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 steps that the steering wheel angle, the vehicle speed and the rack force of a vehicle are obtained; based on the angle of the steering wheel, the vehicle speed and the rack force, a rudder protection torque compensation integral value is determined through a preset rudder protection torque compensation algorithm, the rudder protection torque compensation integral value is used for representing the absolute value of the rudder protection torque compensation value, and the preset rudder protection torque compensation algorithm is used for limiting the upper limit value of the rudder protection torque compensation integral value; under the steering rudder protection working condition, the rudder protection torque compensation integral value reaches the upper limit value and is reduced along with the reduction of the absolute value of the rack force; and multiplying the rudder protection torque compensation integral value by the sign symbol of the rack force 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、车速和齿条力;基于所述方向盘角度、所述车速和所述齿条力,采用预设保舵力矩补偿算法确定保舵力矩补偿积分值,保舵力矩补偿积分值用于表示保舵力矩补偿值的绝对值,预设保舵力矩补偿算法用于限制保舵力矩补偿积分值的上限值,且在转向保舵工况下使保舵力矩补偿积分值达到上限值并随齿条力的绝对值的减小而减小;将所述保舵力矩补偿积分值与所述齿条力的正负符号相乘,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。
Steering rudder protection torque compensation method and device, medium and vehicle
转向保舵力矩补偿方法、装置、介质及车辆
2024-12-24
Patent
Electronic Resource
Chinese
Steering rudder protection torque compensation method and device, medium and vehicle
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