The invention provides a hand wheel force sense feedback torque control method, a controller, a steering system and a vehicle. The method comprises the steps that first road wheel reference torque and first hand wheel force sense feedback torque are obtained, and the first road wheel reference torque is a road wheel motor torque instruction value at the T moment; determining a second hand wheel force sense feedback torque according to the first road wheel reference torque and the first hand wheel force sense feedback torque; second road wheel reference torque is obtained, and the second road wheel reference torque is the road wheel motor torque instruction value at the T + 1 moment; when the difference value between the absolute value of the second road wheel reference torque and the absolute value of the second hand wheel force sense feedback torque is smaller than a first preset threshold value or the vehicle is not in the steering state, the second hand wheel force sense feedback torque is determined as target hand wheel force sense feedback torque, and the target hand wheel force sense feedback torque is used for providing hand feeling resistance of the steering wheel. According to the method, a driver can obtain a good hand feeling, and the driving safety is improved.
本申请提供一种手轮力感反馈扭矩控制方法、控制器、转向系统和车辆。该方法包括:获取第一路轮参考扭矩与第一手轮力感反馈扭矩,其中,第一路轮参考扭矩为T时刻路轮电机扭矩指令值;根据第一路轮参考扭矩与第一手轮力感反馈扭矩,确定第二手轮力感反馈扭矩;获取第二路轮参考扭矩,其中,第二路轮参考扭矩为T+1时刻路轮电机扭矩指令值;第二路轮参考扭矩绝对值与第二手轮力感反馈扭矩绝对值的差值小于第一预设阈值或车辆未处于转向状态时,确定第二手轮力感反馈扭矩为目标手轮力感反馈扭矩,目标手轮力感反馈扭矩用于提供方向盘的手感阻力。本申请的方法可以使驾驶员获得较好的手感,提高驾驶安全性。
Hand wheel force sense feedback torque control method, controller, steering system and vehicle
手轮力感反馈扭矩控制方法、控制器、转向系统和车辆
2024-06-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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