The invention belongs to the technical field of automobile safety, and particularly relates to an automobile deviation correction algorithm which comprises the following steps: step 1, establishing a wheel yawing moment difference calculation model based on a left and right driving shaft angle difference value; 2, establishing a dynamic angle calculation model of the universal joint of the driving shaft; 3, establishing a two-stage deceleration steering system model based on a wheel yaw moment difference calculation model and a driving shaft universal joint dynamic angle calculation model; and step 4, obtaining a numerical value of the motor compensation target torque, comparing the numerical value with a preset threshold value, judging whether early warning is needed or not, if early warning is needed, entering step 5, and if not, circularly executing the step 4. The defects in the prior art are overcome, the left and right wheel yaw moment difference caused by the angle difference of the left and right driving shaft differential mechanism end and the wheel end universal joint is calculated in real time, then the steering motor compensation target torque is calculated, the steering motor compensation torque is judged and determined according to the threshold value, and the deviation problem is solved from the source.

    本发明属于汽车安全技术领域,具体涉及一种汽车跑偏纠正算法,所述算法的流程包括以下步骤:步骤一、建立基于左右驱动轴角度差值的车轮横摆力矩差异计算模型;步骤二、建立驱动轴万向节动态角度计算模型;步骤三、建立基于车轮横摆力矩差异计算模型和驱动轴万向节动态角度计算模型的两级减速的转向系统模型;步骤四、通过获取电机补偿目标扭矩的数值,将其与预设的阈值进行对比,判断是否需要预警,需要预警则进入步骤五,否则循环执行步骤四。克服了现有技术的不足,实时计算左右驱动轴差速器端、车轮端万向节角度差异导致左右车轮横摆力矩差,进而计算出转向电机补偿目标扭矩,根据阈值判断,确定转向电机补偿扭矩,从源头上解决跑偏问题。


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    Title :

    Automobile deviation correction algorithm


    Additional title:

    一种汽车跑偏纠正算法


    Contributors:
    MA JIANXIN (author) / HAN DONG (author) / XU LEI (author) / QIU JIE (author) / XU KAI (author) / SONG QIJUAN (author)

    Publication date :

    2023-08-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein



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