Eps assisted lateral angle torque control fusion control method and system

Abstract

The application discloses an EPS auxiliary transverse angle torque control fusion control method, comprising the following steps: 1) acquiring an upper computer request signal through communication, collecting vehicle operation data through a sensor, identifying the states of angle control function and torque control function respectively, and outputting corresponding state flag bits; 2) judging the function priority according to the state flag bits, outputting a request activation signal, a mode signal and a priority jump flag bit, and inhibiting a low-priority function when a high-priority function is activated; 3) judging the multi-function activation according to the mode signal, the priority jump flag bit and the state flag bit, determining the final activated function and outputting a corresponding request signal; 4) calculating the torque fusion according to the type of the final activated function, calculating an angle control torque when the angle control is activated, directly outputting a torque control torque when the torque control is activated, and the torque being free of sudden change when the functions are switched; and 5) outputting the target motor torque after the fusion calculation to an EPS motor for execution.

Images