Torque control method and device, vehicle, storage medium and computer program product

Abstract

The invention provides a torque control method and device, a vehicle, a storage medium and a computer program product. The method comprises the steps that the steering wheel turning angle of the vehicle is obtained; the torque output of the vehicle is controlled according to the steering wheel rotation angle and the preset rotation angle threshold value until the target steering wheel rotation angle is adjusted, the method can adapt to gradual change of a fine angle under different dynamic conditions, and the jumping problem occurring when the steering torque crosses 0 degree is avoided.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a torque control method, device, vehicle, storage medium and computer program product. Background Art

[0002] In the related art, a static angle-by-angle calibration feedforward method is adopted to control the torque output of the vehicle. However, when static bench calibration is adopted, there is a dead zone in the chassis at a small angle range, and the steering torque corresponding to the fine angle cannot be determined. For example, in the range of -5° to 5°, the steering torque corresponding to a change of 0.5° cannot be determined. In addition, there is a certain deviation between the static bench calibration data and the actual performance under dynamic conditions. For example, the steering torque will jump when crossing 0°. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0004] To this end, an object of the present invention is to provide a torque control method that can adapt to the gradual change of fine angles under different dynamic conditions and avoid the jump problem of steering torque when crossing 0°.

[0005] To this end, a second objective of the present invention is to provide a torque control device.

[0006] To this end, a third object of the present invention is to provide a vehicle.

[0007] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0008] To this end, a fifth object of the present invention is to provide a computer program product.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a torque control method, which includes: obtaining a steering wheel angle of a vehicle; controlling the torque output of the vehicle according to the steering wheel angle and a preset angle threshold until it is adjusted to a target steering wheel angle.

[0010] According to the torque control method of the embodiment of the present invention, by acquiring the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and the preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic conditions and avoid the jump problem of steering torque when crossing 0°.

[0011] In some embodiments, the torque output of the vehicle is controlled according to the steering wheel angle and a preset angle threshold until it is adjusted to a target steering wheel angle, including: when the steering wheel angle is less than or equal to the preset angle threshold, determining a first feedback angle of the vehicle; and controlling the torque output of the vehicle according to the first feedback angle until it is adjusted to a first target steering wheel angle.

[0012] In some embodiments, the torque output of the vehicle is controlled according to the steering wheel angle and a preset angle threshold until it is adjusted to a target steering wheel angle, including: when the steering wheel angle is greater than the preset angle threshold, determining the steering torque of the vehicle; and controlling the torque output of the vehicle according to the steering torque until it is adjusted to a second target steering wheel angle.

[0013] In some embodiments, determining the first feedback angle of the vehicle includes: obtaining the first target steering wheel angle and the current steering wheel angle; determining a first angle difference between the first target steering wheel angle and the current steering wheel angle, and using the first angle difference as the first feedback angle.

[0014] In some embodiments, controlling the torque output of the vehicle according to the first feedback angle until it is adjusted to a first target steering wheel angle includes: determining a first feedback torque corresponding to the first feedback angle; and performing feedback control on the actual torque of the vehicle according to the first feedback torque until it is adjusted to the first target steering wheel angle.

[0015] In some embodiments, feedback control is performed on the actual torque of the vehicle based on the first feedback torque, including: determining a first torque difference between the first feedback torque and the actual torque of the vehicle; adjusting the first torque difference to a first preset torque difference less than or equal to the first torque difference, so as to adjust the steering wheel angle.

[0016] In some embodiments, determining the steering torque of the vehicle includes: obtaining a preset relationship table of target steering wheel angle-steering torque; and determining the steering torque according to the second target steering wheel angle and the preset relationship table.

[0017] In some embodiments, the torque output of the vehicle is controlled according to the steering torque until it is adjusted to a second target steering wheel angle, including: adjusting the actual torque of the vehicle according to the steering torque, and determining an adjusted feedforward angle; determining a second angle difference between the second target steering wheel angle and the feedforward angle, and using the second angle difference as the second feedback angle; determining a second feedback torque corresponding to the second feedback angle; and feedback controlling the actual torque of the vehicle according to the second feedback torque until it is adjusted to the second target steering wheel angle.

[0018] In some embodiments, feedback control is performed on the actual torque of the vehicle based on the second feedback torque, including: determining a second torque difference between the second feedback torque and the actual torque of the vehicle; adjusting the second torque difference to a second torque difference that is less than or equal to a second preset torque difference to adjust the steering wheel angle.

[0019] In some embodiments, obtaining a steering wheel angle of a vehicle includes: obtaining road condition information of the vehicle; determining a lateral error value and a yaw error value based on the road condition information; and determining the steering wheel angle based on the lateral error value, the yaw error value and a preset function.

[0020] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a torque control device, which includes: an acquisition module for acquiring the steering wheel angle of the vehicle; and a control module for controlling the torque output of the vehicle according to the steering wheel angle and a preset angle threshold until it is adjusted to the target steering wheel angle.

[0021] According to the torque control device of the embodiment of the present invention, by acquiring the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and a preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic conditions and avoid the jump problem of steering torque when crossing 0°.

[0022] In order to achieve the above-mentioned object, an embodiment of a third aspect of the present invention provides a vehicle, comprising: the torque control device described in the above-mentioned embodiment.

[0023] According to the vehicle of the embodiment of the present invention, by obtaining the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and a preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic situations and avoid the jump problem of steering torque when crossing 0°.

[0024] In order to achieve the above-mentioned purpose, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a torque control program is stored. When the torque control program is executed by a processor, the torque control method described in the above-mentioned embodiment is implemented.

[0025] In order to achieve the above-mentioned purpose, an embodiment of the fifth aspect of the present invention proposes a computer program product, which includes a computer program, and when the computer program is executed by a processor, the torque control method described in the above-mentioned embodiment is implemented.

[0026] According to the computer program product of the embodiment of the present invention, by acquiring the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and a preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic situations and avoid the jump problem of steering torque when crossing 0°.

[0027] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0029] Figure 1 is a flow chart of a torque control method according to an embodiment of the present invention;

[0030] Figure 2 is a flow chart of a torque control method according to a specific embodiment of the present invention;

[0031] Figure 3 is a structural block diagram of a torque control device according to an embodiment of the present invention;

[0032] Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0033] Reference numerals:

[0034] Torque control device 2;

[0035] Acquisition module 21; Control module 22;

[0036] Vehicle 3. DETAILED DESCRIPTION

[0037] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the Advanced Driving Assistance System (ADAS) system, lateral control occupies an important position. Lateral control refers to controlling the vehicle to stay centered within the lane line, so that the vehicle maintains the same distance from the left and right lane lines, and outputs the steering wheel angle to the chassis of the vehicle to make the vehicle centered. At present, the chassis can accept angles and torques, among which the control method of output angles is very mature, while there are still many problems with output torque.

[0038] In the related art, the torque value required for the steering wheel to turn from 0° to 10° is calibrated through a static test bench as the feedforward component of the control system. The feedforward contains two parts, one is the steering torque, and the other is the return torque. The steering torque is the torque for the steering wheel to rotate from its original position to both sides, and the return torque is the torque for the steering wheel to return to its original position.

[0039] Currently, the most commonly used solution is to use a feedforward control plus feedback control method. For example, when the steering wheel turns from 0° to 10°, the steering torque is to the left, and when the steering wheel turns from 10° to 0°, the return torque is to the right, and the steering torque is to the left; when it turns from 0° to -10°, the steering torque is to the right, and when the steering wheel turns from -10° to 0°, the return torque is to the left, and the steering torque is to the right. If the command issued by the vehicle's control module is from 0° to 10°, but the actual steering wheel does not turn to 10° due to system delays and other reasons, feedback control convergence error is required.

[0040] Combine the following Figure 1 and Figure 2 The torque control method according to the embodiment of the present invention is described with examples.

[0041] like Figure 1 As shown, the torque control method of the embodiment of the present invention at least includes step S1 and step S2.

[0042] Step S1, obtaining the steering wheel angle of the vehicle.

[0043] In an embodiment, after the vehicle is started, the ADAS control system detects the current lateral running state of the vehicle in real time. When the driver turns the steering wheel, the steering wheel angle of the vehicle can be determined according to the operating parameters of the lateral running state, or the steering wheel angle signal of the vehicle can be collected according to the steering wheel angle sensor to determine the current steering wheel angle, thereby clarifying the driver's current steering intention.

[0044] Step S2, controlling the torque output of the vehicle according to the steering wheel angle and a preset angle threshold until the target steering wheel angle is adjusted.

[0045] In an embodiment, after obtaining the steering wheel angle, the size relationship between the steering wheel angle and a preset angle threshold is determined, and different lateral torque control methods are used to control the torque output of the vehicle within different angle ranges. For example, when the change in the steering wheel angle is small, a feedback control method is used to control the torque output of the vehicle, and a smooth transition of 0° is achieved during the dynamic change process, thereby avoiding the jump problem of the steering torque when crossing 0° and solving the problem of small angle dead zone.

[0046] When the steering wheel angle changes greatly, the vehicle's torque output is controlled by feedforward control and feedback control, first approaching the target steering wheel angle significantly, and then gradually meeting the target steering wheel angle. This improves the accuracy of achieving the desired angle while meeting the driver's real-time requirements for a large angle span.

[0047] According to the torque control method of the embodiment of the present invention, by acquiring the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and the preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic conditions and avoid the jump problem of steering torque when crossing 0°.

[0048] In some embodiments, the torque output of the vehicle is controlled according to the steering wheel angle and a preset angle threshold until it is adjusted to a target steering wheel angle, including: when the steering wheel angle is less than or equal to the preset angle threshold, determining a first feedback angle of the vehicle; and controlling the torque output of the vehicle according to the first feedback angle until it is adjusted to a first target steering wheel angle.

[0049] In an embodiment, after obtaining the steering wheel angle, the magnitude relationship between the steering wheel angle and a preset angle threshold is determined. When the steering wheel angle is less than or equal to the preset angle threshold, for example, between -3° and 3°, it is considered that the vehicle's reversing angle is small and crosses 0°. Since the steering torque is to the left between 1° and 0° and to the right between 0° and -1°, the steering torque will jump at 0°. From the performance, the steering wheel will be violently turned. Therefore, an error feedback control method is adopted to control the torque output of the vehicle. The first feedback angle of the vehicle is determined according to the error between the expected angle and the current angle. The chassis controls the torque output of the vehicle in real time according to the first feedback angle, and repeatedly determines the first feedback angle until it is adjusted to the first target steering wheel angle to meet the driver's lateral torque control of the vehicle. The first feedback angle is gradually adjusted by feedback tracking at a small angle to smoothly transition to 0°, thereby avoiding the jumping problem of the steering torque when crossing 0°. Compared with the static angle-by-angle calibration feedforward method, the problem of small angle dead zone is further solved, the workload is reduced, and the control efficiency is improved.

[0050] In some embodiments, the torque output of the vehicle is controlled according to the steering wheel angle and a preset angle threshold until it is adjusted to a target steering wheel angle, including: when the steering wheel angle is greater than the preset angle threshold, determining the steering torque of the vehicle; and controlling the torque output of the vehicle according to the steering torque until it is adjusted to a second target steering wheel angle.

[0051] In an embodiment, after obtaining the steering wheel angle, the magnitude relationship between the steering wheel angle and a preset angle threshold is determined. When the steering wheel angle is greater than the preset angle threshold, for example, an angle outside the range of -3° to 3°, it is considered that the vehicle's reversing angle is large, and the torque output of the vehicle is controlled by feedforward control and feedback control. First, the ideal torque required for the steering wheel to be turned to the desired angle is calibrated by a static test bench, and the ideal torque is output to the chassis of the vehicle as the steering torque of the vehicle. The chassis controls the torque output of the vehicle in real time according to the steering torque, determines the actual torque after execution, and continues to adjust the torque output of the vehicle according to the error between the ideal torque and the actual torque after execution until it is adjusted to the first target steering wheel angle to meet the driver's lateral torque control of the vehicle. By combining feedforward control and feedback control at large angles, the feedback control is gradually adjusted to the ideal angle on the basis of the feedforward control being substantially close to the ideal angle, which can meet the driver's real-time requirements for a large angle span while improving the accuracy of achieving the desired angle.

[0052] In some embodiments, determining a first feedback angle of the vehicle includes: obtaining a first target steering wheel angle and a current steering wheel angle; determining a first angle difference between the first target steering wheel angle and the current steering wheel angle, and using the first angle difference as a first feedback angle.

[0053] In an embodiment, when the steering wheel angle is less than or equal to a preset angle threshold, for example, between -3° and 3°, the first target steering wheel angle and the current steering wheel angle are obtained, the first target steering wheel angle is used as the desired angle, and the first angle difference error1 between the first target steering wheel angle and the current steering wheel angle is calculated, and the first angle difference error1 is used as the first feedback angle to reduce the gap between the desired angle and the current angle.

[0054] In some embodiments, controlling the torque output of the vehicle according to a first feedback angle until it is adjusted to a first target steering wheel angle includes: determining a first feedback torque corresponding to the first feedback angle; and performing feedback control on the actual torque of the vehicle according to the first feedback torque until it is adjusted to the first target steering wheel angle.

[0055] In an embodiment, after determining the first feedback angle, a corresponding first feedback torque is calculated according to the first feedback angle, and the first feedback torque is output to the chassis of the vehicle. After the chassis receives the first feedback torque, feedback control is performed on the actual torque of the vehicle according to the first feedback torque, that is, a first torque difference between the first feedback torque and the actual torque is calculated, and the size relationship between the first torque difference and the first preset torque difference is determined. The actual torque of the vehicle is adjusted in real time according to the first torque difference. When the first torque difference is greater than the first preset torque difference, it is considered that there is still a large difference between the actual angle and the expected angle, and the above operation is repeated to adjust the steering wheel angle; when the first torque difference is less than or equal to the first preset torque difference, it is considered that the actual angle and the expected angle are very close, and the adjustment to the first target steering wheel angle is achieved, so that the driver's lateral torque control of the vehicle is satisfied through feedback control.

[0056] In some embodiments, determining the steering torque of the vehicle includes: obtaining a preset relationship table of target steering wheel angle-steering torque; and determining the steering torque according to a second target steering wheel angle and the preset relationship table.

[0057] In an embodiment, when the steering wheel angle is greater than a preset angle threshold, for example, an angle outside the range of -3° to 3°, a second target steering wheel angle is obtained, and the second target steering wheel angle is used as the desired angle. A preset relationship table of steering wheel angle-steering torque calibrated by a static test bench is obtained, and the steering torque corresponding to the second target steering wheel angle is searched. For example, when the steering torque of the vehicle is 1.5N when turning from 0° to 13°, the ideal torque calibrated by the static test bench is determined, wherein the preset relationship table of steering wheel angle-steering torque varies for different vehicles.

[0058] In some embodiments, the torque output of the vehicle is controlled according to the steering torque until it is adjusted to a second target steering wheel angle, including: adjusting the actual torque of the vehicle according to the steering torque, and determining an adjusted feedforward angle; determining a second angle difference between the second target steering wheel angle and the feedforward angle, and using the second angle difference as a second feedback angle; determining a second feedback torque corresponding to the second feedback angle; and performing feedback control on the actual torque of the vehicle according to the second feedback torque until it is adjusted to the second target steering wheel angle.

[0059] In an embodiment, after determining the steering torque of the vehicle, the actual torque of the vehicle is adjusted according to the steering torque. For example, a steering torque of 1.5N corresponding to 13° is output to the chassis of the vehicle. After the chassis receives the steering torque of 1.5N, the torque of the vehicle is adjusted according to the steering torque of 1.5N. The steering wheel may be controlled to execute to 13°. However, due to the influence of the system transmission, in most cases the steering wheel cannot execute to 13°, for example, it can only execute to 10°. In this way, the adjusted feedforward angle is determined to be 10°.

[0060] A second angle difference error2 between the second target steering wheel angle of 13° and the feedforward angle of 10° is calculated, that is, error2=13°-10°=3°, and the second angle difference 3° is used as the second feedback angle to reduce the gap between the expected angle and the current angle; a corresponding second feedback torque is calculated according to the second feedback angle 3°, and the second feedback torque is output to the chassis of the vehicle. After the chassis receives the second feedback torque, feedback control is performed on the actual torque of the vehicle according to the second feedback torque, that is, a second torque difference between the second feedback torque and the actual torque is calculated, and the magnitude relationship between the second torque difference and the second preset torque difference is determined. The actual torque of the vehicle is adjusted in real time according to the second torque difference. When the second torque difference is greater than the second preset torque difference, it is considered that there is still a large difference between the actual angle and the expected angle, and the above operation is repeated to adjust the steering wheel angle; when the second torque difference is less than or equal to the second preset torque difference, it is considered that the actual angle and the expected angle are very close, and the adjustment to the second target steering wheel angle of 13° is achieved. On the basis of being substantially close to the ideal angle through feedforward control, the feedback control is gradually adjusted to the ideal angle to meet the driver's lateral torque control of the vehicle.

[0061] In some embodiments, obtaining a steering wheel angle of a vehicle includes: obtaining road condition information of the vehicle; determining a lateral error value and a yaw error value based on the road condition information; and determining a steering wheel angle based on the lateral error value, the yaw error value and a preset function.

[0062] In an embodiment, the Adas control system obtains the vehicle's road condition information including lane line information and vehicle posture, calculates the yaw error value according to the angle between the front of the vehicle and the lane line, calculates the lateral error value according to the distance the vehicle deviates from the center line of the lane line, and calculates the corresponding steering wheel angle according to the lateral error value, yaw error value and a preset function to determine the current lateral running state of the vehicle.

[0063] like Figure 2 As shown, the torque control method of the embodiment of the present invention at least includes steps S11 to S23.

[0064] Step S11, obtaining the road condition information of the vehicle.

[0065] Step S12: determining a lateral error value and a yaw error value based on the road condition information.

[0066] Step S13, determining the steering wheel angle according to the lateral error value, the yaw error value and a preset function.

[0067] Step S14, determine whether the steering wheel angle is less than or equal to a preset angle threshold, if so, execute step S15; otherwise, execute step S19.

[0068] Step S15, obtaining a first target steering wheel angle and a current steering wheel angle.

[0069] Step S16, determining a first angle difference between the first target steering wheel angle and the current steering wheel angle, and using the first angle difference as a first feedback angle.

[0070] Step S17, determining a first feedback torque corresponding to the first feedback angle.

[0071] Step S18, determining a first torque difference between the first feedback torque and the actual torque of the vehicle; adjusting the first torque difference to a value less than or equal to a first preset torque difference to adjust the steering wheel angle until it is adjusted to a first target steering wheel angle.

[0072] Step S19, obtaining a preset relationship table of target steering wheel angle-steering torque.

[0073] Step S20: determining the steering torque according to the second target steering wheel angle and a preset relationship table.

[0074] Step S21, adjusting the actual torque of the vehicle according to the steering torque, and determining an adjusted feedforward angle.

[0075] Step S22, determining a second angle difference between the second target steering wheel angle and the feedforward angle, taking the second angle difference as a second feedback angle; and determining a second feedback torque corresponding to the second feedback angle.

[0076] Step S23, determining a second torque difference between the second feedback torque and the actual torque of the vehicle; adjusting the second torque difference to a value less than or equal to a second preset torque difference to adjust the steering wheel angle until it is adjusted to a second target steering wheel angle.

[0077] According to the torque control method of the embodiment of the present invention, by acquiring the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and the preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic conditions and avoid the jump problem of steering torque when crossing 0°.

[0078] Reference below Figure 3 The torque control device 2 according to the embodiment of the present invention will be described.

[0079] like Figure 3 As shown, the torque control device 2 of the embodiment of the present invention includes: an acquisition module 21 and a control module 22, wherein:

[0080] The acquisition module 21 is used to acquire the steering wheel angle of the vehicle; the control module 22 is used to control the torque output of the vehicle according to the steering wheel angle and a preset angle threshold until the target steering wheel angle is adjusted.

[0081] In an embodiment, after the vehicle is started, the acquisition module 21 detects the current lateral running state of the vehicle in real time. When the driver turns the steering wheel, the steering wheel angle of the vehicle can be determined according to the operating parameters of the lateral running state, or the steering wheel angle signal of the vehicle can be collected according to the steering wheel angle sensor to determine the current steering wheel angle, thereby clarifying the driver's current steering intention.

[0082] After the control module 22 obtains the steering wheel angle, it determines the size relationship between the steering wheel angle and the preset angle threshold, and adopts different lateral torque control methods to control the vehicle's torque output within different angle ranges. For example, when the steering wheel angle changes slightly, feedback control is adopted to control the vehicle's torque output, and smoothly transitions to 0° during dynamic changes, avoiding the problem of steering torque jumping when crossing 0°, and solving the problem of small angle dead zone.

[0083] When the steering wheel angle changes greatly, the vehicle's torque output is controlled by feedforward control and feedback control, first approaching the target steering wheel angle significantly, and then gradually meeting the target steering wheel angle. This improves the accuracy of achieving the desired angle while meeting the driver's real-time requirements for a large angle span.

[0084] According to the torque control device 2 of the embodiment of the present invention, by acquiring the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and the preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic conditions and avoid the jump problem of steering torque when crossing 0°.

[0085] In some embodiments, the control module 22 controls the torque output of the vehicle according to the steering wheel angle and the preset angle threshold until it is adjusted to the target steering wheel angle. Specifically, it is used to: determine the first feedback angle of the vehicle when the steering wheel angle is less than or equal to the preset angle threshold; control the torque output of the vehicle according to the first feedback angle until it is adjusted to the first target steering wheel angle.

[0086] In some embodiments, the control module 22 controls the vehicle's torque output according to the steering wheel angle and a preset angle threshold until it is adjusted to a target steering wheel angle. Specifically, it is used to: determine the vehicle's steering torque when the steering wheel angle is greater than the preset angle threshold; and control the vehicle's torque output according to the steering torque until it is adjusted to a second target steering wheel angle.

[0087] In some embodiments, when the control module 22 determines the first feedback angle of the vehicle, it is specifically used to: obtain a first target steering wheel angle and a current steering wheel angle; determine a first angle difference between the first target steering wheel angle and the current steering wheel angle, and use the first angle difference as the first feedback angle.

[0088] In some embodiments, the control module 22 controls the torque output of the vehicle according to the first feedback angle until it is adjusted to the first target steering wheel angle, and is specifically used to: determine a first feedback torque corresponding to the first feedback angle; and perform feedback control on the actual torque of the vehicle according to the first feedback torque until it is adjusted to the first target steering wheel angle.

[0089] In some embodiments, the control module 22 performs feedback control on the actual torque of the vehicle based on the first feedback torque, including: determining a first torque difference between the first feedback torque and the actual torque of the vehicle; adjusting the first torque difference to a first torque difference that is less than or equal to a first preset torque difference, so as to adjust the steering wheel angle to a first target steering wheel angle.

[0090] In some embodiments, when the control module 22 determines the steering torque of the vehicle, it is specifically used to: obtain a preset relationship table of target steering wheel angle-steering torque; and determine the steering torque according to the second target steering wheel angle and the preset relationship table.

[0091] In some embodiments, the control module 22 controls the torque output of the vehicle according to the steering torque until it is adjusted to a second target steering wheel angle, and is specifically used to: adjust the actual torque of the vehicle according to the steering torque, and determine an adjusted feedforward angle; determine a second angle difference between the second target steering wheel angle and the feedforward angle, and use the second angle difference as a second feedback angle; determine a second feedback torque corresponding to the second feedback angle; and perform feedback control on the actual torque of the vehicle according to the second feedback torque until it is adjusted to the second target steering wheel angle.

[0092] In some embodiments, when the control module 22 performs feedback control on the actual torque of the vehicle based on the second feedback torque, it is specifically used to: determine a second torque difference between the second feedback torque and the actual torque of the vehicle; adjust the second torque difference to a second torque difference that is less than or equal to a second preset torque difference, so as to adjust the steering wheel angle to a second target steering wheel angle.

[0093] In some embodiments, when the acquisition module 21 acquires the steering wheel angle of the vehicle, it is specifically used to: acquire the road condition information of the vehicle; determine the lateral error value and the yaw error value based on the road condition information; determine the steering wheel angle based on the lateral error value, the yaw error value and a preset function.

[0094] According to the torque control device 2 of the embodiment of the present invention, by acquiring the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and the preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic conditions and avoid the jump problem of steering torque when crossing 0°.

[0095] Reference below Figure 4 A vehicle 3 according to an embodiment of the present invention will be described.

[0096] like Figure 4 As shown, a vehicle 3 according to an embodiment of the present invention includes the torque control device 2 according to the above embodiment.

[0097] According to the vehicle 3 of the embodiment of the present invention, by obtaining the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and the preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic conditions and avoid the jump problem of steering torque when crossing 0°.

[0098] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0099] A torque control program is stored on a computer-readable storage medium in an embodiment of the present invention. When the torque control program is executed by a processor, the torque control method of the above embodiment is implemented.

[0100] The following describes a computer program product according to an embodiment of the present invention.

[0101] The computer program product of the embodiment of the present invention includes a computer program, and when the computer program is executed by a processor, the torque control method of the above embodiment is implemented.

[0102] According to the computer program product of the embodiment of the present invention, by acquiring the steering wheel angle of the vehicle, different lateral torque control methods are adopted in different angle ranges to dynamically control the torque output of the vehicle according to the size relationship between the steering wheel angle and a preset angle threshold, so as to adjust the steering wheel angle until it is adjusted to the target steering wheel angle. Compared with the traditional static angle-by-angle calibration feedforward method, it can adapt to the gradual change of fine angles in different dynamic situations and avoid the jump problem of steering torque when crossing 0°.

[0103] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0104] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0105] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A torque control method, characterized in that: include: Get the vehicle's steering wheel angle; The torque output of the vehicle is controlled according to the steering wheel angle and a preset angle threshold until the target steering wheel angle is adjusted.

2. The torque control method according to claim 1, characterized in that: Controlling the torque output of the vehicle according to the steering wheel angle and a preset angle threshold until the target steering wheel angle is adjusted, comprising: When the steering wheel angle is less than or equal to the preset angle threshold, determining a first feedback angle of the vehicle; The torque output of the vehicle is controlled according to the first feedback angle until it is adjusted to a first target steering wheel angle.

3. The torque control method according to claim 1, characterized in that: Controlling the torque output of the vehicle according to the steering wheel angle and a preset angle threshold until the target steering wheel angle is adjusted, comprising: When the steering wheel angle is greater than the preset angle threshold, determining the steering torque of the vehicle; The torque output of the vehicle is controlled according to the steering torque until it is adjusted to a second target steering wheel angle.

4. The torque control method according to claim 2, characterized in that: Determining a first feedback angle of the vehicle includes: Obtaining the first target steering wheel angle and the current steering wheel angle; A first angle difference between the first target steering wheel angle and the current steering wheel angle is determined, and the first angle difference is used as the first feedback angle.

5. The torque control method according to claim 2, characterized in that: Controlling the torque output of the vehicle according to the first feedback angle until it is adjusted to a first target steering wheel angle includes: determining a first feedback torque corresponding to the first feedback angle; Feedback control is performed on the actual torque of the vehicle according to the first feedback torque until it is adjusted to the first target steering wheel angle.

6. The torque control method according to claim 5, characterized in that: Feedback controlling the actual torque of the vehicle according to the first feedback torque includes: determining a first torque difference between the first feedback torque and an actual torque of the vehicle; The first torque difference is adjusted until the first torque difference is less than or equal to a first preset torque difference, so as to adjust the steering wheel angle.

7. The torque control method according to claim 3, characterized in that: Determining a steering torque of the vehicle, comprising: Obtaining a preset relationship table of target steering wheel angle-steering torque; The steering torque is determined according to the second target steering wheel angle and the preset relationship table.

8. The torque control method according to claim 3, characterized in that: Controlling the torque output of the vehicle according to the steering torque until adjusting to a second target steering wheel angle includes: adjusting the actual torque of the vehicle according to the steering torque to determine an adjusted feed-forward angle; determining a second angle difference between the second target steering wheel angle and the feedforward angle, and using the second angle difference as the second feedback angle; determining a second feedback torque corresponding to the second feedback angle; Feedback control is performed on the actual torque of the vehicle according to the second feedback torque until it is adjusted to a second target steering wheel angle.

9. The torque control method according to claim 8, characterized in that: Feedback controlling the actual torque of the vehicle according to the second feedback torque includes: determining a second torque difference between the second feedback torque and an actual torque of the vehicle; The second torque difference is adjusted until the second torque difference is less than or equal to a second preset torque difference, so as to adjust the steering wheel angle.

10. The torque control method according to claim 1, characterized in that: Get the vehicle's steering wheel angle, including: Obtaining road condition information of the vehicle; Determine a lateral error value and a yaw error value according to the road condition information; The steering wheel angle is determined according to the lateral error value, the yaw error value and a preset function.

11. A torque control device, characterized in that: include: An acquisition module, used to acquire a steering wheel angle of a vehicle; A control module is used to control the torque output of the vehicle according to the steering wheel angle and a preset angle threshold until the target steering wheel angle is adjusted.

12. A vehicle, characterized in that: include: The torque control device as claimed in claim 11.

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

14. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the torque control method according to any one of claims 1 to 10 is implemented.

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