CN116080651A - Steering torque compensation method, system, electronic device and readable storage medium - Google Patents
Steering torque compensation method, system, electronic device and readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18145—Cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The application discloses a steering torque compensation method, a steering torque compensation system, electronic equipment and a readable storage medium. The steering control moment compensation method comprises the steps of acquiring first driving data of a vehicle under the conditions of different loads, different speeds and/or different accelerations; collecting second driving data of the vehicle in the actual driving process; obtaining a torque compensation value of the vehicle according to the first driving data and the second driving data; and compensating the steering torque of the vehicle according to the torque compensation value. The steering control moment can be simply, efficiently and accurately compensated, and driving experience is improved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a steering torque compensation method, a system, an electronic device, and a readable storage medium.
Background
With the development of intelligent electric automobile technology, automobiles develop towards electrification, automation and intellectualization, and higher requirements are put forward on the perceived quality of the automobiles. Steering is used as a conventional use scene, and the stability of steering control moment can greatly improve perceived quality. The steering torque is affected by different loads, especially when the loads are different, the distribution is different, and the axle load is transferred in the vehicle motion state.
However, the applicant found from the search that the prior art has at least the following problems: the analysis of the influence of the load difference of the automobile and the axle load transfer in the automobile movement process on the steering control moment and the research of corresponding compensation of the steering control moment are lacking. Therefore, developing a simple, efficient and accurate steering torque compensation method is a technical problem to be solved.
Disclosure of Invention
The invention aims to provide a steering control moment compensation method, a system, electronic equipment and a readable storage medium, which can simply, efficiently and accurately compensate the steering control moment and improve driving experience.
To achieve the above object:
in a first aspect, an embodiment of the present application provides a steering torque compensation method, including:
acquiring first driving data of the vehicle based on different loads, different speeds and/or different accelerations;
collecting second driving data of the vehicle in the actual driving process;
obtaining a torque compensation value of the vehicle according to the first driving data and the second driving data;
and compensating the steering torque of the vehicle according to the torque compensation value.
Optionally, the first driving data and the second driving data include one or more of gear information, speed information, acceleration information, height information of front and rear wheels, steering torque information of front and rear wheels.
Optionally, the acquiring the first driving data of the vehicle based on different loads, different speeds and/or different accelerations comprises:
controlling the vehicles to run under different loads and different speeds, and respectively acquiring multiple groups of first running data of the vehicles; and/or the number of the groups of groups,
and controlling the vehicle to run under different loads and different accelerations, and respectively acquiring multiple groups of first running data of the vehicle.
Optionally, the obtaining the torque compensation value of the vehicle according to the first driving data and the second driving data includes:
forming a torque compensation database according to the first driving data;
and obtaining a torque compensation value of the vehicle according to the torque compensation database and the second driving data.
Optionally, the forming a torque compensation database according to the first driving data includes:
comparing the first driving data with the calibration driving data of the vehicle to obtain a steering control moment compensation value;
and obtaining the torque compensation database according to the first driving data and the steering control torque compensation value.
Optionally, the obtaining the torque compensation value of the vehicle according to the torque compensation database and the second driving data includes:
and searching a torque compensation value matched with the second driving data in a torque compensation database.
Optionally, the steering torque compensation for the vehicle according to the torque compensation value includes:
obtaining current signal values corresponding to front and rear wheel steering motors according to the torque compensation values of the front and rear wheels;
and respectively applying corresponding current signal values to the front and rear wheel steering motors so as to compensate steering torque of the vehicle.
In a second aspect, the present application further provides a steering torque compensation system, including a data acquisition module, a data analysis module, and a steering compensation module;
the data acquisition module is used for acquiring first running data of the vehicle based on different loads, different speeds and/or different accelerations, and acquiring second running data of the vehicle in the actual running process;
the data analysis module is used for obtaining a torque compensation value of the vehicle according to the first running database and the second running data;
the steering compensation module is used for compensating steering control moment of the vehicle according to the torque compensation value.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory storing a computer program, which when run by the processor, implements the steps of the steering torque compensation method described above.
In a fourth aspect, embodiments of the present application provide a readable storage medium having stored therein a computer program which, when executed by a processor, implements the steps of the steering torque compensation method described above.
In the steering torque compensation method, the system, the electronic equipment and the readable storage medium, first driving data of a vehicle are obtained based on different loads, different speeds and/or different acceleration conditions; collecting second driving data of the vehicle in the actual driving process; obtaining a torque compensation value of the vehicle according to the first driving data and the second driving data; and compensating the steering torque of the vehicle according to the torque compensation value. The steering control moment can be simply, efficiently and accurately compensated, and driving experience is improved.
Drawings
FIG. 1 is a flow chart of a method for compensating steering torque according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of forming a torque compensation database according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of steering torque compensation according to an embodiment of the present invention;
FIG. 4 is a flow chart of another steering torque compensation provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a steering torque compensation system according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of electronic devices and methods that are consistent with aspects of the present application as detailed in the accompanying claims.
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 electronic device 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 electronic device. 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 electronic device comprising such element, and furthermore, elements having the same name in different embodiments of the present 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 further in connection with the context of this particular embodiment.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context. Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including" specify the presence of stated features, steps, operations, elements, components, items, categories, and/or groups, but do not preclude the presence, presence or addition of one or more other features, steps, operations, elements, components, items, categories, and/or groups. The terms "or" and/or "as used herein are to be construed as inclusive, or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a, A is as follows; b, a step of preparing a composite material; c, performing operation; a and B; a and C; b and C; A. b and C). An exception to this definition will occur only when a combination of elements, functions, steps or operations are in some way inherently mutually exclusive.
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 should be noted that, in this document, step numbers such as S201 and S202 are adopted, and the purpose of the present invention is to more clearly and briefly describe the corresponding content, and not to constitute a substantial limitation on the sequence, and those skilled in the art may execute S202 before S201 in the implementation, which are all within the scope of protection of the present application.
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present application, and are not of specific significance per se. Thus, "module," "component," or "unit" may be used in combination.
First embodiment
Referring to fig. 1, a steering torque compensation method provided in an embodiment of the present application includes the following steps:
step S201: first travel data of the vehicle is acquired based on different loads, different speeds and/or different acceleration conditions.
Step S202: second driving data of the vehicle in the actual driving process are collected.
The first driving data and the second driving data comprise one or more of gear information, speed information, acceleration information, height information of front wheels and rear wheels and steering torque information of the front wheels and the rear wheels.
As one of the embodiments, the vehicles can be controlled to run under different loads and different speeds, and the first running data of multiple groups of vehicles can be acquired respectively. And/or controlling the vehicle to run under different loads and different accelerations, and respectively acquiring first running data of a plurality of groups of vehicles.
Specifically, as shown in fig. 2, in the steering torque compensation learning process, a flat and wide road or dynamic square is selected for vehicle driving learning, so that driving safety is ensured.
First, data of each sensor is read, including gear, torque, acceleration, speed, altitude, and the like. Controlling steering of vehicle and collecting left of front and rear wheels under different loads and different speeds (uniform speed running, including speed zero)Right torque, including forward steering, reverse steering, and in-situ steering. Simultaneously recording corresponding sensor data: b 1 、v 1 、h Front 1 、h Rear 1 、a x1 、a y1 、M Front 1 、M Rear 1 . Wherein b 1 The gear information is used for indicating that the vehicle is in a forward or reverse state; v 1 Representing speed information; h is a Front 1 The sum of the actual heights of the left wheel and the right wheel of the front axle minus the sum of the heights of the left wheel and the right wheel in the idle state; h is a Rear 1 The sum of the actual heights of the left wheel and the right wheel of the rear axle minus the sum of the heights of the left wheel and the right wheel in the idle state; a, a x1 The longitudinal acceleration in the X direction is represented, and the X direction is the running direction of the wheels and is 0 in a uniform speed state; a, a y1 The lateral acceleration in the Y direction is expressed, and the Y direction is perpendicular to the running direction of the vehicle and is 0 in a uniform speed state; m is M Front 1 Represents steering torque of the front wheels; m is M Rear 1 Indicating the steering torque of the rear wheels. If the front wheel turns, M Rear 1 Is 0; if the rear wheel turns, M Front 1 Is 0; if four wheels turn, M Front 1 、M Rear 1 None of them is 0.
And secondly, controlling the steering of the vehicle under different loads and different accelerations, and collecting left and right torques of the front wheels and the rear wheels, including forward and reverse conditions. Simultaneously recording corresponding sensor data: b 2 、v 2 、h Front 2 、h Rear 2 、a x2 、a y2 、M Front 2 、M Rear 2 . Wherein b 2 The gear information is used for indicating that the vehicle is in a forward or reverse state; v 2 Representing speed information; h is a Front 2 The sum of the actual heights of the left wheel and the right wheel of the front axle minus the sum of the heights of the left wheel and the right wheel in the idle state; h is a Rear 2 The sum of the actual heights of the left wheel and the right wheel of the rear axle minus the sum of the heights of the left wheel and the right wheel in the idle state; a, a x2 The lateral acceleration in the X direction is represented, and the lateral acceleration is 0 in a uniform speed state; a, a y2 The lateral acceleration in the Y direction is represented as 0 in a uniform speed state; m is M Front 2 Represents steering torque of the front wheels; m is M Rear 2 Indicating the steering torque of the rear wheels. If the front wheel turns, M Rear 2 Is 0; if the rear wheel turns, M Front 1 Is 0; if four wheels turn, M Front 1 、M Rear 1 None of them is 0.
Step S203: and obtaining a torque compensation value of the vehicle according to the first driving data and the second driving data.
As one embodiment, obtaining a torque compensation value of the vehicle according to the first running data and the second running data includes:
forming a torque compensation database according to the first driving data;
and obtaining a torque compensation value of the vehicle according to the torque compensation database and the second driving data.
As one embodiment, forming a torque compensation database from first travel data includes:
comparing the first driving data with the calibration driving data of the vehicle to obtain a steering control moment compensation value;
and a torque compensation database based on the first travel data and the steering torque compensation value.
Here, a plurality of sets of first running data are formed based on the data recorded in the steering torque compensation learning process, and each set of first running data includes shift position information, speed information, acceleration information, height information of front and rear wheels, and steering torque information of the front and rear wheels of the vehicle. And comparing each group of first driving data with the calibration driving data of the vehicle respectively to determine a steering control moment compensation value used under the normal driving working condition. The calibration driving data can be obtained through table lookup. That is, when the vehicle makes the same amount of rotation angle, the required torque is calculated using the first running data and the calibration running data, and the difference between the actual running required torque (obtained from the recorded data) and the standard torque (obtained from the calibration data) is used as the torque compensation value. And finally, forming a torque compensation database by the recorded first driving data and the corresponding torque compensation value thereof.
Step S204: and compensating the steering torque of the vehicle according to the torque compensation value.
Specifically, the current signal values corresponding to the front and rear wheel steering motors can be obtained according to the torque compensation values of the front and rear wheels. Then, corresponding current signal values are applied to the front and rear wheel steering motors, respectively, to compensate for steering torque of the vehicle. The steering torque refers to a torque of a steering wheel operated by a driver.
As one embodiment, obtaining a torque compensation value of the vehicle according to the torque compensation database and the second running data includes:
and searching a torque compensation value matched with the second driving data in a torque compensation database.
If the vehicle is in the in-situ steering condition, as shown in fig. 3, it is first determined whether the vehicle is powered on. If the vehicle is powered on, sensor data, i.e., second running data, including gear information, torque information, acceleration information, speed information, altitude information, and the like of the vehicle, such as a gear sensor, a torque sensor, an acceleration sensor, a speed sensor, and an altitude sensor, are read. The torque information is used for judging whether the vehicle turns or not, the speed information is used for judging whether the vehicle is in an in-situ steering working condition, the speed is zero, and the vehicle is in the in-situ steering working condition when the vehicle turns. For example, in-situ steering conditions may occur when the vehicle is started sideways, after which the vehicle is steered and then throttled.
Comparing the second driving data with the data of the torque compensation database, searching a torque compensation value matched with the current second driving data in the torque compensation database, and obtaining the compensation torque M of the front wheels and the rear wheels Front 3 And M Rear 3 ，M Front 3 Torque required to be compensated for front wheels, M Rear 3 A compensating torque is required for the rear wheels. If only the front wheel turns, M Rear 3 0, if only the rear wheel turns, M Front 3 Is 0. Then, a current signal I required to be applied to the front and rear wheel steering motor is calculated according to the torque compensation value Front 1 And I Rear 1 And the current signal is input to the steering motor, and a torque compensation value is applied, so that the compensation of steering control torque under the in-situ steering working condition is realized.
If the vehicle is in the motion steering condition, as shown in fig. 4, it is first determined whether the vehicle is powered on. If the vehicle is powered on, judging whether the vehicle is in forward or reverse. If yes, sensor data of a gear sensor, a torque sensor, an acceleration sensor, a speed sensor, a height sensor and the like, namely second running data, are read, wherein the second running data comprise gear information, torque information, acceleration information, speed information, height information and the like of the vehicle. The torque information is used for judging whether the vehicle turns or not. The speed information is used for judging whether the vehicle is in a moving steering working condition, the vehicle speed is not zero, and the vehicle is in the moving steering working condition when the vehicle is steered. For example, a left turn or a right turn, both of which are in a sporty steering condition, occurs when the vehicle is traveling normally.
Comparing the second running data with the data of the torque compensation database, searching a torque compensation value matched with the current second running data in the torque compensation database, and obtaining the compensation torque M of the front wheels and the rear wheels Front 4 And M Rear 4 ，M Front 4 Torque required to be compensated for front wheels, M Rear 4 A compensating torque is required for the rear wheels. If only the front wheel turns, M Rear 4 0, if only the rear wheel turns, M Front 4 Is 0. Then, a current signal I required to be applied to the front and rear wheel steering motor is calculated according to the torque compensation value Front 2 And I Rear 2 And the current signal is input to the steering motor, and a torque compensation value is applied, so that the compensation of steering control torque of the vehicle under the working condition of motion steering is realized.
According to the steering control moment compensation method provided by the embodiment of the application, the torque compensation database is formed by learning the torque conditions under different loads, speeds and accelerations on a straight road. Under the normal driving running condition, the data of the sensors are collected, database comparison analysis is carried out, and then the steering control moment is compensated. Therefore, the influence of load difference and change on steering control moment can be optimized in the running process of the vehicle, and the difference of load on left and right steering control moment is effectively compensated. The method and the device can reduce the influence of the initial load difference of the automobile on the steering hand force, and the in-situ steering hand force is more stable. The influence of the axle load transfer (rolling or pitching) of the automobile on the steering hand force can be reduced, and the dynamic steering hand force is more stable. Meanwhile, the difference of hand force between left turning and right turning is reduced, and the sensing quality of the whole vehicle is improved. In addition, the influence of deviation caused by the change of the included angle of the driving shaft (the left and right are unequal, and the included angle difference is large after the axle load is transferred) due to the acceleration of the axle load transfer is reduced.
In summary, in the steering torque compensation method provided in the above embodiment, first driving data of the vehicle is obtained based on different loads, different speeds and/or different accelerations; collecting second driving data of the vehicle in the actual driving process; obtaining a torque compensation value of the vehicle according to the first driving data and the second driving data; and compensating the steering torque of the vehicle according to the torque compensation value. The steering control moment can be simply, efficiently and accurately compensated, and driving experience is improved.
Second embodiment
Based on the same inventive concept as the previous embodiments, as shown in fig. 5, an embodiment of the present application provides a steering torque compensation system, including a data acquisition module, a data analysis module, and a steering compensation module;
the data acquisition module is used for acquiring first running data of the vehicle based on different loads, different speeds and/or different accelerations, and acquiring second running data of the vehicle in the actual running process;
the data analysis module is used for obtaining a torque compensation value of the vehicle according to the first driving database and the second driving data;
and the steering compensation module is used for compensating steering control moment of the vehicle according to the torque compensation value.
In this embodiment, the steering torque compensation system is composed of a chassis controller, a data acquisition module, a data analysis module, a steering compensation module, a peripheral circuit, and a sensor. The data acquisition module is mainly used for acquiring sensor data. The data analysis module is mainly used for carrying out data analysis and comparison to form a compensation database. The steering compensation module is mainly used for compensating the torque under the steering working condition. The peripheral circuit realizes basic circuit functions such as power supply, signal transmission and the like.
The gear sensor, the torque sensor, the acceleration sensor, the speed sensor and the height sensor are all hung on the CAN bus, and the detection result is transmitted to the chassis controller through the CAN transceiver for analysis and judgment, so that the steering control moment is learned and compensated. The gear sensor is used for monitoring the driving state of the automobile, whether the automobile is in a forward direction or a reverse direction. The torque sensor is used for monitoring steering wheel torque. The acceleration sensor is used for monitoring vehicle running acceleration, including X, Y direction acceleration. The speed sensor is used for monitoring the running speed of the vehicle. The height sensor is used for detecting the posture of the vehicle body.
As one embodiment, the first running data and the second running data include one or more of gear information, speed information, acceleration information, height information of front and rear wheels, steering torque information of the front and rear wheels.
As one embodiment, the data acquisition module is configured to acquire first driving data of a vehicle based on different loads, different speeds and/or different accelerations, and includes:
controlling the vehicles to run under different loads and different speeds, and respectively acquiring first running data of a plurality of groups of vehicles; and/or the number of the groups of groups,
and controlling the vehicle to run under different loads and different accelerations, and respectively acquiring first running data of a plurality of groups of vehicles.
As one embodiment, the data analysis module is configured to obtain a torque compensation value of the vehicle according to the first driving data and the second driving data, and includes:
forming a torque compensation database according to the first driving data;
and obtaining a torque compensation value of the vehicle according to the torque compensation database and the second driving data.
As one embodiment, the data analysis module is configured to form a torque compensation database according to the first driving data, and includes:
comparing the first driving data with the calibration driving data of the vehicle to obtain a steering control moment compensation value;
and a torque compensation database based on the first travel data and the steering torque compensation value.
As one embodiment, the data analysis module is configured to obtain a torque compensation value of the vehicle according to the torque compensation database and the second driving data, and includes:
and searching a torque compensation value matched with the second driving data in a torque compensation database.
As one embodiment, the data compensation module is configured to compensate a steering torque of the vehicle according to a torque compensation value, and includes:
obtaining current signal values corresponding to front and rear wheel steering motors according to the torque compensation values of the front and rear wheels;
and respectively applying corresponding current signal values to the front wheel steering motor and the rear wheel steering motor so as to compensate steering torque of the vehicle.
Please refer to the first embodiment for a specific implementation process of the present embodiment, and a detailed description thereof is omitted herein.
Based on the same inventive concept as the previous embodiments, an embodiment of the present invention provides an electronic device, as shown in fig. 6, including: a processor 310 and a memory 311 in which a computer program is stored; the number of the processors 310 illustrated in fig. 6 is not used to refer to one number of the processors 310, but is merely used to refer to a positional relationship of the processors 310 with respect to other devices, and in practical applications, the number of the processors 310 may be one or more; likewise, the memory 311 illustrated in fig. 6 is also used in the same sense, that is, only to refer to the positional relationship of the memory 311 with respect to other devices, and in practical applications, the number of the memories 311 may be one or more. The steering torque compensation method applied to the above-described electronic device is implemented when the processor 310 runs the computer program.
The apparatus may further include: at least one network interface 312. The various components in the device are coupled together by a bus system 313. It is appreciated that the bus system 313 is used to enable connected communication between these components. The bus system 313 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled as bus system 313 in fig. 6.
The memory 311 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. 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 memory 311 described in embodiments of the present invention is intended to comprise, without being limited to, these and any other suitable types of memory.
The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the apparatus. Examples of such data include: any computer program for operating on the device, such as an operating system and application programs; contact data; telephone book data; a message; a picture; video, etc. The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application programs may include various application programs such as a Media Player (Media Player), a Browser (Browser), etc. for implementing various application services. Here, a program for implementing the method of the embodiment of the present invention may be included in an application program.
Based on the same inventive concept as the previous embodiments, the present embodiment further provides a computer storage medium in which a computer program is stored, where the computer storage medium may be a Memory such as a magnetic random access Memory (FRAM, ferromagnetic random access Memory), a Read Only Memory (ROM), a programmable Read Only Memory (PROM, programmable Read-Only Memory), an erasable programmable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), an electrically erasable programmable Read Only Memory (EEPROM, electrically Erasable Programmable Read-Only Memory), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a compact disk Read Only Memory (CD-ROM, compact Disc Read-Only Memory); but may be a variety of devices including one or any combination of the above-described memories, such as a mobile phone, computer, tablet device, personal digital assistant, or the like. The computer program stored in the computer storage medium, when executed by a processor, implements the steering torque compensation method applied to the above-described apparatus. The specific step flow implemented when the computer program is executed by the processor refers to the description of the first embodiment, and will not be described herein.
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.
In this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a list of elements is included, and may include other elements not expressly listed.
The foregoing is merely illustrative of the present invention, and the present invention 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 invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A steering torque compensation method, characterized by comprising the steps of:
acquiring first driving data of the vehicle based on different loads, different speeds and/or different accelerations;
collecting second driving data of the vehicle in the actual driving process;
obtaining a torque compensation value of the vehicle according to the first driving data and the second driving data;
and compensating the steering torque of the vehicle according to the torque compensation value.
2. The steering torque compensation method according to claim 1, wherein the first running data and the second running data include one or more of gear information, speed information, acceleration information, height information of front and rear wheels, steering torque information of front and rear wheels.
3. The steering torque compensation method according to claim 1, wherein the acquiring first travel data of the vehicle based on different loads, different speeds, and/or different accelerations comprises:
controlling the vehicles to run under different loads and different speeds, and respectively acquiring multiple groups of first running data of the vehicles; and/or the number of the groups of groups,
and controlling the vehicle to run under different loads and different accelerations, and respectively acquiring multiple groups of first running data of the vehicle.
4. The steering torque compensation method according to claim 1, characterized in that the obtaining the torque compensation value of the vehicle from the first running data and the second running data includes:
forming a torque compensation database according to the first driving data;
and obtaining a torque compensation value of the vehicle according to the torque compensation database and the second driving data.
5. The steering torque compensation method according to claim 4, characterized in that said forming a torque compensation database from said first travel data comprises:
comparing the first driving data with the calibration driving data of the vehicle to obtain a steering control moment compensation value;
and obtaining the torque compensation database according to the first driving data and the steering control torque compensation value.
6. The steering torque compensation method according to claim 4, characterized in that the obtaining the torque compensation value of the vehicle from the torque compensation database and the second running data includes:
and searching a torque compensation value matched with the second driving data in a torque compensation database.
7. The steering torque compensation method according to claim 1, characterized in that the steering torque compensation of the vehicle according to the torque compensation value includes:
obtaining current signal values corresponding to front and rear wheel steering motors according to the torque compensation values of the front and rear wheels;
and respectively applying corresponding current signal values to the front and rear wheel steering motors so as to compensate steering torque of the vehicle.
8. The steering control moment compensation system is characterized by comprising a data acquisition module, a data analysis module and a steering compensation module;
the data acquisition module is used for acquiring first running data of the vehicle based on different loads, different speeds and/or different accelerations, and acquiring second running data of the vehicle in the actual running process;
the data analysis module is used for obtaining a torque compensation value of the vehicle according to the first running database and the second running data;
the steering compensation module is used for compensating steering control moment of the vehicle according to the torque compensation value.
9. An electronic device, comprising: a processor and a memory storing a computer program, which, when run by the processor, implements the steps of the steering torque compensation method according to any one of claims 1 to 7.
10. A readable storage medium, characterized in that a computer program is stored, which, when being executed by a processor, implements the steps of the steering torque compensation method according to any one of claims 1 to 7.
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| CN202310105426.2A CN116080651A (en) | 2023-01-28 | 2023-01-28 | Steering torque compensation method, system, electronic device and readable storage medium |
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| CN202310105426.2A CN116080651A (en) | 2023-01-28 | 2023-01-28 | Steering torque compensation method, system, electronic device and readable storage medium |
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