CN115366984B - 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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- CN115366984B CN115366984B CN202110560608.XA CN202110560608A CN115366984B CN 115366984 B CN115366984 B CN 115366984B CN 202110560608 A CN202110560608 A CN 202110560608A CN 115366984 B CN115366984 B CN 115366984B
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application belongs to the technical field of vehicles, and relates to a torque steering compensation method, which comprises the following steps: acquiring the road surface attachment coefficient of the left wheel and the road surface attachment coefficient of the right wheel; and outputting a torque steering compensation value according to the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel. The application also provides a torque steering compensation device, a vehicle and a storage medium. According to the torque steering compensation method, the device, the vehicle and the storage medium, the torque steering compensation value can be output according to the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel, the working conditions of different road surface adhesion coefficients can be compensated, the application range of the torque steering compensation is further improved, and therefore driving experience is further improved.
Description
Technical Field
The application 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 transportation means for people due to the fact that functions of the vehicles are more and more perfect. The types of vehicles are various, but the structures are different. Among them, an electric power steering system (Electric Power Steering, EPS) is a power steering system that directly relies on a motor to provide assist torque, and EPS has many advantages over the conventional hydraulic power steering system 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 speed reducing mechanism 4, an intermediate shaft 5, a steering 6, a tie rod 7, a steered wheel 8, a knuckle arm 9, a pinion 10, a steering motor 11, an electronic control unit (Electronic Control Unit, ECU) 12, and a power input connector 13. The steering wheel 1, steering column 3, intermediate shaft 5, steering gear 6, tie rod 7, steering wheel 8, knuckle arm 9, pinion 10 constitute a conventional mechanical steering system. Specifically, the whole vehicle power supply supplies power to the EPS through the power input connector 13, and comprises a power-on enabling signal wire harness, a normal-electricity positive wire harness and a normal-electricity negative wire harness. The torque sensor 2 is configured to detect a driver's manipulation torque. The steering motor 11 may be mounted on a steering column or a steering gear, and provides a assisting 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 power-assisted torque, and outputs a corresponding target torque command to the motor control module according to the calculated power-assisted torque, so that the motor control module outputs a corresponding current to drive the steering motor 11 to work.
As shown in fig. 2, when the conventional vehicle is accelerated rapidly or accelerated at full throttle, the torque of the engine is output through the differential mechanism, and the driving forces transmitted from the torque to the left and right steering wheels are inconsistent due to different lengths of the left and right output shafts, so that the steering wheel is offset and rotated to one side.
In view of the above problems, those skilled in the art have sought solutions.
The foregoing description is provided for general background information and does not necessarily constitute prior art.
Disclosure of Invention
The technical problem solved by the application 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 surface attachment coefficients, further improve the application range of the torque steering compensation, and further improve the driving experience.
The application solves the technical problems by adopting the following technical scheme:
the application provides a torque steering compensation method, which comprises the following steps: acquiring the road surface attachment coefficient of the left wheel and the road surface attachment coefficient of the right wheel; and outputting a torque steering compensation value according to the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel.
Preferably, the step of outputting the torque steering compensation value according to the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel includes: obtaining 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 moment 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: acquiring an engine output torque, and acquiring an original torque steering compensation torque according to the engine output torque and the current vehicle speed; acquiring a correction amount according to the current vehicle speed and the first gain coefficient; and correcting the original torque steering compensation moment through the correction amount to obtain the first torque steering compensation moment.
Preferably, the step of outputting the torque steering compensation value according to the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right 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 coefficient 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, before the step of obtaining the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel, the method comprises: 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.
The application also provides a torque steering compensation device, which comprises a processor and a memory: the processor is configured to execute the steps of the torque steer compensation method described above with a computer program stored in the memory.
The application also provides a vehicle comprising the torque steering compensation device.
Preferably, the vehicle further comprises: and a basic power assisting module. The basic assistance module is connected with the torque steering compensation device and is used for receiving the torque steering compensation value and outputting basic assistance information according to the torque steering compensation value and a steering wheel torque signal.
Preferably, the vehicle further comprises: a motor control module; the motor control module is connected with the basic assistance module and is used for outputting a motor control instruction according to the basic assistance information.
The present application also provides a computer readable storage medium storing a computer program which when executed by a processor implements the steps of the torque steer compensation method described above.
According to the torque steering compensation method, the device, the vehicle and the storage medium, the torque steering compensation value can be output according to the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel, the working conditions of different road surface adhesion coefficients can be compensated, the application range of the torque steering compensation is further improved, and therefore driving experience is further improved.
The foregoing description is only an overview of the present application, and is intended to be implemented in accordance with the teachings of the present application, as well as the preferred embodiments thereof, together with the following detailed description of the application, given by way of illustration only, together with the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of a conventional EPS system;
FIG. 2 is a schematic illustration of the formation principle of torque steering;
FIG. 3 is a flow chart illustrating a torque steer compensation method according to a first embodiment of the present application;
FIG. 4 is a schematic diagram illustrating a first gain factor obtained in the torque steer compensation method illustrated in FIG. 3 according to an embodiment of the present application;
FIG. 5 is a schematic diagram showing the relationship between input and output of the calibration Map1 shown in FIG. 4 according to an embodiment of the present application.
FIG. 6 is a schematic diagram of a first torque steering compensation torque according to an embodiment of the present application;
FIG. 7 is a schematic diagram showing the relationship between input and output of the calibration Map2 shown in FIG. 6 according to an embodiment of the present application.
FIG. 8 is a schematic diagram illustrating the relationship between input and output of the calibration Map3 shown in FIG. 6 according to an embodiment of the present application.
Fig. 9 is a flowchart of a torque steering compensation method according to a second embodiment of the present application.
Fig. 10 is a schematic diagram of step S96 shown in fig. 9 according to an embodiment of the present application.
FIG. 11 is a schematic diagram showing the relationship between input and output of the calibration Map4 shown in FIG. 10 according to an embodiment of the present application.
Fig. 12 is a schematic view of a portion of a module of a vehicle according to an embodiment of the application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the described embodiments are merely some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
First embodiment
Fig. 3 is a flowchart illustrating a torque steering compensation method according to a first embodiment of the present application. As shown in fig. 3, the torque steering compensation method provided in this embodiment includes the following steps:
step S31: acquiring the road surface attachment coefficient of the left wheel and the road surface attachment coefficient of the right wheel;
step S32: and outputting a torque steering compensation value according to the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel.
When the vehicle is a front drive vehicle, the left side wheel is a left front wheel, and the right side 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 wheels. Specifically, the real-time image information corresponding to the wheels may be acquired by, but not limited to, a camera provided on the vehicle.
In one embodiment, step S32: outputting a torque steering compensation value according to the road surface attachment coefficient of the left wheel and the road surface attachment coefficient of the right wheel, comprising:
obtaining 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 the reference value;
and acquiring a first torque steering compensation moment 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 value and the reference value is shown in fig. 4, and includes:
and obtaining a filtered difference value after low-pass filtering noise is filtered from the difference value between the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel through a low-pass filter LPF, then taking an absolute value of the filtered difference value through an absolute value function Abs, obtaining a difference value symbol of the filtered difference value through a sign taking function Sgn, taking the result of multiplying the absolute value by a reference value Life as the input of a calibration Map1, and multiplying the output of the calibration Map1 by the difference value symbol to obtain a first Gain coefficient Gain1. Specifically, the calibration Map1 may be preset by a user or a system, as shown in fig. 5, which is a schematic diagram of the relationship between input and output of the calibration Map1 according to an embodiment of the present application.
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:
acquiring an engine output torque, and acquiring 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 a first torque steering compensation torque.
Specifically, referring to fig. 6, fig. 6 is a schematic diagram of a principle of obtaining a first torque steering compensation torque according to an embodiment of the present application, 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 a current vehicle speed and a first Gain factor 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.
In addition, in an embodiment, the torque steer compensation method further comprises outputting a first torque steer compensation torque when the ON/OFF switch is in an ON state. Specifically, the ON/OFF switch may be turned ON by receiving an 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 by receiving an 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 to. FIG. 7 is a schematic diagram showing the relationship between input and output of the calibration Map2 shown in FIG. 6 according to an embodiment of the present application. FIG. 8 is a schematic diagram illustrating the relationship between input and output of the calibration Map3 shown in FIG. 6 according to an embodiment of the present application.
According to the embodiment, the correction amount is obtained according to the current vehicle speed and the first gain coefficient, the original torque steering compensation torque is corrected through the correction amount, so that after the first torque steering compensation torque is obtained, the first torque steering compensation torque is output as the torque steering compensation value, therefore, the working conditions of different road surface attachment coefficients can be accurately compensated, the application range of the torque steering compensation is further accurately improved, and the driving experience can be further improved.
Second embodiment
Fig. 9 is a flowchart of a torque steering compensation method according to a second embodiment of the present application. As shown in fig. 9, the torque steering compensation method provided in this embodiment includes the following steps:
step S91: acquiring the road surface attachment coefficient of the left wheel and the road surface attachment coefficient of the right wheel;
step S92: obtaining 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 moment according to the first gain coefficient and the current vehicle speed;
step S95: acquiring a steering wheel torque signal;
step S96: acquiring a second gain coefficient according to the hand feeling style setting signal and the steering wheel torque signal;
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 first gain coefficient and the second gain coefficient are not limited to the sequence, the second gain coefficient may be acquired first, then the first gain coefficient may be acquired, or the first gain coefficient and the second gain coefficient may be acquired simultaneously, etc., and in addition, the numbers of all the steps are not used to limit the sequence.
Specifically, as shown in fig. 10, step S96: obtaining the second Gain coefficient according to the hand feeling style setting signal and the steering wheel torque signal comprises performing low-pass filtering on the steering wheel torque signal to perform noise processing, and taking the steering wheel torque signal after the low-pass filtering and the hand feeling style setting signal as input of a calibration Map4 to obtain the second Gain coefficient Gain2. The calibration Map4 may be preset by a user or a system, as shown in fig. 11, when the steering wheel torque signal is greater than a preset value, the second Gain factor Gain2 may decrease as the steering wheel torque signal becomes greater, and the decreasing slope is determined by the hand feeling style setting signal. The feel style setting signal may include, but is not limited to, sports, standard, and comfort, among others.
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 torque to obtain the final torque steering compensation torque, namely the torque steering compensation value, so that the hand feeling experience of a driver can be improved while the accurate compensation can be performed according to the working conditions of different road surface attachment coefficients.
The application also provides a torque steering compensation device, which at least comprises: the processor is used for executing the computer program stored in the memory to carry out the steps of the torque steering compensation method.
The memory may be volatile memory or nonvolatile memory, and may include both volatile and nonvolatile memory. Wherein the nonvolatile Memory may be Read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable programmable Read Only Memory (EEPROM, electrically Erasable Programmable Read-Only Memory), magnetic random access Memory (FRAM, ferromagnetic random access Memory), flash Memory (Flash Memory), magnetic surface Memory, optical disk, or compact disk Read Only Memory (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be random access memory (RAM, random Access Memory), which acts as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as static random access memory (SRAM, static Random Access Memory), synchronous static random access memory (SSRAM, synchronous Static Random Access Memory), dynamic random access memory (DRAM, dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (ddr SDRAM, double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, syncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, direct Rambus Random Access Memory).
The application also provides a vehicle comprising the torque steering compensation device.
In one embodiment, as shown in fig. 12, the vehicle includes a torque steer compensation device. Specifically, the torque steering compensation device comprises a different road surface coefficient judging part, a TSC enabling judging part, a TSC output value calibrating part, a TSC exiting judging part and a TSC hand feeling improving part. Specifically, the different road surface coefficient determination section is configured to obtain the first Gain coefficient Gain based on 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 value calibration part obtains a first torque steering compensation moment according to the first gain coefficient and the current vehicle speed, outputs the first torque steering compensation moment when receiving an enabling signal Enable output by the TSC enabling judgment part, and does not output the first torque steering compensation moment when receiving an exit signal Disable output by the TSC exit 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 torque, namely a torque steering compensation value according to the product of the second Gain coefficient and the first torque steering compensation torque.
In one embodiment, the vehicle further comprises: and a basic power assisting module. The basic power-assisted module is connected with the torque steering compensation device and is used for receiving the torque steering compensation value and outputting basic power-assisted information according to the torque steering compensation value and the steering wheel torque signal.
In one embodiment, the vehicle further comprises: the device comprises a return 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 assistance module and is used for outputting motor control instructions according to basic assistance information. In an embodiment, the motor control module is further connected to the centering module, the damping module, and the high-frequency gain module, and is configured to generate a motor control instruction according to the outputs of the basic power assisting module, the centering module, the damping module, and the high-frequency gain module.
The present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the torque steer compensation method as described in the first embodiment.
In an implementation, the computer readable storage medium provided by the present embodiment may include any entity or device capable of carrying computer program code, a recording medium, e.g., ROM, RAM, magnetic discs, optical discs, flash memories, etc.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
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, the element defined by the phrase "comprising one … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element, and furthermore, elements having the same name in different embodiments of the application may have the same meaning or may have different meanings, the particular meaning of which is to be determined by its interpretation in this particular embodiment or by further combining the context of this particular embodiment. In this document, unless otherwise indicated, the meaning of "a plurality", "a number" is two or more.
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, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order 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 stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily occurring in sequence, but may be performed alternately or alternately with other steps or at least a portion of the other steps or stages.
It will be appreciated by those of ordinary skill in the art that all or part of the steps of implementing the above-described method embodiments may be implemented by hardware associated with program instructions, and the above-described program may be stored in a computer readable storage medium, which when executed, performs the steps comprising the above-described method embodiments. The aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (9)
1. A torque steer compensation method, comprising the steps of:
obtaining the road surface attachment coefficient of the left wheel and the road surface attachment coefficient of the right wheel;
outputting a torque steering compensation value according to the road surface attachment coefficient of the left wheel and the road surface attachment coefficient of the right wheel;
the step of outputting the torque steering compensation value according to the road surface attachment coefficient of the left wheel and the road surface attachment coefficient of the right wheel comprises the following steps:
obtaining 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 moment according to the first gain coefficient and the current vehicle speed.
2. The torque steering compensation method of claim 1 wherein the step of obtaining a first torque steering compensation torque based on the first gain factor and a current vehicle speed comprises:
acquiring an engine output torque, and acquiring an original torque steering compensation torque according to the engine output torque and the current vehicle speed;
acquiring a correction amount according to the current vehicle speed and the first gain coefficient;
and correcting the original torque steering compensation moment through the correction amount to obtain the first torque steering compensation moment.
3. The torque steering compensation method according to claim 1 or 2, wherein the step of outputting the torque steering compensation value based on the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right 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 coefficient 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.
4. The torque steer compensation method according to claim 1, wherein before the step of obtaining the road surface adhesion coefficient of the left wheel and the road surface adhesion coefficient of the right wheel, comprising:
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.
5. A torque steer compensation device comprising a processor and a memory:
the processor is configured to execute a computer program stored in the memory to implement the torque steer compensation method steps of any one of claims 1 to 4.
6. A vehicle comprising the torque steer compensation device according to claim 5.
7. The vehicle of claim 6, wherein the vehicle further comprises: a basic power module;
the basic assistance module is connected with the torque steering compensation device and is used for receiving the torque steering compensation value and outputting basic assistance information according to the torque steering compensation value and a steering wheel torque signal.
8. The vehicle of claim 7, characterized in that the vehicle further comprises: a motor control module;
the motor control module is connected with the basic assistance module and is used for outputting a motor control instruction according to the basic assistance information.
9. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the steps of the torque steer compensation method according to any of claims 1 to 4.
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| CN202110560608.XA CN115366984B (en) | 2021-05-21 | 2021-05-21 | Torque steering compensation method, device, vehicle and storage medium |
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| CN202110560608.XA CN115366984B (en) | 2021-05-21 | 2021-05-21 | Torque steering compensation method, device, vehicle and storage medium |
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