The invention discloses a pulling compensation method and system for solving vehicle running deviation. The method specifically comprises the steps that whether a target vehicle meets a pulling compensation function activation condition or not is judged; if yes, target compensation rack force of the target vehicle is obtained through mechanical relation conversion according to the difference value between the hand force of the driver of the current target vehicle and the preset target hand force, meanwhile, long-time and short-time rack force learning is carried out, and long-time learning rack force and short-time learning rack force are obtained; the long-time learning rack force and the short-time learning rack force are used for learning to the target compensation rack force; superposing the long-time learning rack force and the short-time learning rack force to obtain a compensation rack force, performing mechanical relation conversion on the compensation rack force, and calculating to obtain a first motor compensation torque; on one hand, the hand force of a driver for keeping the vehicle straight can be reduced, and on the other hand, when the hands of the driver leave the steering wheel, the compensated rack force can improve the straight driving keeping capacity of the vehicle.

    本发明公开了一种解决车辆行驶跑偏的拉拽补偿方法及系统,方法具体包括:判断目标车辆是否满足拉拽补偿功能激活条件;若是,根据当前目标车辆驾驶员手力与预设目标手力的差值,通过力学关系转换得出目标车辆的目标补偿齿条力,同时进行长时间和短时间齿条力的学习,以得到长时间学习齿条力和短时间学习齿条力,所述长时间学习齿条力和短时间学习齿条力用于学习至所述目标补偿齿条力;将长时间学习齿条力和短时间学习齿条力进行叠加,以得到补偿齿条力,补偿齿条力经过力学关系转换,计算得到第一电机补偿扭矩;本发明的一方面可以减轻驾驶员维持车辆直行时的手力,另一方面在驾驶员手离开方向盘时,补偿的齿条力可以提升车辆保持直线行驶的能力。


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    Title :

    Dragging compensation method and system for solving vehicle running deviation


    Additional title:

    一种解决车辆行驶跑偏的拉拽补偿方法及系统


    Contributors:
    LIU XIAOYUN (author) / WU JIE (author) / DU MANSHENG (author) / YU JINXIA (author) / LI HONGZHONG (author) / CHENG ZHIMIN (author) / LU JIE (author)

    Publication date :

    2023-08-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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