The invention discloses a vehicle deviation compensation method and device, a terminal and a storage medium, and belongs to the technical field of automobile control, the vehicle deviation compensation device comprises the terminal, a power-assisted steering control module and an EPS power-assisted motor which are electrically connected in sequence, and the terminal is used for obtaining current turning angle data and current steering wheel torque data and judging whether a current vehicle is in a process or not; if yes, the wheel speeds and the tire pressures of the current four wheels and the current vehicle speed are obtained respectively, and corresponding deviation compensation strategies are executed according to the wheel speeds and the tire pressures and the current vehicle speed to obtain EPS deviation compensation torque and send the EPS deviation compensation torque to a power-assisted steering control module; the power-assisted steering control module is used for obtaining the corresponding compensation torque sent by the terminal and sending a corresponding execution instruction to an EPS power-assisted motor; the EPS power-assisted motor is used for obtaining the corresponding execution instruction sent by the steering power-assisted control module and executing corresponding operation. The problem of deviation of a vehicle carrying a front wheel steer-by-wire system scheme and a vehicle carrying a traditional steering system is solved.

    本发明公开了一种车辆跑偏补偿方法、装置、终端及存储介质,属于汽车控制技术领域,包括依次电性连接的终端、转向助力控制模块和EPS助力电机,其中:所述终端用于获取当前转角数据和当前转向盘扭矩数据并判断当前车辆是否处于过程;若是,则分别获取当前四个车轮的轮速和胎压以及当前车速,根据其执行相应跑偏补偿策略得到EPS跑偏补偿扭矩并发送给转向助力控制模块;所述转向助力控制模块,用于获取所述终端发送相应补偿力矩并向EPS助力电机发送相应执行指令;所述EPS助力电机,用于获取所述转向助力控制模块发送的相应执行指令并执行相应操作。本发明解决搭载前轮线控转向系统方案的车辆以及搭载传统转向系统的车辆的跑偏问题。


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    Titel :

    Vehicle deviation compensation method and device, terminal and storage medium


    Weitere Titelangaben:

    一种车辆跑偏补偿方法、装置、终端及存储介质


    Beteiligte:
    ZHAO XIANGQING (Autor:in) / ZHANG JI (Autor:in) / GAO SHANG (Autor:in) / WANG PENGFEI (Autor:in) / HE CHANG (Autor:in)

    Erscheinungsdatum :

    2023-03-31


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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