The embodiment of the invention discloses a road feeling simulation method and device, electronic equipment and a storage medium. The method comprises the steps that rack displacement, the vehicle speed and the electromagnetic torque of a steering execution motor are obtained; determining a rack force estimation value according to the rack displacement and the electromagnetic torque of the steering execution motor; according to the rack force estimation value, the vehicle speed and a preset mapping relation between rack force estimation values and road sensing moments under different vehicle speeds, the road sensing moments are determined; according to the road feeling torque and the compensation torque, determining an expected feedback torque, and carrying out road feeling simulation according to the expected feedback torque; wherein the compensation torque is obtained according to at least one component compensation torque, and the component compensation torque comprises a friction torque, a damping torque, an inertia torque, a limiting torque and an active aligning torque. According to the technical scheme, the authenticity, the accuracy and the applicability of road feeling simulation can be improved, so that the driving feeling of a driver is improved.

    本申请实施例公开了一种路感模拟方法、装置、电子设备以及存储介质。其中,该方法包括:获取齿条位移、车速以及转向执行电机电磁力矩;根据齿条位移和转向执行电机电磁力矩,确定齿条力估计值;根据齿条力估计值、车速,以及预先设置的不同车速下齿条力估计值与路感力矩的映射关系,确定路感力矩;根据路感力矩以及补偿力矩,确定期望反馈力矩,以根据所述期望反馈力矩进行路感模拟;其中,所述补偿力矩为根据至少一项分量补偿力矩得到,所述分量补偿力矩包括摩擦力矩、阻尼力矩、惯性力矩、限位力矩以及主动回正力矩。本技术方案,能够提高路感模拟的真实性、准确性和适用性,从而提升驾驶员的驾驶感受。


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    Titel :

    Road feeling simulation method and device, electronic equipment and storage medium


    Weitere Titelangaben:

    一种路感模拟方法、装置、电子设备以及存储介质


    Beteiligte:
    HOU SHIYANG (Autor:in) / ZHENG SIFA (Autor:in) / GAO FENG (Autor:in) / CONG SENSEN (Autor:in)

    Erscheinungsdatum :

    23.12.2022


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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