CN115366984A - Torque steering compensation method, device, vehicle and storage medium - Google Patents
Torque steering compensation method, device, vehicle and storage medium Download PDFInfo
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- CN115366984A CN115366984A CN202110560608.XA CN202110560608A CN115366984A CN 115366984 A CN115366984 A CN 115366984A CN 202110560608 A CN202110560608 A CN 202110560608A CN 115366984 A CN115366984 A CN 115366984A
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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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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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
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention belongs to the technical field of vehicles, and relates to a torque steering compensation method, which comprises the following steps: acquiring the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel; and outputting a torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel. The invention also provides a torque steering compensation device, a vehicle and a storage medium. The torque steering compensation method, the device, the vehicle and the storage medium can output the torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel, can compensate for working conditions with different road adhesion coefficients, further improve the application range of the torque steering compensation, and further improve the driving experience.
Description
Technical Field
The invention belongs to the technical field of vehicles, and particularly relates to a torque steering compensation method and device, a vehicle and a storage medium.
Background
Vehicles become indispensable vehicles for people due to more and more perfect functions. The vehicles are of various types and have different structures. Among them, an Electric Power Steering (EPS) is a Power Steering system that directly relies on a motor to provide an assist torque, and the EPS has many advantages compared to a conventional HPS (Hydraulic Power Steering). As shown in fig. 1, the EPS is composed of a steering wheel 1, a torque sensor 2, a steering column 3, a reduction gear mechanism 4, an intermediate shaft 5, a steering gear 6, a tie rod 7, a steering wheel 8, a knuckle arm 9, a pinion gear 10, a steering motor 11, an Electronic Control Unit (ECU) 12, and a power input connector 13. The steering wheel 1, the steering column 3, the intermediate shaft 5, the steering gear 6, the tie rod 7, the steering wheel 8, the knuckle arm 9 and the pinion 10 form a traditional mechanical steering system. Specifically, the entire vehicle power supply supplies power to the EPS through the power input connector 13, and includes an upper power enable signal harness, a normal-electricity positive electrode harness, and a normal-electricity negative electrode harness. The torque sensor 2 is configured to detect a driver manipulation torque. The steering motor 11 may be mounted on a steering column or a steering gear and provides an assist torque to the driver through the reduction mechanism 4. The torque control module of the electronic control unit 12 receives the torque sensor signal and the motor position sensor signal, calculates a corresponding assist torque, and outputs a corresponding target torque command to the motor control module according to the calculated assist torque, so that the motor control module outputs a corresponding current to drive the steering motor 11 to operate.
As shown in fig. 2, in the conventional vehicle, when the vehicle is accelerated suddenly or the vehicle is accelerated at full throttle, the engine torque is output through the differential, and the lengths of the left and right output shafts are different, so that the driving forces transmitted from the torque to the left and right steering wheels are different, and the steering wheel is rotated to one side in a deviated manner.
In view of the above problems, those skilled in the art have sought solutions.
The foregoing description is provided for general background information and is not admitted to be prior art.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a torque steering compensation method, a torque steering compensation device, a vehicle and a computer readable storage medium, which can compensate for the working conditions of different road adhesion coefficients, further improve the application range of torque steering compensation, and further improve the driving experience.
The technical problem to be solved by the invention is realized by adopting the following technical scheme:
the invention provides a torque steering compensation method, which comprises the following steps: acquiring the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel; and outputting a torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel.
Preferably, the step of outputting the torque steer compensation value based on the road surface adhesion coefficient of the left side wheel and the road surface adhesion coefficient of the right side wheel includes: acquiring a difference value between the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel; obtaining a first gain coefficient according to the product of the difference value and a reference value; and acquiring a first torque steering compensation torque according to the first gain coefficient and the current vehicle speed.
Preferably, the step of obtaining the first torque steering compensation torque according to the first gain coefficient and the current vehicle speed includes: obtaining an engine output torque, and obtaining an original torque steering compensation torque according to the engine output torque and the current vehicle speed; acquiring correction according to the current vehicle speed and the first gain coefficient; and correcting the original torque steering compensation torque through the correction amount to obtain the first torque steering compensation torque.
Preferably, the step of outputting the torque steer compensation value based on the road adhesion coefficient of the left side wheel and the road adhesion coefficient of the right side wheel further comprises: acquiring a steering wheel torque signal; acquiring a second gain coefficient according to the hand feeling style setting signal and the steering wheel torque signal; multiplying the second gain factor by the first torque steering compensation torque to obtain a final torque steering compensation torque; and outputting the final torque steering compensation torque as a torque steering compensation value.
Preferably, the step of obtaining the road adhesion coefficients of the left and right wheels comprises: acquiring an engine torque signal, a steering wheel angle signal and a steering wheel torque signal; and entering a torque steering compensation mode when the engine torque signal, the steering wheel angle signal and the steering wheel torque signal meet preset conditions.
The invention also provides a torque steering compensation device, which comprises a processor and a memory, wherein the processor comprises the following components: the processor is configured to execute the computer program stored in the memory to perform the above-described torque steer compensation method steps.
The invention also provides a vehicle comprising the torque steering compensation device.
Preferably, the vehicle further includes: basic helping hand module. The basic power assisting module is connected with the torque steering compensation device and used for receiving the torque steering compensation value and outputting basic power assisting information according to the torque steering compensation value and a steering wheel torque signal.
Preferably, the vehicle further includes: a motor control module; and the motor control module is connected with the basic power assisting module and used for outputting a motor control instruction according to the basic power assisting information.
The present invention also provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the torque steering compensation method described above.
The torque steering compensation method, the device, the vehicle and the storage medium can output the torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel, can compensate for working conditions with different road adhesion coefficients, further improve the application range of the torque steering compensation, and further improve the driving experience.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are specifically described in detail with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a conventional EPS system;
FIG. 2 is a schematic illustration of the torque steering forming principle;
FIG. 3 is a schematic flow chart of a torque steering compensation method according to a first embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating obtaining a first gain factor in the torque steering compensation method shown in FIG. 3 according to an embodiment of the present invention;
fig. 5 is a schematic diagram of the relationship between the input and the output of the calibration Map1 shown in fig. 4 according to an embodiment of the present invention.
FIG. 6 is a schematic diagram of obtaining a first torque steer compensation torque according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a relationship between the input and the output of the calibration Map2 shown in fig. 6 according to an embodiment of the invention.
Fig. 8 is a schematic diagram of the relationship between the input and the output of the calibration Map3 shown in fig. 6 according to an embodiment of the present invention.
Fig. 9 is a schematic flow chart of a torque steering compensation method according to a second embodiment of the present invention.
Fig. 10 is a schematic diagram of step S96 shown in fig. 9 according to an embodiment of the present invention.
Fig. 11 is a schematic diagram of the relationship between the input and the output of the calibration Map4 shown in fig. 10 according to an embodiment of the present invention.
Fig. 12 is a schematic block diagram of a part of a vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the described embodiments are merely a few embodiments of the 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.
The following describes embodiments of the present invention in detail with reference to the accompanying drawings.
First embodiment
Fig. 3 is a schematic flowchart of a torque steering compensation method according to a first embodiment of the invention. As shown in fig. 3, the torque steering compensation method provided by the present embodiment includes the following steps:
step S31: acquiring the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel;
step S32: and outputting a torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel.
When the vehicle is a front drive vehicle, the left wheel is a left front wheel, and the right wheel is a right front wheel. When the vehicle is a multi-drive vehicle such as a four-drive vehicle, the left side wheels include a left front wheel and a left rear wheel, and the right side wheels include a right front wheel and a right rear wheel.
In one embodiment, the road adhesion coefficient may be, but is not limited to, obtained by image recognition of real-time image information corresponding to the wheel. Specifically, the real-time image information corresponding to the wheel may be acquired, but is not limited to, by a camera provided on the vehicle.
In one embodiment, step S32: outputting a torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel, comprising:
acquiring a difference value between the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel;
obtaining a first gain coefficient according to the product of the difference value and the reference value;
and acquiring a first torque steering compensation torque according to the first gain coefficient and the current vehicle speed.
In one embodiment, the step of obtaining the first gain factor according to the product of the difference and the reference value is shown in fig. 4 and includes:
the difference value of the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel is subjected to low-pass filtering by a low-pass filter LPF to filter noise and obtain a filtered difference value, then an absolute value is obtained for the filtered difference value by an absolute value function Abs, a difference value sign is obtained for the filtered difference value by a sign function Sgn, a result obtained by multiplying the absolute value by a reference value ref is used as an input of a calibration Map1, and then the output of the calibration Map1 is multiplied by the difference value sign to obtain a first Gain coefficient Gain1. Specifically, the calibration Map1 may be preset by, but not limited to, a user or a system, as shown in fig. 5, which is a schematic diagram of a relationship between an input and an output of the calibration Map1 according to an embodiment of the present invention.
In one embodiment, the step of obtaining the first torque steering compensation torque according to the first gain factor and the current vehicle speed may include, but is not limited to:
obtaining an engine output torque, and obtaining an original torque steering compensation torque according to the engine output torque and the current vehicle speed;
acquiring correction according to the current vehicle speed and a first gain coefficient;
and correcting the original torque steering compensation torque through the correction quantity to obtain a first torque steering compensation torque.
Specifically, referring to fig. 6, fig. 6 is a schematic diagram illustrating a principle of obtaining a first torque steering compensation torque according to an embodiment of the present invention, and as shown in fig. 6, an engine output torque and a current vehicle speed are used as inputs of a calibration Map2 to obtain an original torque steering compensation torque, and the current vehicle speed and a first Gain coefficient Gain1 are used as inputs of a calibration Map3 to obtain a correction amount, and then the correction amount and the original torque steering compensation torque are superimposed to obtain the first torque steering compensation torque.
Further, in an embodiment, the torque steer compensation method further comprises outputting the first torque steer compensation torque while the ON/OFF switch is in the ON state. Specifically, the ON/OFF switch may be, but not limited to, turned ON upon receiving the Enable signal Enable when the engine torque signal, the steering wheel angle signal, and the steering wheel torque signal satisfy a preset condition, and turned OFF upon receiving the exit signal Disable when the engine torque signal, the steering wheel angle signal, and the steering wheel torque signal satisfy a preset condition.
The calibration Map2 and the calibration Map3 may be preset by a user or a system, but are not limited thereto. Fig. 7 is a schematic diagram of a relationship between the input and the output of the calibration Map2 shown in fig. 6 according to an embodiment of the invention. Fig. 8 is a schematic diagram of the relationship between the input and the output of the calibration Map3 shown in fig. 6 according to an embodiment of the present invention.
In the embodiment, the correction amount is obtained according to the current vehicle speed and the first gain coefficient, and the original torque steering compensation torque is corrected through the correction amount so as to obtain the first torque steering compensation torque, and then the first torque steering compensation torque is output as the torque steering compensation value, so that the accurate compensation can be performed according to the working conditions of different road adhesion coefficients, the use range of the torque steering compensation is further accurately perfected, and the driving experience can be further improved.
Second embodiment
Fig. 9 is a schematic flow chart of a torque steering compensation method according to a second embodiment of the present invention. As shown in fig. 9, the torque steering compensation method provided by the present embodiment includes the following steps:
step S91: acquiring the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel;
step S92: acquiring a difference value between the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel;
step S93: obtaining a first gain coefficient according to the product of the difference value and the reference value;
step S94: acquiring a first torque steering compensation torque according to the first gain coefficient and the current vehicle speed;
step S95: acquiring a steering wheel torque signal;
step S96: setting a signal and a steering wheel torque signal according to the hand feeling style to obtain a second gain coefficient;
step S97: multiplying the second gain coefficient by the first torque steering compensation torque to obtain a final torque steering compensation torque;
step S98: and outputting the final torque steering compensation torque as a torque steering compensation value.
The obtaining of the first gain coefficient and the obtaining of the second gain coefficient are not limited to the order, and the obtaining of the second gain coefficient may be performed first and then the first gain coefficient, or the first gain coefficient and the second gain coefficient may be obtained simultaneously, and so on.
Specifically, as shown in fig. 10, step S96: and acquiring a second Gain coefficient according to the hand feeling style setting signal and the steering wheel torque signal, wherein the step of low-pass filtering the steering wheel torque signal to perform noise processing is performed, and the steering wheel torque signal and the hand feeling style setting signal after the low-pass filtering are used as the input of the calibration Map4 to acquire a second Gain coefficient Gain2. The calibration Map4 may be preset by a user or a system, but is not limited to be preset by the user, as shown in fig. 11, when the steering wheel torque signal is greater than the preset value, the second Gain coefficient Gain2 decreases as the steering wheel torque signal becomes larger, and the magnitude of the decreased slope is determined by the hand feeling style setting signal. Wherein the feel style setting signal may include, but is not limited to, sports, standard and comfort.
According to the embodiment, the second gain coefficient is obtained according to the hand feeling style setting signal and the steering wheel torque signal, and the second gain coefficient is multiplied by the first torque steering compensation moment to obtain the final torque steering compensation moment, namely the torque steering compensation value, so that the hand feeling experience of a driver is improved while the accurate compensation can be performed according to the working conditions of different road adhesion coefficients.
The present invention also provides a torque steering compensation device, at least comprising: a processor and a memory, wherein the processor is configured to execute the computer program stored in the memory to perform the steps of the torque steering compensation method described above.
The memory may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read-Only Memory (EPROM), an Electrically Erasable Programmable Read-Only Memory (EEPROM), a magnetic random access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), synchronous Static Random Access Memory (SSRAM), dynamic Random Access Memory (DRAM), synchronous Dynamic Random Access Memory (SDRAM), double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), enhanced Synchronous Dynamic Random Access Memory (ESDRAM), enhanced Synchronous Dynamic Random Access Memory (Enhanced DRAM), synchronous Dynamic Random Access Memory (SLDRAM), direct Memory (DRmb Access), and Random Access Memory (DRAM).
The invention also provides a vehicle comprising the torque steering compensation device.
As shown in fig. 12, in one embodiment, the vehicle includes a torque steering compensation device. Specifically, the torque steering compensation device comprises a different road surface coefficient judgment part, a TSC enabling judgment part, a TSC output value calibration part, a TSC exit judgment part and a TSC hand feeling improvement part. Specifically, the different road surface coefficient determination section is configured to obtain a first Gain coefficient Gain from a difference between the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel. The TSC output numerical value calibration part acquires a first torque steering compensation torque according to the first gain coefficient and the current vehicle speed, outputs the first torque steering compensation torque when receiving the Enable signal Enable output by the TSC Enable judgment part, and does not output the first torque steering compensation torque when receiving the quit signal Disable output by the TSC quit judgment part. The TSC hand feeling improving part outputs a second Gain coefficient Gain according to the hand feeling style setting signal and the steering wheel torque signal, so that the torque steering compensation device outputs a final torque steering compensation moment, namely a torque steering compensation value according to the product of the second Gain coefficient and the first torque steering compensation moment.
In one embodiment, the vehicle further comprises: basic helping hand module. The basic power assisting module is connected with the torque steering compensation device and used for receiving the torque steering compensation value and outputting basic power assisting information according to the torque steering compensation value and a steering wheel torque signal.
In one embodiment, the vehicle further comprises: the device comprises a correcting module, a damping module and a high-frequency gain module.
In one embodiment, the vehicle further comprises: and a motor control module. The motor control module is connected with the basic power assisting module and used for outputting a motor control instruction according to the basic power assisting information. In one embodiment, the motor control module is further connected to the aligning module, the damping module, and the high-frequency gain module, and configured to generate a motor control command according to the outputs of the basic power module, the aligning module, the damping module, and the high-frequency gain module.
The invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the torque steer compensation method as described in the first embodiment.
In an embodiment, the computer readable storage medium provided by the embodiment may include any entity or device capable of carrying computer program code, a recording medium, such as ROM, RAM, magnetic disk, optical disk, flash memory, and the like.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. Without further limitation, a reference to an element identified by the phrase "comprising one of 82308230a of 82303030, or an element defined by the phrase" comprising another identical element does not exclude the presence of the same element in a process, method, article, or apparatus comprising the element, and elements having the same designation may or may not have the same meaning in different embodiments of the application, the particular meaning being determined by its interpretation in the particular embodiment or by further reference to the context of the particular embodiment. As used herein, the meaning of "a plurality" or "a plurality" is two or more unless otherwise specified.
It should be understood that, although the steps in the flowcharts in the embodiments of the present application are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or partially with other steps or at least some of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the steps of implementing the above method embodiments may be implemented by hardware associated with program instructions, and the program may be stored in a computer readable storage medium, and when executed, performs the steps including the above method embodiments. The foregoing storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A torque steering compensation method, comprising the steps of:
acquiring the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel;
and outputting a torque steering compensation value according to the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel.
2. The torque steer compensation method of claim 1, wherein the step of outputting the torque steer compensation value based on the road adhesion coefficients of the left and right wheels comprises:
acquiring a difference value between the road adhesion coefficient of the left wheel and the road adhesion coefficient of the right wheel;
obtaining a first gain coefficient according to the product of the difference value and a reference value;
and acquiring a first torque steering compensation torque according to the first gain coefficient and the current vehicle speed.
3. The torque steer compensation method of claim 2, wherein the step of obtaining a first torque steer compensation torque based on the first gain factor and a current vehicle speed comprises:
obtaining an engine output torque, and obtaining an original torque steering compensation torque according to the engine output torque and the current vehicle speed;
acquiring correction according to the current vehicle speed and the first gain coefficient;
and correcting the original torque steering compensation torque through the correction amount to obtain the first torque steering compensation torque.
4. The torque steer compensation method according to claim 2 or 3, wherein the step of outputting the torque steer compensation value based on the road adhesion coefficients of the left and right wheels further comprises:
acquiring a steering wheel torque signal;
acquiring a second gain coefficient according to the hand feeling style setting signal and the steering wheel torque signal;
multiplying the second gain factor by the first torque steer compensation torque to obtain a final torque steer compensation torque;
and outputting the final torque steering compensation torque as a torque steering compensation value.
5. The torque steering compensation method according to claim 1, wherein the step of obtaining the road adhesion coefficients of the left and right wheels is preceded by the step of:
acquiring an engine torque signal, a steering wheel angle signal and a steering wheel torque signal;
and when the engine torque signal, the steering wheel angle signal and the steering wheel torque signal meet preset conditions, entering a torque steering compensation mode.
6. A torque steering compensation apparatus, comprising a processor and a memory:
the processor is configured to execute a computer program stored in the memory to implement the torque steering compensation method steps of any of claims 1 to 5.
7. A vehicle comprising the torque steering compensation apparatus of claim 6.
8. The vehicle of claim 7, further comprising: a basic booster module;
the basic power assisting module is connected with the torque steering compensation device and used for receiving the torque steering compensation value and outputting basic power assisting information according to the torque steering compensation value and a steering wheel torque signal.
9. The vehicle of claim 8, further comprising: a motor control module;
and the motor control module is connected with the basic power assisting module and used for outputting a motor control instruction according to the basic power assisting information.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which, when executed by a processor, carries out the steps of the torque steering compensation method according to any one of claims 1 to 6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117446010A (en) * | 2023-12-21 | 2024-01-26 | 中国第一汽车股份有限公司 | Vehicle torque compensation method, system, vehicle and storage medium |
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