The invention relates to a steering rudder protection torque compensation method and device, a medium and a vehicle. The steering protection torque compensation method comprises the following steps: acquiring a steering wheel angle, a vehicle speed, a rack force and a basic hand torque of a vehicle; based on the angle of the steering wheel, the vehicle speed and the rack force, a preset attenuation coefficient calculation rule is adopted to calculate a rudder protection torque attenuation coefficient, and the preset attenuation coefficient calculation rule is used for enabling the rudder protection torque attenuation coefficient to limit the upper limit value of the absolute value of a rudder protection torque compensation value, under the steering rudder protection working condition, the absolute value of the rudder protection torque compensation value reaches the upper limit value and is reduced along with the reduction of the absolute value of the rack force; and multiplying the basic hand torque by the rudder protection torque attenuation coefficient to obtain a rudder protection torque compensation value. According to the technical scheme, the steering protection torque compensation value can be adjusted in a self-adaptive mode along with changes of the road adhesion coefficient, the problem of excessive steering protection torque compensation on a low-adhesion road surface is avoided, and driving safety is guaranteed.

    本公开涉及一种转向保舵力矩补偿方法、装置、介质及车辆。转向保舵力矩补偿方法包括:获取车辆的方向盘角度、车速、齿条力和基础手力矩;基于所述方向盘角度、所述车速和所述齿条力,采用预设衰减系数计算规则计算保舵力矩衰减系数,所述预设衰减系数计算规则用于使保舵力矩衰减系数限制保舵力矩补偿值的绝对值的上限值,且在转向保舵工况下使所述保舵力矩补偿值的绝对值达到上限值并随所述齿条力的绝对值的减小而减小;将所述基础手力矩与所述保舵力矩衰减系数相乘,得到保舵力矩补偿值。本公开技术方案能够随路面附着系数的变化自适应调整保舵力矩补偿值,避免在低附路面出现转向保舵力矩补偿过度的问题,保证驾驶安全性。


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    Title :

    Steering rudder protection torque compensation method and device, medium and vehicle


    Additional title:

    转向保舵力矩补偿方法、装置、介质及车辆


    Contributors:
    HE JIE (author)

    Publication date :

    2024-12-24


    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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    Determining rudder torque

    Neilson, R.B. | Engineering Index Backfile | 1946