The invention discloses a torque steering deviation compensation method and device, a medium and a controller. The method comprises the steps that whether a vehicle is in a torque steering deviation state or not is judged; if the vehicle is in the torque steering deviation state, initial compensation torque of torque steering deviation of the vehicle is obtained; whether the vehicle meets a deviation compensation condition or not is judged, and if the vehicle meets the deviation compensation condition, the change duration of vehicle deviation compensation is determined; obtaining an adjustment factor of the vehicle deviation compensation according to the change duration of the vehicle deviation compensation; and calculating the initial compensation torque and the regulation factor to obtain a final deviation compensation torque. According to the method, the initial compensation torque is adjusted through the adjusting factor, so that the deviation compensation torque is adjusted to the size suitable for each vehicle, the inconsistency of the torque deviation compensation performance of each mass production vehicle is reduced, and therefore the accuracy of the torque steering compensation function of the vehicle and the driving safety of the vehicle are improved.

    本发明公开了一种扭矩转向跑偏补偿方法、装置、介质及控制器。所述方法包括:判断车辆是否处于扭矩转向跑偏状态;若所述车辆处于扭矩转向跑偏状态,则得到所述车辆扭矩转向跑偏的初始补偿力矩;判断所述车辆是否满足跑偏补偿条件,若满足跑偏补偿条件,则确定所述车辆跑偏补偿的变化持续时间;根据所述车辆跑偏补偿的变化持续时间,得到所述车辆跑偏补偿的调节因子;对所述初始补偿力矩与所述调节因子进行计算,获得最终的跑偏补偿力矩。本发明通过调节因子调节初始补偿力矩,使跑偏补偿力矩调节到每辆车较为合适的大小,将每辆量产车的扭矩跑偏补偿性能表现的不一致性降低,从而提升了车辆扭矩转向补偿功能的精准性以及车辆行驶的安全性。


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    Title :

    Torque steering deviation compensation method and device, medium and controller


    Additional title:

    一种扭矩转向跑偏补偿方法、装置、介质及控制器


    Contributors:
    YAN WENJUN (author) / CHEN CHAO (author)

    Publication date :

    2024-08-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




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