The embodiment of the invention discloses a steering road feeling simulation method and device, a steer-by-wire system and a vehicle. The method comprises the following steps: acquiring vehicle state data; determining a road surface load moment according to the vehicle state data; determining a virtual assistance torque according to the vehicle state data; obstacle encountering torque is determined according to the vehicle state data; determining parking torque according to the vehicle state data; determining dead point protection torque according to the vehicle state data; and calculating a road feeling simulation target torque, wherein the road feeling simulation target torque = the road surface load torque-the virtual assistance torque-the obstacle encountering torque-the parking torque-the dead point protection torque. Wherein the vehicle state data comprises a torque request state, a steering wheel angle, a steering wheel rotating speed, a steering wheel torque, a vehicle speed, a wheel speed and the like. According to the embodiment of the invention, the simulated road feeling is transmitted to the hand of the driver, the driving hand feeling of the driver is improved, and more road surface information is provided for the driver. The road feeling of the driver is improved, and the driving experience is improved.
本发明实施例公开了一种转向路感模拟方法、装置、线控转向系统和车辆。该方法包括:获取车辆状态数据;根据车辆状态数据确定路面负载力矩;根据车辆状态数据确定虚拟助力力矩;根据车辆状态数据确定遇障力矩;根据车辆状态数据确定停车力矩;根据车辆状态数据确定死点保护力矩;计算路感模拟目标扭矩,路感模拟目标扭矩=路面负载力矩-虚拟助力力矩-遇障力矩-停车力矩-死点保护力矩。其中,车辆状态数据包括扭矩请求状态、方向盘转角、方向盘转速、方向盘扭矩、车速、轮速等。本发明实施例实现了将模拟路感传递到驾驶员手中,提升驾驶员的驾驶手感,向驾驶员提供更多的路面信息。提高驾驶员的路感,进而提高驾驶体验。
Steering road feeling simulation method and device, steer-by-wire system and vehicle
一种转向路感模拟方法、装置、线控转向系统和车辆
2022-04-12
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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