The embodiment of the invention provides a steering torque compensation method and device and a vehicle, and the method comprises the steps that after it is determined that the vehicle is in a first deviation state, the first compensation torque updating frequency and the last first compensation torque value of the vehicle are obtained, and the first compensation torque updating frequency is the frequency that the vehicle enters the first deviation state; calculating a target first compensation torque value according to the first compensation torque updating times and the last first compensation torque value; and compensating the steering torque of the vehicle according to the target first compensation torque value. After the vehicle is determined to be in the first deviation state, the target first compensation torque value can be calculated according to the updating times of the first compensation torque and the last first compensation torque value, and the calculation result of the target first compensation torque value is more accurate through continuous iterative calculation, so that the vehicle can be in the first deviation state when the vehicle is in the deviation state. And the proper compensation torque is automatically calculated, and the deviation state is automatically separated, so that the user experience is improved.

    本发明实施例提供了一种转向力矩补偿方法、装置及车辆,包括:在确定车辆处于第一跑偏状态后,获取车辆的第一补偿力矩更新次数以及上一次第一补偿力矩值,第一补偿力矩更新次数为车辆进入第一跑偏状态的次数;根据第一补偿力矩更新次数以及上一次第一补偿力矩值,计算目标第一补偿力矩值;根据目标第一补偿力矩值对车辆的转向力矩进行补偿。可以在确定车辆处于第一跑偏状态后,根据第一补偿力矩的更新次数和上一次第一补偿力矩值计算目标第一补偿力矩值,并通过不断的迭代计算,使目标第一补偿力矩值的计算结果更为准确,使车辆可以在发生跑偏状况时,自动计算出合适的补偿力矩并自动脱离跑偏状态,提升了用户体验。


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    Title :

    Steering torque compensation method and device and vehicle


    Additional title:

    一种转向力矩补偿方法、装置及车辆


    Contributors:
    YU QINGZHANG (author) / ZHAO XUEPING (author) / HU HUI (author)

    Publication date :

    2023-01-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge




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