Torque compensation method and apparatus

Abstract

The present application discloses a torque compensation method and apparatus. The method comprises: obtaining a rotating angle signal, a rotating speed signal, a torque signal, and a friction signal of a steering wheel within a target time period; determining the direction of a compensation torque of the steering wheel on the basis of the rotating angle signal, the rotating speed signal, and the torque signal, and determining the magnitude of the compensation torque on the basis of the rotating angle signal, the torque signal, and the friction signal; and performing torque compensation on the steering wheel on the basis of the magnitude of the compensation torque and the direction of the compensation torque. By applying the present application, a driver can be helped to implement effective steering braking in different environments, and the effectiveness and stability of driving steering can be ensured by means of adaptive compensation torque learning, thereby improving the driving experience of the driver.

Description

Torque compensation method and device

[0001] The present application claims priority to the Chinese patent application No. 202410426937.9, filed on April 9, 2024, and entitled "Torque compensation method and device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of electronic control technology, in particular to a torque compensation method and device. BACKGROUND

[0003] In recent years, with the development of automobile electronics and intelligence, many enterprises improve the handling performance of automobiles through electronic control technology. Among them, the electric power steering system of the automobile can avoid traffic accidents and further improve the driving experience and driving comfort of the driver under the premise of ensuring the safety of the driver through continuous development and intelligence. However, based on the existing electric power steering system, the driver may experience steering wheel slippage during driving, which may cause the automobile to turn without effect, so that the driver cannot maintain a good driving feel, the smoothness is poor, and the stability and comfort of driving are affected. Moreover, this situation may also affect the driving safety of the driver, and if appropriate torque compensation is not given during steering, it may affect the steering judgment of the driver and cause traffic accidents. Therefore, when the driver controls the steering, how to safely, smoothly, efficiently and comfortably compensate the steering torque is a problem to be solved for the existing electric power steering system. SUMMARY

[0004] The torque compensation method and device provided by the embodiments of the present application can not only help the driver to effectively steer and brake in different environments, but also ensure the effectiveness and stability of driving steering through adaptive compensation torque learning, and improve the driving experience of the driver.

[0005] In a first aspect, the embodiments of the present application disclose a torque compensation method, comprising:

[0006] obtaining a steering wheel rotation angle signal, a steering wheel rotation speed signal, a steering wheel torque signal and a friction signal in a target time period; determining a direction of a compensation torque of the steering wheel according to the steering wheel rotation angle signal, the steering wheel rotation speed signal and the steering wheel torque signal, and determining a size of the compensation torque according to the steering wheel rotation angle signal, the steering wheel torque signal and the friction signal; and compensating the steering wheel torque in the direction of the compensation torque based on the size of the compensation torque.

[0007] The direction of the compensating torque of the steering wheel is determined based on the steering angle signal, the rotation speed signal and the torque signal of the steering wheel in the target time period, and the size of the compensating torque is determined based on the steering angle signal, the torque signal and the friction signal of the steering wheel in the target time period. Not only can it help the driver to effectively steer and brake in different environments, but also can ensure the effectiveness and stability of the driving steering through adaptive compensating torque learning, and improve the driving experience of the driver.

[0008] In a possible design, it is determined whether the steering angle signal, the torque signal and the friction signal are valid signals. Based on the steering angle signal, the torque signal and the friction signal of the steering wheel in the target time period, it is determined whether the driver is still steering and whether there is a steering wheel slip phenomenon, so as to determine whether adaptive compensating torque learning is needed to ensure the effectiveness of the driving steering.

[0009] In another possible design, if the absolute value of the rotation speed signal is greater than a first threshold value, the product of the rotation speed signal and the torque signal is greater than a second threshold value, and the steering angle signal continuously increases in the target time period, it is determined that the direction of the compensating torque is a first direction, and the first direction is outward. If the absolute value of the rotation speed signal is less than or equal to the first threshold value, or the product of the rotation speed signal and the torque signal is less than or equal to the second threshold value, or the steering angle signal does not continuously increase in the target time period, it is determined that the direction of the compensating torque is a second direction, and the second direction is inward. Based on the steering angle signal, the rotation speed signal and the torque signal of the steering wheel in the target time period, it is determined whether the steering wheel is currently in a motion state and whether the motion of the steering wheel is caused by the force of the driver's hand, and then the steering intention of the driver is determined, which is beneficial to subsequent compensating torque of the same direction to help the driver to effectively steer and brake in different environments.

[0010] In another possible design, if the direction of the compensating torque is the first direction, the compensating torque is used to compensate the torque of the steering wheel outward based on the size of the compensating torque; if the direction of the compensating torque is the second direction, the compensating torque is used to compensate the torque of the steering wheel inward based on the size of the compensating torque. The torque of the steering wheel is compensated by the size of the compensating torque according to the direction of the compensating torque, which is beneficial to help the driver to effectively steer and brake in different environments.

[0011] In another possible design, the feedback torque of the motor is obtained; the first torque is determined according to the steering angle signal, the torque signal and the friction signal; and the first torque and the feedback torque are input into a signal processing model to obtain the size of the compensating torque. Based on the feedback torque of the motor, the steering angle signal, the torque signal and the friction signal of the steering wheel, the size of the compensating torque is determined through adaptive learning of the signal processing model, so as to help the driver to effectively steer and brake in different environments, and to ensure the effectiveness and stability of the driving steering.

[0012] In another possible design, a gain value is determined according to the rotation angle signal and the friction signal; and a first moment is determined according to the torque signal and the gain value. The first moment is calculated so as to enable subsequent adaptive learning based on the first moment and a feedback moment, thereby guaranteeing effectiveness and stability of the driving steering.

[0013] In another possible design, a rotation angle error in a target time period is determined according to the rotation angle signal, a torque error in the target time period is determined according to the torque signal, and a friction error in the target time period is determined according to the friction signal; and the rotation angle signal, the friction signal, and the torque signal are determined as valid signals if the rotation angle error is less than a third threshold value, the torque error is greater than a fourth threshold value, and the friction error is greater than a fifth threshold value. Whether the driver performs the steering operation is determined based on the rotation angle error of the steering wheel in the target time period, and whether the driver has the steering wheel slip phenomenon is determined based on the torque error and the friction error of the steering wheel in the target time period, which is beneficial to subsequent compensation of the steering wheel in the same direction to help the driver to effectively steer and brake in different environments.

[0014] In another possible design, a first rotation angle signal in a first time period and a second rotation angle signal in a second time period are selected from the rotation angle signal, and the target time period includes the first time period and the second time period; a first difference value is obtained by subtracting the first rotation angle signal corresponding to a start moment of the first time period from the first rotation angle signal corresponding to an end moment of the first time period, and a second difference value is obtained by subtracting the second rotation angle signal corresponding to a start moment of the second time period from the second rotation angle signal corresponding to an end moment of the second time period; and the rotation angle error is determined as an average value of absolute values of the first difference value and the second difference value. The rotation angle error of the steering wheel is determined based on the rotation angle signal of the steering wheel in the target time period, so as to subsequently determine whether the driver still performs the steering operation.

[0015] In another possible design, a first torque signal in a third time period and a second torque signal in a fourth time period are selected from the torque signal, and the target time period includes the third time period and the fourth time period; a third difference value is obtained by subtracting the first torque signal corresponding to a start moment of the third time period from the first torque signal corresponding to an end moment of the third time period, and a fourth difference value is obtained by subtracting the second torque signal corresponding to a start moment of the fourth time period from the second torque signal corresponding to an end moment of the fourth time period; and the torque error is determined as an average value of absolute values of the third difference value and the fourth difference value. The torque error of the steering wheel is determined based on the torque signal of the steering wheel in the target time period, so as to subsequently determine whether the driver has the steering wheel slip phenomenon.

[0016] In another possible design, the first friction signal in the fifth time period and the second friction signal in the sixth time period are selected from the friction signals, the target time period includes the fifth time period and the sixth time period, the first friction signal corresponding to the end moment of the fifth time period is subtracted by the first friction signal corresponding to the start moment of the fifth time period to obtain a fifth difference value, and the second friction signal corresponding to the end moment of the sixth time period is subtracted by the second friction signal corresponding to the start moment of the sixth time period to obtain a sixth difference value; and the average of the fifth difference value and the sixth difference value is determined as the friction error. The friction error of the steering wheel is determined based on the friction signals of the steering wheel in the target time period, so as to verify whether the driver has the steering wheel slip phenomenon again subsequently.

[0017] In a second aspect, the embodiments of the present application disclose a torque compensation device, comprising:

[0018] The acquisition module is configured to acquire a steering angle signal, a rotation speed signal, a torque signal, and a friction signal of the steering wheel in a target time period.

[0019] The processing module is configured to determine a direction of a compensation torque of the steering wheel according to the steering angle signal, the rotation speed signal, and the torque signal, and determine a size of the compensation torque according to the steering angle signal, the torque signal, and the friction signal.

[0020] The processing module is further configured to compensate the torque of the steering wheel in the direction of the compensation torque according to the size of the compensation torque.

[0021] In a possible design, the processing module is further configured to determine whether the steering angle signal, the torque signal, and the friction signal are valid signals.

[0022] In another possible design, the processing module is further configured to determine that the direction of the compensation torque is a first direction if an absolute value of the rotation speed signal is greater than a first threshold value, a product of the rotation speed signal and the torque signal is greater than a second threshold value, and the steering angle signal continuously increases in the target time period, and determine that the direction of the compensation torque is a second direction if the absolute value of the rotation speed signal is less than or equal to the first threshold value, or the product of the rotation speed signal and the torque signal is less than or equal to the second threshold value, or the steering angle signal does not continuously increase in the target time period.

[0023] In another possible design, the processing module is further configured to compensate the torque of the steering wheel outwardly according to the size of the compensation torque if the direction of the compensation torque is the first direction, and compensate the torque of the steering wheel inwardly according to the size of the compensation torque if the direction of the compensation torque is the second direction.

[0024] In another possible design, the acquisition module is further configured to acquire a feedback torque of the motor.

[0025] In another possible design, the processing module is further configured to determine the first torque according to the rotation angle signal, the torque signal, and the friction signal; and input the first torque and the feedback torque input signal into the signal processing model to obtain the size of the compensation torque.

[0026] In another possible design, the processing module is further configured to determine the gain value according to the rotation angle signal and the friction signal; and determine the first torque according to the torque signal and the gain value.

[0027] In another possible design, the processing module is further configured to determine a rotation angle error in the target time period according to the rotation angle signal, determine a torque error in the target time period according to the torque signal, and determine a friction error in the target time period according to the friction signal; and determine that the rotation angle signal, the friction signal, and the torque signal are valid signals if the rotation angle error is less than a third threshold value, the torque error is greater than a fourth threshold value, and the friction error is greater than a fifth threshold value.

[0028] In another possible design, the processing module is further configured to select a first rotation angle signal in a first time period and a second rotation angle signal in a second time period from the rotation angle signal, and the target time period includes the first time period and the second time period; subtract the first rotation angle signal corresponding to the start time of the first time period from the first rotation angle signal corresponding to the end time of the first time period to obtain a first difference value, and subtract the second rotation angle signal corresponding to the start time of the second time period from the second rotation angle signal corresponding to the end time of the second time period to obtain a second difference value; and determine an average value of an absolute value of the first difference value and an absolute value of the second difference value as the rotation angle error.

[0029] In another possible design, the processing module is further configured to select a first torque signal in a third time period and a second torque signal in a fourth time period from the torque signal, and the target time period includes the third time period and the fourth time period; subtract the first torque signal corresponding to the start time of the third time period from the first torque signal corresponding to the end time of the third time period to obtain a third difference value, and subtract the second torque signal corresponding to the start time of the fourth time period from the second torque signal corresponding to the end time of the fourth time period to obtain a fourth difference value; and determine an average value of an absolute value of the third difference value and an absolute value of the fourth difference value as the torque error.

[0030] In another possible design, the processing module is further configured to select a first friction signal in a fifth time period and a second friction signal in a sixth time period from the friction signal, and the target time period includes the fifth time period and the sixth time period; subtract the first friction signal corresponding to the start time of the fifth time period from the first friction signal corresponding to the end time of the fifth time period to obtain a fifth difference value, and subtract the second friction signal corresponding to the start time of the sixth time period from the second friction signal corresponding to the end time of the sixth time period to obtain a sixth difference value; and determine an average value of the fifth difference value and the sixth difference value as the friction error.

[0031] The operations and advantages of the torque compensation device can refer to the method and advantages of the first aspect, and the repeated parts will not be described again.

[0032] In a third aspect, the present application discloses a torque compensation device, comprising a processor and a memory, the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory, so that the torque compensation device executes the method of any one of the first aspect.

[0033] In a fourth aspect, the present application provides a torque compensation device, which can be a mobile device, a device in a torque compensation system or a server, or a device that can be matched with a torque compensation system. The torque compensation device can also be a chip system. The torque compensation device can execute the method of the first aspect. The functions of the torque compensation device can be realized by hardware, or by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the above functions. The module can be software and / or hardware. The operations and advantages of the torque compensation device can refer to the method and advantages of the first aspect, and the repeated parts will not be described again. In a fifth aspect, the present application discloses a vehicle comprising the torque compensation device described above, which is used to realize any torque compensation method.

[0034] In a sixth aspect, the present application discloses a computer readable storage medium for storing a computer program, when the computer program is executed, the method of any one of the first aspect is realized.

[0035] In a seventh aspect, the present application discloses a computer program product comprising a computer program, when the computer program is executed, the method of any one of the first aspect is realized. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background art, the drawings needed to be used in the embodiments of the present application or the background art will be described below.

[0037] Fig. 1 is a structural schematic diagram of a torque compensation system provided by the embodiments of the present application;

[0038] Fig. 2 is a flowchart of a torque compensation method provided by the embodiments of the present application;

[0039] Fig. 3 is a flowchart of a steering intention recognition provided by the embodiments of the present application;

[0040] FIG. 4 is a flow diagram of torque compensation calculation according to an embodiment of the present application;

[0041] FIG. 5 is a flow diagram of signal validity judgment according to an embodiment of the present application;

[0042] FIG. 6 is a structural diagram of a torque compensation device according to an embodiment of the present application;

[0043] FIG. 7 is a structural diagram of a torque compensation device according to an embodiment of the present application. DETAILED DESCRIPTION

[0044] The embodiments of the present application will be described below with reference to the accompanying drawings.

[0045] It should be understood that, in the description of the present application, "at least one" means one or more than one, and "multiple" means two or more than two. In addition, the words "first", "second", and the like, unless otherwise specified, are only used for the purpose of distinguishing the description, and cannot be understood as indicating or implying relative importance, nor indicating or implying order.

[0046] At present, when the driver drives the car based on the electric power steering system, the driver will cause the steering wheel to slip and the torque to suddenly drop due to hand sweat or dry hands. For example, when the weather is hot, the driver is prone to hand sweat during driving, and the steering wheel may slip when steering, which greatly reduces the driving experience of the driver. When the weather is cold and dry, some drivers will cause the steering wheel to slip due to dry hands, and the cold weather will cause the mechanical efficiency to decrease, which is prone to cause steering errors and thus cause traffic accidents.

[0047] In order to solve the above technical problems, the embodiments of the present application provide the following solutions.

[0048] As shown in FIG. 1, FIG. 1 is a structural diagram of a torque compensation system according to an embodiment of the present application, which includes a signal input module 101 and an electronic control unit (ECU) 102. Specifically, the signal input module 101 is connected with the electronic control unit 102, and the electronic control unit 102 includes a steering intention recognition module, a signal validity judgment module, a torque compensation module, and a motor control module. The torque compensation module includes a rotation angle signal processing module, a friction signal processing module, and a torque signal processing module. The motor control module is connected with a motor. The detailed description of each module is as follows.

[0049] The signal input module 101 is configured to acquire a rotation angle signal, a rotation speed signal, a torque signal, and a friction signal of the steering wheel in a target time period.

[0050] The electronic control unit 102 is configured to receive the rotation angle signal, the rotation speed signal, the torque signal and the friction signal sent by the signal input module 101, determine the direction of the compensation torque of the steering wheel according to the rotation angle signal, the rotation speed signal and the torque signal, determine the size of the compensation torque according to the rotation angle signal, the torque signal and the friction signal, and compensate the steering wheel in the direction of the compensation torque based on the size of the compensation torque.

[0051] The signal input module 101 and the electronic control unit 102 can be connected through a wired network or a wireless network.

[0052] It should be noted that the torque compensation system described above can be a system for interacting with a user, which can be a software system, a hardware system or a combination of software and hardware, and the present application does not make specific limitations. It should also be noted that FIG. 1 is only an illustrative structural diagram of the torque compensation system, and the torque compensation system of FIG. 1 can be transformed accordingly in actual application according to specific conditions.

[0053] As shown in FIG. 2, FIG. 2 is a flowchart of a torque compensation method according to an embodiment of the present application. The method is applicable to the torque compensation system shown in FIG. 1. The method includes but is not limited to the following steps:

[0054] Step S201: obtaining the rotation angle signal, the rotation speed signal, the torque signal and the friction signal of the steering wheel in a target time period.

[0055] The target time period is any time period during driving.

[0056] Specifically, during driving, the signal input module receives the rotation angle signal, the rotation speed signal and the torque signal of the steering wheel in the target time period through a torque and angle sensor (TAS), and collects the friction signal of the steering wheel in the target time period through a friction sensor. Then, the signal input module sends the rotation angle signal, the rotation speed signal, the torque signal and the friction signal of the steering wheel in the target time period to the electronic control unit through a controller area network (CAN) bus. By obtaining the rotation angle signal, the rotation speed signal, the torque signal and the friction signal of the steering wheel in the target time period, the direction of the compensation torque of the steering wheel and the size of the compensation torque can be determined subsequently, thereby helping the driver to effectively steer and brake in different environments.

[0057] Step S202: determining the direction of the compensation torque of the steering wheel according to the rotation angle signal, the rotation speed signal and the torque signal, and determining the size of the compensation torque according to the rotation angle signal, the torque signal and the friction signal.

[0058] Specifically, the electronic control unit receives the steering wheel angle signal, the steering wheel speed signal, the steering wheel torque signal and the friction signal in the target time period, and can determine the direction and the size of the compensation torque of the steering wheel in the following two aspects, including:

[0059] In a first aspect, the steering intention recognition module in the electronic control unit can determine the direction of the compensation torque of the steering wheel according to the steering wheel angle signal, the steering wheel speed signal and the steering wheel torque signal in the target time period.

[0060] FIG. 3 is a flowchart of a steering intention recognition provided by an embodiment of the present application. The steering intention recognition module determines the direction of the compensation torque by judging whether the absolute value of the steering wheel speed signal is greater than a first threshold value, whether the product of the steering wheel speed signal and the steering wheel torque signal is greater than a second threshold value, and whether the steering wheel angle signal continuously increases in the target time period.

[0061] The first threshold value, the second threshold value and the third threshold value are all empirical parameters, and the second threshold value can be equal to 0.

[0062] In an implementation, the steering wheel angle signal is filtered to obtain a filtered steering wheel angle signal, the steering wheel speed signal is filtered to obtain a filtered steering wheel speed signal, and the steering wheel torque signal is filtered to obtain a filtered steering wheel torque signal; if the absolute value of the filtered steering wheel speed signal is greater than the first threshold value, the product of the filtered steering wheel speed signal and the filtered steering wheel torque signal is greater than the second threshold value, and the filtered steering wheel angle signal continuously increases in the target time period, it indicates that the steering intention of the driver in the target time period is to turn the steering wheel outward, so as to determine that the direction of the compensation torque is a first direction, and the first direction is outward, where outward refers to left.

[0063] For example, the driver needs to control the vehicle to turn left, if the absolute value of the filtered steering wheel speed signal is greater than the first threshold value, the product of the filtered steering wheel speed signal and the filtered steering wheel torque signal is greater than the second threshold value, and the filtered steering wheel angle signal continuously increases in the target time period, it indicates that the steering intention of the driver in the target time period is to turn the steering wheel outward, and the direction of the compensation torque is left at this time.

[0064] In another implementation, the rotation angle signal is filtered to obtain a filtered rotation angle signal, the rotation speed signal is filtered to obtain a filtered rotation speed signal, and the torque signal is filtered to obtain a filtered torque signal; if the absolute value of the filtered rotation speed signal is less than or equal to a first threshold value, or the product of the filtered rotation speed signal and the filtered torque signal is less than or equal to a second threshold value, or the filtered rotation angle signal does not continuously increase in the target time period, it is indicated that the steering intention of the driver in the target time period is to turn the steering wheel inward, so that the direction of the compensation torque is determined as a second direction, and the second direction is inward, where the inward direction is to the right.

[0065] For example, the driver needs to control the vehicle to turn left, and if the absolute value of the filtered rotation speed signal is less than or equal to the first threshold value, or the product of the filtered rotation speed signal and the filtered torque signal is less than or equal to the second threshold value, or the filtered rotation angle signal does not continuously increase in the target time period, it is indicated that the steering intention of the driver in the target time period is to turn the steering wheel inward, and the direction of the compensation torque is to the right at this time.

[0066] It should be noted that the steering intention recognition module determines whether the steering wheel is in a motion state in the target time period through the above three judgment conditions, and determines whether the motion of the steering wheel is caused by the hand force of the driver by judging whether the product of the rotation speed signal and the torque signal is greater than the second threshold value. Based on the above judgment, the steering intention of the driver is further determined, which is beneficial to subsequent help the driver to effectively steer and brake in different environments through the compensation torque in the same direction.

[0067] In a second aspect, the torque compensation module in the electronic control unit can determine the size of the compensation torque of the steering wheel according to the rotation angle signal, the torque signal and the friction signal of the steering wheel in the target time period.

[0068] FIG. 4 is a flowchart of torque compensation calculation according to an embodiment of the present application. The torque compensation module determines a gain value according to the rotation angle signal and the friction signal, determines a first torque according to the torque signal and the gain value, and then inputs the first torque and the feedback torque of the motor into a signal processing model to obtain the size of the compensation torque.

[0069] In the implementation, first, the feedback torque of the motor is acquired, the rotation angle signal is filtered by a low-pass filter 1 to obtain a filtered rotation angle signal, and the friction signal is filtered by a low-pass filter 2 to obtain a filtered friction signal; then, the gain value is obtained by looking up the table based on the filtered rotation angle signal and the filtered friction signal; the torque signal is filtered by a low-pass filter 3 to obtain a filtered torque signal; the gain value is multiplied by the filtered torque signal to obtain a first product, and the first product is limited by upper and lower limits to obtain a first torque; then, the first torque and the feedback torque are input into the signal processing model to obtain the size of the compensation torque. Based on the feedback torque of the motor, the rotation angle signal of the steering wheel, the torque signal and the friction signal, the signal processing model is adaptively learned to determine the size of the compensation torque, so as to help the driver to effectively steer and brake in different environments, and to ensure the effectiveness and stability of the driving steering.

[0070] The signal processing model can be a PID algorithm, or can be replaced by other algorithms, which are not limited in the application.

[0071] Optionally, before determining the direction of the compensation torque of the steering wheel and the size of the compensation torque, the signal validity determination module in the electronic control unit can also determine whether the rotation angle signal, the torque signal and the friction signal are valid signals.

[0072] FIG. 5 is a flowchart of signal validity determination according to an embodiment of the application. First, the signal validity determination module in the electronic control unit receives the rotation angle signal, the torque signal and the friction signal of the steering wheel in a target time period, then determines the rotation angle error in the target time period according to the rotation angle signal, determines the torque error in the target time period according to the torque signal, and determines the friction error in the target time period according to the friction signal; if the rotation angle error is less than a third threshold value, the torque error is greater than a fourth threshold value, and the friction error is greater than a fifth threshold value, the rotation angle signal, the friction signal and the torque signal are determined as valid signals.

[0073] The third threshold value, the fourth threshold value and the fifth threshold value are all empirical parameters.

[0074] In an implementation, a first corner signal in a first time period and a second corner signal in a second time period can be selected from corner signals in a target time period, the target time period including the first time period and the second time period; a first difference value is obtained by subtracting the first corner signal corresponding to a start time of the first time period from the first corner signal corresponding to an end time of the first time period, and a second difference value is obtained by subtracting the second corner signal corresponding to a start time of the second time period from the second corner signal corresponding to an end time of the second time period; then, an average value of an absolute value of the first difference value and an absolute value of the second difference value is determined as a corner error. The corner error of the steering wheel is determined based on the corner signals of the steering wheel in the target time period, so as to determine whether the driver still performs the steering operation: E1 = (|D1| + |D2|) / 2; D1 = AS et，1 -AS st，1 ; D2 = AS et，2 -AS st，2 ;

[0075] wherein, E1 represents the corner error, D1 represents the first difference value, D2 represents the second difference value, AS et，1 represents the first corner signal corresponding to the end time of the first time period, AS st，1 represents the first corner signal corresponding to the start time of the first time period, AS et，2 represents the second corner signal corresponding to the end time of the second time period, and AS st，2 represents the second corner signal corresponding to the start time of the second time period.

[0076] Optionally, the corner error can also be determined by randomly selecting corner signals in multiple time periods from the corner signals in the target time period.

[0077] For example, the corner signal corresponding to the time period a, the corner signal corresponding to the time period b and the corner signal corresponding to the time period c are randomly selected from the corner signals in the target time period; then, the corner signal difference value corresponding to the time period a is determined according to the corner signal corresponding to the time period a, the corner signal difference value corresponding to the time period b is determined according to the corner signal corresponding to the time period b, and the corner signal difference value corresponding to the time period c is determined according to the corner signal corresponding to the time period c; then, an average value among an absolute value of the corner signal difference value corresponding to the time period a, an absolute value of the corner signal difference value corresponding to the time period b and an absolute value of the corner signal difference value corresponding to the time period c is determined as the corner error.

[0078] In another implementation, the first torque signal in the third time period and the second torque signal in the fourth time period can be selected from the torque signals in a target time period, the target time period including the third time period and the fourth time period; the third difference value is obtained by subtracting the first torque signal corresponding to the start time of the third time period from the first torque signal corresponding to the end time of the third time period, and the fourth difference value is obtained by subtracting the second torque signal corresponding to the start time of the fourth time period from the second torque signal corresponding to the end time of the fourth time period; and the average of the absolute value of the third difference value and the absolute value of the fourth difference value is determined as the torque error. The torque error of the steering wheel is determined based on the torque signals of the steering wheel in the target time period, so as to verify whether the driver has the steering wheel slip phenomenon.

[0079] wherein the torque error satisfies: E2 = (|D3| + |D4|) / 2; D3 = TS et,1 -TS st,1 ; D4 = TS et,2 -TS st,2 ;

[0080] wherein E2 represents the torque error, D3 represents the third difference value, D4 represents the fourth difference value, TS et,1 represents the first torque signal corresponding to the end time of the third time period, TS st,1 represents the first torque signal corresponding to the start time of the third time period, TS et,2 represents the second torque signal corresponding to the end time of the fourth time period, and TSs t,2 represents the second torque signal corresponding to the start time of the fourth time period.

[0081] Optionally, the torque error can also be determined by randomly selecting torque signals in multiple time periods from the torque signals in the target time period.

[0082] For example, the torque signal corresponding to the time period a, the torque signal corresponding to the time period b, the torque signal corresponding to the time period c, and the torque signal corresponding to the time period d are randomly selected from the torque signals in the target time period; then the torque signal difference value corresponding to the time period a is determined according to the torque signal corresponding to the time period a, the torque signal difference value corresponding to the time period b is determined according to the torque signal corresponding to the time period b, and the torque signal difference value corresponding to the time period c is determined according to the torque signal corresponding to the time period c; the torque signal difference value corresponding to the time period d is determined according to the torque signal corresponding to the time period d; and then the average of the absolute value of the torque signal difference value corresponding to the time period a, the absolute value of the torque signal difference value corresponding to the time period b, the absolute value of the torque signal difference value corresponding to the time period c, and the absolute value of the torque signal difference value corresponding to the time period d is determined as the torque error.

[0083] In another implementation, the first friction signal in the fifth time period and the second friction signal in the sixth time period can be selected from the friction signals in the target time period, the target time period including the fifth time period and the sixth time period; the first friction signal corresponding to the end time of the fifth time period is subtracted from the first friction signal corresponding to the start time of the fifth time period to obtain a fifth difference value, and the second friction signal corresponding to the end time of the sixth time period is subtracted from the second friction signal corresponding to the start time of the sixth time period to obtain a sixth difference value; the average of the fifth difference value and the sixth difference value is determined as the friction error. The friction error of the steering wheel is determined based on the friction signals of the steering wheel in the target time period, so as to verify again whether the driver has the steering wheel slip phenomenon.

[0084] wherein the friction error satisfies: E3=(D5+D6) / 2; D5=FS et,1 -FS st,1 ; D6=FS et,2 -FS st,2 ;

[0085] wherein E3 represents the friction error, D5 represents the fifth difference value, D6 represents the sixth difference value, FS et,1 represents the first friction signal corresponding to the end time of the fifth time period, FS st,1 represents the first friction signal corresponding to the start time of the fifth time period, FS et,2 represents the second friction signal corresponding to the end time of the sixth time period, and FS st,2 represents the second friction signal corresponding to the start time of the sixth time period.

[0086] Optionally, the friction error can also be determined by randomly selecting the friction signals in multiple time periods from the friction signals in the target time period.

[0087] For example, the friction signals corresponding to time period a, time period b, time period c and time period d are randomly selected from the steering angle signals in the target time period; then the friction signal difference value corresponding to time period a is determined according to the friction signal corresponding to time period a, the friction signal difference value corresponding to time period b is determined according to the friction signal corresponding to time period b, and the friction signal difference value corresponding to time period c is determined according to the friction signal corresponding to time period c; the friction signal difference value corresponding to time period d is determined according to the friction signal corresponding to time period d; and then the average of the friction signal difference value corresponding to time period a, the friction signal difference value corresponding to time period b, the friction signal difference value corresponding to time period c and the friction signal difference value corresponding to time period d is determined as the friction error.

[0088] It should be noted that, if the rotation error is less than the third threshold value, it indicates that the driver still performs the steering operation; if the torque error is greater than the fourth threshold value, it indicates that the current moment is suddenly changed, that is, the driver has the steering wheel slip phenomenon; if the friction error is greater than the fifth threshold value, it is verified again that the driver has the steering wheel slip phenomenon. And, only when the rotation error, the torque error and the friction error all satisfy the judgment condition, the rotation signal, the torque signal and the friction signal in the target time period are determined as valid signals, that is, the steering wheel needs to be compensated by the moment compensation system.

[0089] Optionally, if the rotation error is greater than or equal to the third threshold value, or the torque error is less than or equal to the fourth threshold value, or the friction error is less than or equal to the fifth threshold value, the rotation signal, the friction signal and the torque signal in the target time period are determined as invalid signals, that is, the steering wheel does not need to be compensated by the moment compensation system.

[0090] Step S203: compensating the steering wheel by the moment compensation system according to the direction of the compensation moment based on the size of the compensation moment.

[0091] Specifically, based on the size of the compensation moment, the assist motor control current is calculated by the motor control module, and then the motor is controlled by the assist motor control current to compensate the moment according to the direction of the compensation moment.

[0092] By adopting the embodiment of the present application, the direction of the compensation moment of the steering wheel is determined by the rotation signal, the speed signal and the torque signal of the steering wheel in the target time period, the size of the compensation moment is determined by the rotation signal, the torque signal and the friction signal of the steering wheel in the target time period, and then the steering wheel is compensated by the moment compensation system according to the direction of the compensation moment based on the size of the compensation moment, so as to help the driver to effectively steer in different environments. In addition, it can also be determined that the driver still performs the steering operation and has the steering wheel slip phenomenon by the rotation signal, the torque signal and the friction signal of the steering wheel in the target time period, that is, the steering wheel needs to be compensated by the moment. The self-adaptive compensation moment learning can ensure the effectiveness and stability of the driving steering, and improve the driving experience of the driver.

[0093] As shown in FIG. 6, FIG. 6 is a structural schematic diagram of a moment compensation device provided by an embodiment of the present application, wherein the moment compensation device comprises an acquisition module 601 and a processing module 602. The detailed description of each unit is as follows.

[0094] The acquisition module 601 is configured to acquire the rotation signal, the speed signal, the torque signal and the friction signal of the steering wheel in a target time period.

[0095] The processing module 602 is configured to determine a direction of a compensating torque of the steering wheel according to the steering angle signal, the rotating speed signal and the torque signal, and determine a size of the compensating torque according to the steering angle signal, the torque signal and the friction signal.

[0096] The processing module 602 is further configured to compensate the steering wheel with the compensating torque according to the direction of the compensating torque based on the size of the compensating torque.

[0097] Optionally, the processing module 602 is further configured to determine whether the steering angle signal, the torque signal and the friction signal are valid signals.

[0098] Optionally, the processing module 602 is further configured to determine that the direction of the compensating torque is a first direction if an absolute value of the rotating speed signal is greater than a first threshold value, a product of the rotating speed signal and the torque signal is greater than a second threshold value, and the steering angle signal continuously increases in a target time period, and determine that the direction of the compensating torque is a second direction if the absolute value of the rotating speed signal is less than or equal to the first threshold value, or the product of the rotating speed signal and the torque signal is less than or equal to the second threshold value, or the steering angle signal does not continuously increase in the target time period.

[0099] Optionally, the processing module 602 is further configured to compensate the steering wheel with the compensating torque outwardly based on the size of the compensating torque if the direction of the compensating torque is the first direction, and compensate the steering wheel with the compensating torque inwardly based on the size of the compensating torque if the direction of the compensating torque is the second direction.

[0100] Optionally, the acquisition module 601 is further configured to acquire a feedback torque of the motor.

[0101] Optionally, the processing module 602 is further configured to determine a first torque according to the steering angle signal, the torque signal and the friction signal, input the first torque and the feedback torque into a signal processing model, and obtain the size of the compensating torque.

[0102] Optionally, the processing module 602 is further configured to determine a gain value according to the steering angle signal and the friction signal, and determine the first torque according to the torque signal and the gain value.

[0103] Optionally, the processing module 602 is further configured to determine a steering angle error in a target time period according to the steering angle signal, determine a torque error in the target time period according to the torque signal, and determine a friction error in the target time period according to the friction signal, and determine that the steering angle signal, the torque signal and the friction signal are valid signals if the steering angle error is less than a third threshold value, the torque error is greater than a fourth threshold value, and the friction error is greater than a fifth threshold value.

[0104] Optionally, the processing module 602 is further configured to: select a first rotation angle signal in a first time period and a second rotation angle signal in a second time period from the rotation angle signals, the target time period including the first time period and the second time period; subtract the first rotation angle signal corresponding to the start time of the first time period from the first rotation angle signal corresponding to the end time of the first time period to obtain a first difference value, and subtract the second rotation angle signal corresponding to the start time of the second time period from the second rotation angle signal corresponding to the end time of the second time period to obtain a second difference value; and determine the average of the absolute value of the first difference value and the absolute value of the second difference value as the rotation angle error.

[0105] Optionally, the processing module 602 is further configured to: select a first torque signal in a third time period and a second torque signal in a fourth time period from the torque signals, the target time period including the third time period and the fourth time period; subtract the first torque signal corresponding to the start time of the third time period from the first torque signal corresponding to the end time of the third time period to obtain a third difference value, and subtract the second torque signal corresponding to the start time of the fourth time period from the second torque signal corresponding to the end time of the fourth time period to obtain a fourth difference value; and determine the average of the absolute value of the third difference value and the absolute value of the fourth difference value as the torque error.

[0106] Optionally, the processing module 602 is further configured to: select a first friction signal in a fifth time period and a second friction signal in a sixth time period from the friction signals, the target time period including the fifth time period and the sixth time period; subtract the first friction signal corresponding to the start time of the fifth time period from the first friction signal corresponding to the end time of the fifth time period to obtain a fifth difference value, and subtract the second friction signal corresponding to the start time of the sixth time period from the second friction signal corresponding to the end time of the sixth time period to obtain a sixth difference value; and determine the average of the fifth difference value and the sixth difference value as the friction error.

[0107] It should be noted that the processing module 602 described above is configured to perform the actions or steps performed by the electronic control unit 102 in the above method embodiments. The acquisition module 601 described above is configured to perform the actions or steps performed by the signal input module 101 in the above method embodiments. The implementation of each module can also correspond to the description of the corresponding method embodiments shown in FIG. 2, and perform the methods and functions performed by the signal input module 101 and the electronic control unit 102 in the above embodiments.

[0108] As shown in FIG. 7, FIG. 7 is a structural schematic diagram of a torque compensation device provided by an embodiment of the present application, the torque compensation device comprising a processor 701, a memory 702 and a transceiver 703. The processor 701, the memory 702 and the transceiver 703 can be connected through a communication bus 704 to communicate with each other, transfer instructions and / or data signals. The memory 702 is configured to store a computer program, and the processor 701 is configured to call and run the computer program stored in the memory 702 to control the transceiver 703 to transceive signals.

[0109] The processor 701 can correspond to the processing module 602 in FIG. 6. The processor 701 and the memory 702 can be combined into one processing device, and the processor 701 is configured to execute program codes stored in the memory 702 to implement the above functions. In specific implementation, the memory 702 can be integrated in the processor 701 or independent of the processor 701.

[0110] The transceiver 703 can correspond to the acquisition module 601 in FIG. 6, and can also be referred to as a transceiving unit or a transceiving module. The transceiver 703 can comprise a receiver (or receiver circuit) and a transmitter (or transmitter circuit). The receiver is configured to receive signals, and the transmitter is configured to send signals.

[0111] It should be understood that the torque compensation device shown in FIG. 7 can implement each process related to the torque compensation system in the method embodiment shown in FIG. 2. The operation and / or function of each module in the torque compensation device are respectively for implementing the corresponding flow in the above method embodiment. For details, reference can be made to the description in the above method embodiment, and the detailed description is appropriately omitted here to avoid repetition.

[0112] The processor 701 can be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field-programmable gate array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The processor 701 can implement or execute various exemplary modules described in connection with the disclosure. The processor 701 can also be a combination of implementing computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like. The communication bus 704 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in FIG. 7, but it does not mean that there is only one bus or only one type of bus. The communication bus 704 is used to realize the connection communication between the components. In the embodiments of the present application, the memory 702 can include a volatile memory, such as a non-volatile random access memory (NVRAM), a phase change RAM (PRAM), a magnetoresistive RAM (MRAM), and the like, and can also include a non-volatile memory, such as at least one magnetic disk storage device, an electrically erasable programmable read-only memory (EEPROM), a flash memory device, such as a NOR flash memory or a NAND flash memory, a semiconductor device, such as a solid state disk (SSD), and the like. The memory 702 can also be at least one storage device located away from the processor 701. The memory 702 can also store a set of computer program codes or configuration information. Optionally, the processor 701 can also execute the program stored in the memory 702. The transceiver 703 is used to communicate instructions or data with other components. The processor can cooperate with the memory and the transceiver to execute any of the methods and functions of the torque compensation system described in the embodiments of the present application.

[0113] The embodiments of the present application also disclose a chip system for executing the torque compensation method described in any of the embodiments.

[0114] The application further discloses a vehicle comprising the torque compensation device according to any of the above-mentioned embodiments, and the torque compensation device is used to implement the torque compensation method according to any of the above-mentioned embodiments.

[0115] According to the method provided in the embodiments of the application, the application further discloses a computer program product, which comprises a computer program, and when the computer program is executed on a computer, the computer program enables the computer to execute the method in any of the embodiments shown in FIG. 1 or FIG. 2.

[0116] According to the method provided in the embodiments of the application, the application further discloses a computer readable medium, which stores a computer program, and when the computer program is executed on a computer, the computer program enables the computer to execute the method in any of the embodiments shown in FIG. 1 or FIG. 2.

[0117] In the above-mentioned embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product comprises one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instructions can be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through a wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The readable medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a high-density digital video disc (digital video disc, DVD)), or a semiconductor medium (such as a solid state disc (solid state disc, SSD)) and the like.

[0118] It should be understood that "and / or" appearing in the embodiments of the application only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone.

[0119] It should be understood that, in the embodiments of the present application, "B corresponding to A" means that B is associated with A, and B can be determined according to A. It should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0120] The above detailed description of the specific implementation has further detailed the purpose, technical solutions and beneficial effects of the present application. Any modification, equivalent replacement, improvement and the like made within the principles of the present application shall be included in the protection scope of the present application.

Claims

1. A torque compensation method, wherein: include: Obtaining a steering wheel angle signal, a speed signal, a torque signal, and a friction signal within a target time period; determining a direction of the compensation torque of the steering wheel according to the rotation angle signal, the speed signal, and the torque signal, and determining a magnitude of the compensation torque according to the rotation angle signal, the torque signal, and the friction signal; Based on the magnitude of the compensation torque, torque compensation is performed on the steering wheel according to the direction of the compensation torque.

2. The method according to claim 1, wherein The method further comprises: It is determined whether the rotation angle signal, the torque signal, and the friction signal are valid signals.

3. The method according to claim 1, wherein The determining the direction of the steering wheel compensation torque according to the rotation angle signal, the rotation speed signal, and the torque signal includes: If the absolute value of the speed signal is greater than a first threshold, the product of the speed signal and the torque signal is greater than a second threshold, and the rotation angle signal continues to increase within the target time period, then determining that the direction of the compensation torque is a first direction, and the first direction is outward; If the absolute value of the speed signal is less than or equal to the first threshold, or the product of the speed signal and the torque signal is less than or equal to the second threshold, or the angle signal does not continue to increase within the target time period, then the direction of the compensation torque is determined to be the second direction, and the second direction is inward.

4. The method according to claim 3, wherein: The performing torque compensation on the steering wheel based on the magnitude of the compensation torque and in the direction of the compensation torque includes: If the direction of the compensation torque is the first direction, performing torque compensation on the steering wheel outward based on the magnitude of the compensation torque; If the direction of the compensation torque is the second direction, torque compensation is performed inward on the steering wheel based on the magnitude of the compensation torque.

5. The method according to claim 1, wherein The determining the magnitude of the compensation torque according to the rotation angle signal, the torque signal, and the friction signal includes: Get the feedback torque of the motor; determining a first torque according to the rotation angle signal, the torque signal, and the friction signal; The first torque and the feedback torque are input into a signal processing model to obtain the magnitude of the compensation torque.

6. The method according to claim 5, wherein: The determining of the first torque according to the rotation angle signal, the torque signal, and the friction signal includes: determining a gain value according to the rotation angle signal and the friction signal; The first torque is determined according to the torque signal and the gain value.

7. The method of claim 2, wherein: The determining whether the rotation angle signal, the torque signal, and the friction signal are valid signals includes: determining a rotation angle error within the target time period according to the rotation angle signal, determining a torque error within the target time period according to the torque signal, and determining a friction error within the target time period according to the friction signal; If the rotation angle error is smaller than a third threshold, the torque error is larger than a fourth threshold, and the friction error is larger than a fifth threshold, it is determined that the rotation angle signal, the torque signal, and the friction signal are valid signals.

8. The method of claim 7, wherein: Determining the rotation angle error within the target time period according to the rotation angle signal includes: Selecting a first rotation angle signal within a first time period and a second rotation angle signal within a second time period from the rotation angle signals, wherein the target time period includes the first time period and the second time period; subtracting the first rotation angle signal corresponding to the start time of the first time period from the first rotation angle signal corresponding to the end time of the first time period to obtain a first difference, and subtracting the second rotation angle signal corresponding to the start time of the second time period from the second rotation angle signal corresponding to the end time of the second time period to obtain a second difference; An average value of the absolute value of the first difference and the absolute value of the second difference is determined as the rotation angle error.

9. The method of claim 7, wherein: Determining the torque error within the target time period according to the torque signal includes: selecting a first torque signal within a third time period and a second torque signal within a fourth time period from the torque signal, wherein the target time period includes the third time period and the fourth time period; subtracting the first torque signal corresponding to the start time of the third time period from the first torque signal corresponding to the end time of the third time period to obtain a third difference, and subtracting the second torque signal corresponding to the start time of the fourth time period from the second torque signal corresponding to the end time of the fourth time period to obtain a fourth difference; An average of the absolute value of the third difference and the absolute value of the fourth difference is determined as the torque error.

10. The method of claim 7, wherein: Determining the friction error within the target time period according to the friction signal includes: selecting a first friction signal within a fifth time period and a second friction signal within a sixth time period from the friction signal, wherein the target time period includes the fifth time period and the sixth time period; subtracting the first friction signal corresponding to the start time of the fifth time period from the first friction signal corresponding to the end time of the fifth time period to obtain a fifth difference value, and subtracting the second friction signal corresponding to the start time of the sixth time period from the second friction signal corresponding to the end time of the sixth time period to obtain a sixth difference value; An average of the fifth difference and the sixth difference is determined as the friction error.

11. A torque compensation device, wherein: The torque compensation device includes an acquisition module and a processing module, wherein the acquisition module is used to acquire a steering wheel angle signal, a speed signal, a torque signal, and a friction signal within a target time period; The processing module is used to determine the direction of the compensation torque of the steering wheel according to the rotation angle signal, the speed signal and the torque signal, and to determine the magnitude of the compensation torque according to the rotation angle signal, the torque signal and the friction signal; The processing module is further configured to perform torque compensation on the steering wheel based on the magnitude of the compensation torque and in the direction of the compensation torque.

12. The torque compensation device according to claim 11, wherein: The processing module is further configured to determine whether the rotation angle signal, the torque signal, and the friction signal are valid signals.

13. The torque compensation device according to claim 11, wherein: The processing module is also used to determine that the direction of the compensation torque is a first direction, which is outward, if the absolute value of the speed signal is greater than a first threshold, the product of the speed signal and the torque signal is greater than a second threshold, and the angle signal continues to increase within a target time period; if the absolute value of the speed signal is less than or equal to the first threshold, or the product of the speed signal and the torque signal is less than or equal to the second threshold, or the angle signal does not continue to increase within the target time period, then determine that the direction of the compensation torque is a second direction, which is inward.

14. The torque compensation device according to claim 13, wherein: The processing module is also used to perform torque compensation on the steering wheel outward based on the magnitude of the compensation torque if the direction of the compensation torque is the first direction; and to perform torque compensation on the steering wheel inward based on the magnitude of the compensation torque if the direction of the compensation torque is the second direction.

15. The torque compensation device according to claim 11, wherein: The acquisition module is also used to acquire the feedback torque of the motor.

16. A torque compensation device, wherein: The torque compensation device includes a processor and a memory, the memory is used to store a computer program, and the processor is used to call the computer program stored in the memory, so that the torque compensation device implements the method according to any one of claims 1 to 10.

17. A chip system, wherein: The chip system is used to implement the method according to any one of claims 1 to 10.

18. A vehicle, wherein The vehicle comprises a torque compensation device, which is used to implement the method according to any one of claims 1-10.

19. A computer-readable storage medium, wherein: The computer-readable storage medium is used to store a computer program, and the computer program is used to implement the method according to any one of claims 1 to 10.

20. A computer program product, wherein The computer program product comprises a computer program, and the computer program is configured to implement the method according to any one of claims 1 to 10.

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