CN111845929A - Steering torque adjusting method and device of vehicle steering system - Google Patents
Steering torque adjusting method and device of vehicle steering system Download PDFInfo
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- CN111845929A CN111845929A CN202010576535.9A CN202010576535A CN111845929A CN 111845929 A CN111845929 A CN 111845929A CN 202010576535 A CN202010576535 A CN 202010576535A CN 111845929 A CN111845929 A CN 111845929A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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Abstract
The embodiment of the invention provides a method and a device for adjusting steering torque of a vehicle steering system, wherein the method comprises the following steps: when the vehicle starts or moves, acquiring current torque information and current turning angle information of a steering wheel and current speed information of the vehicle; acquiring preset reference torque information corresponding to the current corner information and the current vehicle speed information; and adjusting the torque of the steering wheel according to the preset reference torque information and the current torque information. According to the embodiment of the invention, the torque of the vehicle steering wheel can be adjusted according to the current torque information and the preset reference torque information, so that the control comfort of a driver to the vehicle is enhanced, the driving experience of the vehicle is improved, and the vehicle performance is improved.
Description
Technical Field
The invention relates to the technical field of vehicle steering, in particular to a steering torque adjusting method and a steering torque adjusting device of a vehicle steering system.
Background
With the continuous development of the automobile industry and the improvement of the living standard of people, the demand of people for automobiles is larger and larger, and the requirements are higher and higher. The handling performance of automobiles is becoming an important factor to be considered when people buy new automobiles. And the vehicle steering system is one of the key components affecting the handling stability, comfort and safety of the vehicle.
At present, a vehicle steering system is commonly provided with an electric power steering system and a hydraulic power steering system.
In practical applications, due to the variety of goods to be carried, different axle loads are generated to the axle. Under the condition of different front axle loads, the hydraulic power-assisted system generates different power-assisted pressures corresponding to different steering hand forces, and the corresponding steering hand forces are not completely symmetrical left and right due to the difference of mechanical manufacturing. The electric power-assisted system is added with a manual force vehicle-speed adjustable function on the basis of a hydraulic power-assisted system, and corresponds to different steering manual forces according to different front axle loads and speeds, and calibration curves of the electric power-assisted system are completely symmetrical.
The two conventional power-assisted systems have the same problem, the commercial vehicle has large carrying capacity, and even overload can occur, the front axle load of the vehicle has wide variation range, the operating force of the steering wheel of the whole vehicle has larger difference under different loads, the phenomenon that the hand force is heavier or lighter during steering often occurs, and the operation feeling of a driver is seriously influenced.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are proposed to provide a steering torque adjustment method of a vehicle steering system and a corresponding steering torque adjustment device of a vehicle steering system that overcome or at least partially solve the above problems.
In order to solve the above problem, an embodiment of the present invention discloses a steering torque adjustment method of a vehicle steering system, including: a steering wheel, the method comprising:
when the vehicle starts or moves, acquiring current torque information and current turning angle information of a steering wheel and current speed information of the vehicle;
acquiring preset reference torque information corresponding to the current corner information and the current vehicle speed information;
and adjusting the torque of the steering wheel according to the preset reference torque information and the current torque information.
Optionally, the obtaining of preset reference torque information corresponding to the current corner information and the current vehicle speed information includes;
acquiring calibration data recorded with the corresponding relation of reference corner information, reference vehicle speed information and reference torque information;
and searching reference torque information matched with the current corner information and the current vehicle speed information from the calibration data.
Optionally, the adjusting the torque of the steering wheel according to the preset reference torque information and the current torque information includes:
and adjusting an assist current for changing the torque of the steering wheel according to the preset reference torque information and the current torque information.
Optionally, the adjusting the power-assisted current for changing the torque of the steering wheel according to the preset reference torque information and the current torque information includes:
determining a torque ratio of the current torque information to the reference torque information;
adjusting an assist current that causes a torque of the steering wheel to change according to the torque ratio.
Optionally, the acquiring calibration data recorded with the corresponding relationship between the reference corner information, the reference vehicle speed information, and the reference torque information includes:
determining the model of the vehicle;
and acquiring calibration data corresponding to the vehicle model and recording the corresponding relation of the reference corner information, the reference vehicle speed information and the reference torque information.
The embodiment of the invention also discloses a steering torque adjusting device of the vehicle steering system, and the vehicle steering system comprises: a steering wheel, the apparatus comprising:
the first acquisition module is used for acquiring current torque information and current steering angle information of a steering wheel and current speed information of a vehicle when the vehicle starts or moves;
the second acquisition module is used for acquiring preset reference torque information corresponding to the current corner information and the current vehicle speed information;
And the adjusting module is used for adjusting the torque of the steering wheel according to the preset reference torque information and the current torque information.
Optionally, the second obtaining module includes:
the acquisition submodule is used for acquiring calibration data recorded with the corresponding relation of the reference corner information, the reference vehicle speed information and the reference torque information;
and the searching submodule is used for searching the reference torque information matched with the current corner information and the current vehicle speed information from the calibration data.
Optionally, the adjusting module comprises:
and the adjusting submodule is used for adjusting the power-assisted current which enables the torque of the steering wheel to be changed according to the preset reference torque information and the current torque information.
Optionally, the regulator sub-module comprises:
a calculation unit for determining a torque ratio of the current torque information to the reference torque information;
an adjusting unit for adjusting an assist current that changes a torque of the steering wheel according to the torque ratio.
Optionally, the obtaining sub-module includes:
the searching unit is used for determining the vehicle model;
and the acquisition unit is used for acquiring calibration data corresponding to the vehicle model and recording the corresponding relation of the reference corner information, the reference vehicle speed information and the reference torque information.
The embodiment of the invention also discloses a vehicle which comprises a vehicle steering system and the steering torque adjusting device.
The embodiment of the invention also discloses a device, which comprises: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the steering torque adjustment method of a vehicle steering system as described above.
The embodiment of the invention also discloses a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the steps of the steering torque adjusting method of the vehicle steering system are realized.
The embodiment of the invention has the following advantages:
according to the embodiment of the invention, the torque of the vehicle steering wheel is adjusted according to the acquired current torque information and the preset reference torque information, when the steering hand force is lighter, the steering system is adjusted to complement, and when the steering hand force is heavier, the loss of automobile parts is reduced by adjusting the steering wheel, so that a driver can feel comfortable steering hand force when operating the steering wheel, the operation comfort of the driver to the vehicle is enhanced, the driving experience is improved, and the vehicle performance is improved.
Drawings
FIG. 1 is a flowchart illustrating steps of an embodiment of a method of adjusting steering torque of a vehicle steering system according to the present invention;
FIG. 2 is a block diagram of a vehicle steering system;
FIG. 3 is a flowchart illustrating steps in an embodiment of a method of adjusting steering torque in a vehicle steering system according to the present invention;
FIG. 4 is a schematic representation of vehicle speed, torque and rotational angle relationships in accordance with an embodiment of the present invention;
FIG. 5 is a schematic illustration of torque adjustment in an embodiment of the present invention;
FIG. 6 is a flow chart of adjusting steering torque in an embodiment of the present invention;
fig. 7 is a block diagram showing a structure of an embodiment of a steering torque adjusting apparatus of a vehicle steering system according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
When a vehicle turns, a driver operates a steering wheel, the phenomenon that the hand force is heavier or lighter frequently occurs, and the driving operation feeling of the vehicle is seriously influenced.
Based on this, the present invention intends to provide a steering torque adjustment method of a vehicle steering system and a corresponding steering torque adjustment device of a vehicle steering system that overcomes or at least partially solves the above-mentioned problems.
One of the core ideas of the embodiment of the invention is that the torque of a vehicle steering wheel is adjusted according to the acquired current torque information and the preset reference torque information, when the steering hand force is lighter, a steering system is adjusted to complement, and when the steering hand force is heavier, the loss of automobile parts is reduced by adjusting the steering wheel, so that a driver can feel comfortable steering hand force when operating the steering wheel, the operation comfort of the driver to the vehicle is enhanced, the driving experience is improved, and the vehicle performance is improved.
Referring to fig. 1, a flow chart of steps of an embodiment of a steering torque adjusting method of a vehicle steering system of the invention is shown, which specifically includes the following steps:
and 101, when the vehicle is started or moves, acquiring current torque information and current steering angle information of a steering wheel and acquiring current vehicle speed information of the vehicle.
As shown in fig. 2, a structural diagram of a vehicle steering system, which may include a steering wheel 1, a steering column 2, and a steering gear 3. The steering column 2 is fixed with the vehicle body, and the steering wheel 1 and a steering shaft in the steering column 2 are rotated to drive an input shaft of the steering gear 3 to rotate. When the vehicle is started or moved, the current torque information, the steering angle information and the vehicle speed information of the vehicle of the steering wheel can be obtained from a vehicle steering system or a vehicle-mounted terminal. Specifically, torque information CAN be obtained from a torque sensor, corner information CAN be obtained from a corner sensor, and vehicle speed information CAN be obtained from a whole vehicle CAN bus. The sensor may be mounted on the steering gear or on the steering column. For example, when the vehicle starts, the steering wheel is turned, the torque information is obtained as T0 from the torque sensor, the rotation angle information is obtained as θ 0 from the rotation angle sensor, the vehicle speed information is obtained as V0 from the CAN bus, and when V0 is equal to 0.
And 102, acquiring preset reference torque information corresponding to the current corner information and the current vehicle speed information.
The preset reference torque information may be stored in the vehicle steering system in advance, or may be acquired from a server by the vehicle steering system. The purpose of setting the preset reference torque information is to enable a driver to feel comfortable steering hand force when operating the steering wheel by the torque generated by the steering wheel according to the preset reference torque information under the condition of a certain turning angle and vehicle speed.
In the actual driving process, the larger the vehicle rotating direction is, the smaller the vehicle running speed is, the larger the required steering torque is, correspondingly, the larger the steering hand force is, and therefore bad driving experience is easily brought to a driver. Therefore, in the present embodiment, the reference torque information is set in advance so that the driver can continue to feel comfortable steering hand force while the vehicle is turning. Further, the preset reference torque information can be calculated and measured by mass data, and can also be obtained from an algorithm.
And 103, adjusting the torque of the steering wheel according to the preset reference torque information and the current torque information.
After the corresponding preset reference torque information is obtained, the preset reference torque information may be compared with the current torque information, and the torque of the steering wheel may be adjusted according to the comparison result. Specifically, the torque of the steering wheel may be increased when the value of the current torque information is smaller than the value of the preset reference torque information; and when the value of the current torque information is larger than that of the preset reference torque information, reducing the torque of the steering wheel so that the current torque information is as close to the preset reference torque information as possible.
In summary, in the embodiments of the present invention, the torque of the vehicle steering wheel is adjusted according to the obtained current torque information and the preset reference torque information, when the steering hand force is light, the steering system is adjusted to complement the steering hand force, and when the steering hand force is heavy, the loss of the automobile parts is reduced by adjusting the steering wheel, so that the driver feels comfortable steering hand force when operating the steering wheel, the manipulation comfort of the driver on the vehicle is enhanced, the driving experience is improved, and the vehicle performance is improved.
Referring to fig. 3, a flow chart of steps of another embodiment of a steering torque adjusting method of a vehicle steering system of the present invention is shown, which specifically includes the following steps:
The correspondence relationship between the reference rotation angle information, the reference vehicle speed information, and the reference torque information is stored in advance in the vehicle steering system. As shown in fig. 4, which is a schematic diagram of the corresponding relationship between the vehicle speed, the torque and the steering angle in the embodiment of the present invention, under the condition of the same vehicle speed and the same steering angle, the value is a fixed value, under the condition of a certain vehicle speed and a certain steering angle, the steering wheel can feel the most comfortable steering hand force according to the torque generated by the torque information, and correspondingly, the steering angle and the vehicle speed corresponding to the torque are set as the reference steering angle information and the reference vehicle speed information. It should be further noted that, in the correspondence relationship, the reference vehicle speed information is not necessarily a fixed value, but may be a range, and similarly, the reference rotational angle information may also be a range.
The calibration data can be obtained by calculation and measurement of a large amount of data, and the calibration precision of the calibration data has the greatest influence on the driving feeling of the final steering system.
The step of acquiring calibration data in which the correspondence relationship between the reference rotational angle information, the reference vehicle speed information, and the reference torque information is recorded may include the substeps of:
and a substep S11 of determining the vehicle model.
The manufacturing process of vehicles of different models is different, and the corresponding relation between the corresponding calibrated reference corner information, the reference vehicle speed information and the reference torque information is also different. Calibration data for more than one vehicle model may be stored in the vehicle steering system.
And a substep S12 of acquiring calibration data corresponding to the vehicle model and recording a correspondence relationship between the reference rotation angle information, the reference vehicle speed information, and the reference torque information.
In the embodiment of the invention, after the vehicle model is determined, the corresponding calibration data information can be obtained according to the vehicle signal. The electric steering system of the vehicle comprises a steering wheel, a steering column and a steering gear, wherein the steering gear is an electric mechanical recirculating ball type and integrates a mechanical recirculating ball steering gear, a controller, an input shaft, a worm and gear mechanism, a motor assembly and a torque and angle sensor. The vehicle model information and the calibration data information are stored in the controller, and the vehicle model information and the calibration data have a corresponding relation.
Specifically, the request may be sent to an application program storing the correspondence relationship among the vehicle speed, the steering angle, and the torque, the current steering angle information may be compared with the reference steering angle information in the application program, the current vehicle speed information may be compared with the reference vehicle speed information, the matching reference torque information may be found, and the application program may output the matching reference torque information. For example, if the current steering angle information is θ 1, the current vehicle speed information is V1, θ 1 is within the range of the reference steering angle information Φ 1, and V1 is within the range of the reference vehicle speed information V1, the torque information T1 corresponding to Φ 1 and V1 is the reference torque information to be searched.
And 204, adjusting the power-assisted current which enables the torque of the steering wheel to be changed according to the preset reference torque information and the current torque information.
In the embodiment of the present invention, the torque of the steering wheel is adjusted so that the current torque information is as close as possible to the preset reference torque information, and a method of adjusting the assist current may be adopted. The boosting current is output by a motor which is a power source of a vehicle steering system and has the function of outputting corresponding torque according to the command of a controller.
A substep S21 of determining a torque ratio of the current torque information to the reference torque information.
The current torque information may include a torque value, the reference torque information may include a torque value, and a torque ratio of the current torque information to the reference torque information is calculated.
A substep S22 of adjusting an assist current that causes a change in torque of the steering wheel, based on the torque ratio.
Specifically, when the torque ratio is greater than 1, the current boosting current is reduced; when the torque ratio is smaller than 1, increasing the current boosting current; when the torque ratio is equal to 1, the present assist current is maintained.
Fig. 5 is a schematic diagram of the adjusting torque according to the embodiment of the present invention, in which T1 is a preset reference torque value, and as the front axle load increases or decreases, the currently acquired torque T2 or T2' changes relative to the preset reference torque T1, and at this time, the assist current needs to be adjusted accordingly according to the change rate T2/T1, so that the value of T2 is finally adjusted to T1.
In order to enable a person skilled in the art to better understand the embodiments of the present invention, the following description is given by way of an example:
as shown in fig. 6, which is a flow chart of adjusting the steering torque according to the embodiment of the present invention, the vehicle speed, the steering angle, and the torque are all dynamically changed during the vehicle operation, and the steering torque adjusting process is also a dynamic adjusting process.
In summary, in the embodiments of the present invention, the torque of the vehicle steering wheel is adjusted according to the obtained current torque information and the preset reference torque information, when the steering hand force is light, the steering system is adjusted to complement the steering hand force, and when the steering hand force is heavy, the loss of the automobile parts is reduced by adjusting the steering wheel, so that the driver feels comfortable steering hand force when operating the steering wheel, the manipulation comfort of the driver on the vehicle is enhanced, the driving experience is improved, and the vehicle performance is improved.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 7, a block diagram of an embodiment of a steering torque adjusting device of a vehicle steering system according to the present invention is shown, which may specifically include the following modules:
The first obtaining module 301 is configured to obtain current torque information and current steering angle information of a steering wheel and obtain current vehicle speed information of a vehicle when the vehicle starts or moves.
A second obtaining module 302, configured to obtain preset reference torque information corresponding to the current corner information and the current vehicle speed information.
The second obtaining module 302 includes:
and the acquisition submodule is used for acquiring calibration data recorded with the corresponding relation of the reference corner information, the reference vehicle speed information and the reference torque information.
The acquisition submodule includes:
and the searching unit is used for determining the vehicle model.
And the acquisition unit is used for acquiring calibration data corresponding to the vehicle model and recording the corresponding relation of the reference corner information, the reference vehicle speed information and the reference torque information.
And the searching submodule is used for searching the reference torque information matched with the current corner information and the current vehicle speed information from the calibration data.
And the adjusting module 303 is configured to adjust the torque of the steering wheel according to the preset reference torque information and the current torque information.
The adjusting module 303 includes:
and the adjusting submodule is used for adjusting the power-assisted current which enables the torque of the steering wheel to be changed according to the preset reference torque information and the current torque information.
The adjustment submodule, comprising:
a calculation unit for determining a torque ratio of the current torque information to the reference torque information.
An adjusting unit for adjusting an assist current that changes a torque of the steering wheel according to the torque ratio.
According to the embodiment of the invention, the torque of the vehicle steering wheel is adjusted according to the acquired current torque information and the preset reference torque information, when the steering hand force is lighter, the steering system is adjusted to complement, and when the steering hand force is heavier, the loss of automobile parts is reduced by adjusting the steering wheel, so that a driver can feel comfortable steering hand force when operating the steering wheel, the operation comfort of the driver to the vehicle is enhanced, the driving experience is improved, and the vehicle performance is improved.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
An embodiment of the present invention further provides a vehicle, including: the steering torque adjusting device can realize the processes of the embodiment of the steering torque adjusting method of the vehicle steering system when being executed, can achieve the same technical effect, and is not repeated here for avoiding repetition.
An embodiment of the present invention further provides an apparatus, including:
the method comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the embodiment of the steering torque adjusting method of the vehicle steering system is realized, the same technical effect can be achieved, and the details are not repeated here to avoid repetition.
The embodiment of the invention further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program realizes each process of the embodiment of the steering torque adjusting method for the vehicle steering system, and can achieve the same technical effect, and is not repeated here to avoid repetition.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The present invention provides a steering torque adjusting method of a vehicle steering system and a steering torque adjusting device of a vehicle steering system, which are described in detail above, and specific examples are applied herein to illustrate the principle and the embodiment of the present invention, and the above description of the embodiments is only used to help understanding the method of the present invention and the core idea thereof; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A steering torque adjustment method of a vehicle steering system, characterized in that the vehicle steering system comprises: a steering wheel, the method comprising:
when the vehicle starts or moves, acquiring current torque information and current turning angle information of a steering wheel and current speed information of the vehicle;
acquiring preset reference torque information corresponding to the current corner information and the current vehicle speed information;
and adjusting the torque of the steering wheel according to the preset reference torque information and the current torque information.
2. The method according to claim 1, wherein the acquiring preset reference torque information corresponding to the current corner information and the current vehicle speed information includes;
Acquiring calibration data recorded with the corresponding relation of reference corner information, reference vehicle speed information and reference torque information;
and searching reference torque information matched with the current corner information and the current vehicle speed information from the calibration data.
3. The method of claim 1, wherein said adjusting the torque of the steering wheel according to the preset reference torque information and the current torque information comprises:
and adjusting an assist current for changing the torque of the steering wheel according to the preset reference torque information and the current torque information.
4. The method according to claim 3, wherein the adjusting of the boosting current that causes the torque of the steering wheel to change according to the preset reference torque information and the current torque information includes:
determining a torque ratio of the current torque information to the reference torque information;
adjusting an assist current that causes a torque of the steering wheel to change according to the torque ratio.
5. The method according to claim 2, wherein the acquiring calibration data in which the correspondence relationship of the reference rotation angle information, the reference vehicle speed information, and the reference torque information is recorded includes:
Determining the model of the vehicle;
and acquiring calibration data corresponding to the vehicle model and recording the corresponding relation of the reference corner information, the reference vehicle speed information and the reference torque information.
6. A steering torque adjustment device of a vehicle steering system, characterized by comprising: a steering wheel, the apparatus comprising:
the first acquisition module is used for acquiring current torque information and current steering angle information of a steering wheel and current speed information of a vehicle when the vehicle starts or moves;
the second acquisition module is used for acquiring preset reference torque information corresponding to the current corner information and the current vehicle speed information;
and the adjusting module is used for adjusting the torque of the steering wheel according to the preset reference torque information and the current torque information.
7. The apparatus of claim 6, wherein the second obtaining module comprises:
the acquisition submodule is used for acquiring calibration data recorded with the corresponding relation of the reference corner information, the reference vehicle speed information and the reference torque information;
and the searching submodule is used for searching the reference torque information matched with the current corner information and the current vehicle speed information from the calibration data.
8. A vehicle characterized by comprising a vehicle steering system and a steering torque adjustment device according to any one of claims 6 to 7.
9. An apparatus, comprising: a processor, a memory and a computer program stored on and executable on the processor, the computer program, when executed by the processor, implementing the steps of the steering torque adjustment method of a vehicle steering system as claimed in any one of claims 1-5.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the steering torque adjustment method of a vehicle steering system according to any one of claims 1 to 5.
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Application publication date: 20201030 |