the change of the output current of the road sensing motor, it is possible to accurately respond to different driving conditions and road conditions (such as potholes, cracks, gravel roads, etc.). The characteristic that the output current of the road sensing motor is proportional to the torque makes it simple and accurate to adjust the torque, avoiding the problem of over-adjustment or under-adjustment, and effectively improving the accuracy of the road sensing motor torque adjustment.

[0182] See also Figure 6 , Figure 6 The structure block diagram of a vehicle motor control device provided in an embodiment of the present application. The vehicle motor control device is applied to a vehicle, wherein the vehicle includes a steering actuator motor and a road sensing motor, such as Figure 6 As shown, the vehicle motor control device 600 includes:

[0183] An acquisition module 601 is used to acquire the rotation period of the steering actuator motor and the output current change information of the steering actuator motor;

[0184] A first determination module 602, configured to determine a duty cycle based on the rotation cycle and the output current change information;

[0185] A generating module 603, configured to generate a pulse width modulation (PWM) signal based on the duty cycle and the rotation period;

[0186] The adjustment module 604 is used to adjust the torque of the road sensing motor based on the PWM signal.

[0187] In some embodiments, the generating module 603 includes:

[0188] A first generating unit, configured to generate a timing event based on the rotation cycle;

[0189] a determining unit, configured to determine a counting threshold based on the duty cycle and the rotation period;

[0190] The second generating unit is used to generate a PWM signal based on the timing event and the counting threshold.

[0191] In some embodiments, the vehicle further comprises a timer and a comparison register, and the second generating unit comprises:

[0192] An execution subunit, used for executing the above-mentioned timing event through the above-mentioned timer;

[0193] The first control subunit is used to control the storage value of the comparison register to continuously increase during the execution of the timing event, output a high level when the storage value is less than the counting threshold, switch the current output state when the storage value is equal to the counting threshold, and output a low level when the storage value is greater than the counting threshold to generate a PWM signal.

[0194] In some embodiments, the vehicle further includes an inverter, and the adjustment module 604 includes:

[0195] A first control unit, configured to send a plurality of continuous PWM signals to the inverter, and control the inverter to turn on and off the switching device of the inverter based on the plurality of PWM signals, so as to generate an AC signal corresponding to the PWM signal;

[0196] A sending unit, used for sending the AC signal to the road sensor motor;

[0197] A second control unit, used for controlling the road sensing motor to output a target output current corresponding to the AC signal;

[0198] An adjustment unit is used to adjust the torque of the road sensing motor based on the target output current.

[0199] In some embodiments, the first control unit includes:

[0200] The second control subunit is used for controlling the switching device of the inverter to turn on when the PWM signal is in a high level stage, and controlling the switching device of the inverter to turn off when the PWM signal is in a low level stage, so as to generate an AC signal corresponding to the PWM signal.

[0201] In some embodiments, the vehicle further includes a power supply, the power supply is used to supply power to the steering actuator motor, the steering actuator motor includes a sensor, and the device 600 further includes:

[0202] A collection module, used for collecting the rotation rate of the steering actuator motor through a sensor in the steering actuator motor;

[0203] The second determination module is used to determine the rotation period of the steering actuator motor based on the rotation rate, the number of magnetic poles of the steering actuator motor and the power supply frequency of the power supply.

[0204] In some embodiments, the adjustment module 604 includes:

[0205] An acquisition unit, used for acquiring the initial output current of the road sensing motor;

[0206] A comparison unit, used for comparing the initial output current with the target output current;

[0207] A third control unit, configured to control the torque of the road sensing motor to increase when the target output current is greater than the initial output current;

[0208] The fourth control unit is used to control the torque of the road sensing motor to decrease when the target output current is less than the initial output current.

[0209] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0210] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle motor control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0211] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing related program codes, etc.

[0212] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0213] In addition, the device provided in the embodiments of the present application may specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle motor control method provided in the above embodiments.

[0214] See also Figure 7 , Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. Figure 7As shown, the vehicle 700 may include: at least one vehicle processor 701 , at least one network interface 704 , a user interface 703 , a memory 705 , at least one communication bus 702 , a steering actuator motor 706 and a road sensing motor 707 .

[0215] The communication bus 702 is used to realize the connection and communication between these components.

[0216] The user interface 703 may include a display screen (Display) and a camera (Camera), and the optional user interface 703 may also include a standard wired interface and a wireless interface.

[0217] The network interface 704 may optionally include a standard wired interface or a wireless interface (such as a WI-FI interface).

[0218] Among them, the vehicle processor 701 may include one or more processing cores. The vehicle processor 701 uses various interfaces and lines to connect various parts of the entire vehicle 700, and executes various functions and processes data of the vehicle 700 by running or executing instructions, programs, code sets or instruction sets stored in the memory 705, and calling data stored in the memory 705. Optionally, the vehicle processor 701 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The vehicle processor 701 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the vehicle processor 701, and it can be implemented separately through a chip.

[0219] The memory 705 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 705 includes a non-transitory computer-readable storage medium. The memory 705 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 705 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned method embodiments, etc.; the data storage area may store data involved in the above-mentioned method embodiments, etc. The memory 705 may optionally be at least one storage device located away from the aforementioned vehicle processor 701. As Figure 7 As shown, the memory 705 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a vehicle motor control program.

[0220] exist Figure 7 In the vehicle 700 shown, the user interface 703 is mainly used to provide an input interface for the user and obtain the data input by the user; and the vehicle processor 701 can be used to call the vehicle motor control program stored in the memory 705 and specifically perform the following operations:

[0221] Obtaining the rotation period of the steering actuator motor and the output current change information of the steering actuator motor;

[0222] Determine a duty cycle based on the rotation cycle and the output current change information;

[0223] Generate a pulse width modulation (PWM) signal based on the duty cycle and the rotation period;

[0224] The torque of the road sensing motor is adjusted based on the PWM signal.

[0225] In some embodiments, when the vehicle processor 701 generates the pulse width modulation (PWM) signal based on the duty cycle and the rotation period, the vehicle processor 701 specifically performs the following steps:

[0226] generating a timing event based on the rotation cycle;

[0227] Determine a counting threshold based on the duty cycle and the rotation period;

[0228] A PWM signal is generated based on the timing event and the count threshold.

[0229] In some embodiments, the vehicle further includes a timer and a comparison register. When the vehicle processor 701 generates the PWM signal based on the timing event and the counting threshold, the vehicle processor 701 specifically performs the following steps:

[0230] Execute the above timing event by the above timer;

[0231] The storage value of the comparison register is controlled to continuously increase during the execution of the timing event. When the storage value is less than the counting threshold, a high level is output. When the storage value is equal to the counting threshold, the current output state is switched. When the storage value is greater than the counting threshold, a low level is output to generate a PWM signal.

[0232] In some embodiments, the vehicle further includes an inverter. When the vehicle processor 701 adjusts the torque of the road sensing motor based on the PWM signal, the vehicle processor 701 specifically performs the following steps:

[0233] Sending a plurality of continuous PWM signals to the inverter, and controlling the inverter to turn on and off the switching devices of the inverter based on the plurality of PWM signals, so as to generate an AC signal corresponding to the PWM signal;

[0234] Sending the AC signal to the road sensor motor;

[0235] Controlling the road sensing motor to output a target output current corresponding to the AC signal;

[0236] The torque of the road sensing motor is adjusted based on the target output current.

[0237] In some embodiments, the vehicle processor 701 controls the switching device of the inverter to turn on and off based on the plurality of PWM signals to generate an AC signal corresponding to the PWM signal, and specifically performs the following steps:

[0238] For each of the multiple PWM signals, when the PWM signal is in a high level stage, the switching device of the inverter is controlled to be turned on, and when the PWM signal is in a low level stage, the switching device of the inverter is controlled to be turned off, so as to generate an AC signal corresponding to the PWM signal.

[0239] In some embodiments, the vehicle further includes a power supply, the power supply is used to supply power to the steering actuator motor, the steering actuator motor includes a sensor, and the processor 701 is further used to execute:

[0240] collecting the rotation speed of the steering actuator motor through a sensor in the steering actuator motor;

[0241] A rotation period of the steering actuator motor is determined based on the rotation rate, the number of magnetic poles of the steering actuator motor, and the power supply frequency of the power supply.

[0242] In some embodiments, when the vehicle processor 701 performs the above-mentioned adjustment of the torque of the road sensing motor based on the above-mentioned target output current, the vehicle processor 701 specifically performs the following steps:

[0243] Obtaining the initial output current of the road sensing motor;

[0244] comparing the initial output current with the target output current;

[0245] When the target output current is greater than the initial output current, controlling the torque of the road sensing motor to increase;

[0246] When the target output current is less than the initial output current, the torque of the road sensing motor is controlled to decrease.

[0247] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement a vehicle motor control method provided by the above embodiment.

[0248] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a vehicle motor control method provided by the above embodiment.

[0249] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0250] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0251] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0252] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle motor control method, characterized in that: Applied to a vehicle, the vehicle includes a steering actuator motor and a road sensing motor, and the method includes: Acquiring the rotation period of the steering actuator motor and the output current change information of the steering actuator motor; determining a duty cycle based on the rotation period and the output current variation information; generating a pulse width modulation (PWM) signal based on the duty cycle and the rotation period; The torque of the road sensing motor is adjusted based on the PWM signal.

2. The method according to claim 1, characterized in that The generating of a pulse width modulation (PWM) signal based on the duty cycle and the rotation period comprises: generating a timing event based on the rotation period; determining a counting threshold based on the duty cycle and the rotation period; A PWM signal is generated based on the timing event and the count threshold.

3. The method according to claim 2, characterized in that The vehicle further includes a timer and a comparison register, and the generating of a PWM signal based on the timing event and the counting threshold comprises: Executing the timing event by the timer; The storage value of the comparison register is controlled to continuously increase during the execution of the timing event, a high level is output when the storage value is less than the counting threshold, a current output state is switched when the storage value is equal to the counting threshold, and a low level is output when the storage value is greater than the counting threshold to generate a PWM signal.

4. The method according to claim 1, characterized in that: The vehicle further includes an inverter, and the adjusting the torque of the road sensing motor based on the PWM signal includes: Sending a plurality of continuous PWM signals to an inverter, and controlling the inverter to turn on and off a switching device of the inverter based on the plurality of PWM signals, so as to generate an alternating current signal corresponding to the PWM signal; Sending the alternating current signal to the road sensor motor; Controlling the road sensing motor to output a target output current corresponding to the AC signal; The torque of the road sensing motor is adjusted based on the target output current.

5. The method according to claim 4, characterized in that The controlling the inverter to control the switching device of the inverter to turn on and off based on the multiple PWM signals to generate an alternating current signal corresponding to the PWM signal includes: For each of the multiple PWM signals, when the PWM signal is in a high level stage, the switching device of the inverter is controlled to be turned on, and when the PWM signal is in a low level stage, the switching device of the inverter is controlled to be turned off, so as to generate an AC signal corresponding to the PWM signal.

6. The method according to claim 1, characterized in that The vehicle further includes a power source for supplying power to the steering actuator motor, the steering actuator motor includes a sensor, and the method further includes: collecting the rotation speed of the steering actuator motor through a sensor in the steering actuator motor; A rotation period of the steering actuator motor is determined based on the rotation rate, the number of magnetic poles of the steering actuator motor, and a power supply frequency of the power supply.

7. The method according to claim 4, characterized in that The adjusting the torque of the road sensing motor based on the target output current includes: Obtaining an initial output current of the road sensing motor; comparing the initial output current and the target output current; When the target output current is greater than the initial output current, controlling the torque of the road sensing motor to increase; When the target output current is less than the initial output current, the torque of the road sensing motor is controlled to decrease.

8. A vehicle motor control device, characterized in that: Applied to a vehicle, the vehicle includes a steering actuator motor and a road sensing motor, and the device includes: An acquisition module, used for acquiring the rotation period of the steering actuator motor and the output current change information of the steering actuator motor; A first determination module, configured to determine a duty cycle based on the rotation cycle and the output current change information; A generating module, configured to generate a pulse width modulation (PWM) signal based on the duty cycle and the rotation period; An adjustment module is used to adjust the torque of the road sensing motor based on the PWM signal.

9. A vehicle, characterized in that: The vehicle comprises: Steering actuator motor and road sensing motor; A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 7 is implemented.

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