The invention discloses a force sense feedback method and device, a medium and a steer-by-wire
system, and relates to the technical field of steer-by-wire. The method is applied to a steer-by-wire
system in a vehicle and comprises the steps that the
steering angle and the steering angular speed of a
steering wheel in the steer-by-wire
system are obtained; determining a steering condition based on the
steering angle and the steering
angular velocity; if the steering working condition is a forward working condition, determining a compensation torque based on the
steering angle, the steering
angular velocity and the current vehicle speed; if the steering working condition is a return working condition, determining a
friction torque based on the steering angle, the steering
angular velocity and the current vehicle speed; according to the compensation torque or the
friction torque, a reference feedback torque is adjusted, a target feedback torque is obtained, and the reference feedback torque is obtained at least based on the steering angle and the steering angular speed; and applying the target feedback torque to the
steering wheel to simulate a feedback force feeling corresponding to the steering condition. The center position feeling of the
steering wheel can be remarkably enhanced, the hand feeling influence caused by steering
delay is reduced, and therefore the overall steering performance is improved.