The invention relates to the technical field of automobile steer-by-wire, and discloses a road feeling feedback method and device of a steer-by-wire system, a vehicle and a medium, and the method comprises the following steps: calculating the dynamic rack force of a lower steering system; comfortable rack force is calculated through the vehicle dynamics model, burr filtering is carried out on the comfortable rack force, and actual vehicle attitude rack force is obtained; performing weighted fusion on the dynamic rack force and the actual vehicle attitude rack force to obtain total rack force; and calculating feedback torque according to the total rack force. According to the method, the dynamic rack force considering the road condition and the comfortable rack force in the ideal state are calculated respectively, then burr filtering is carried out on the comfortable rack force, the actual vehicle attitude rack force is obtained, after the signal accuracy is improved, weighted fusion is carried out on the dynamic rack force and the actual vehicle attitude rack force, and the actual vehicle attitude rack force is obtained. And finally, the feedback torque is calculated through the total rack force, so that the accuracy of the road feeling feedback feeling of the user is further improved.

    本发明涉及汽车线控转向技术领域,公开了一种线控转向系统的路感反馈方法、装置、车辆及介质,方法包括:计算下转向系统的动态齿条力;通过车辆动力学模型计算舒适齿条力并对舒适齿条力进行毛刺滤波,得到实际车辆姿态齿条力;将动态齿条力和实际车辆姿态齿条力进行加权融合,得到总齿条力;根据总齿条力计算反馈力矩。本发明分别计算考虑了路面情况的动态齿条力和理想状态下的舒适齿条力,然后对舒适齿条力进行毛刺滤波,得到实际车辆姿态齿条力,提高其信号准确度之后再将动态齿条力和实际车辆姿态齿条力进行加权融合,从而得到准确度更高的总齿条力,最后通过总齿条力计算反馈力矩,进一步提高了用户对路感反馈感受的准确度。


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    Title :

    Road feeling feedback method and device of steer-by-wire system, vehicle and medium


    Additional title:

    一种线控转向系统的路感反馈方法、装置、车辆及介质


    Contributors:
    ZHU BO (author) / YANG CAOGANG (author) / YU BIN (author) / CHEN CHANGYOU (author)

    Publication date :

    2024-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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