The invention provides a vehicle steering wheel torque determination method and device. Firstly, an expected steering angle of a steering wheel is obtained, and the expected steering angle is a target value of the steering wheel steering angle; then angle deviations of k moments are determined based on a rotation amplitude limit and a current steering wheel rotation angle, the rotation amplitude limit is an amplitude limit value of the steering wheel rotation angle of a unit time interval, and k is a positive integer; determining expected angular velocities at the k moments based on the angular deviations at the k moments; finally, desired torques at the k times are determined based on the desired angular velocities at the k times, where the desired torques at the k times are used to adjust the steering wheel to the desired steering angle. According to the method, the steering wheel expected turning angle, the steering wheel expected angular velocity and the steering wheel expected torque are determined based on the steering wheel turning angle and the steering wheel angular velocity, so that the steering wheel stably reaches the expected angle.
本申请提供了一种车辆方向盘扭矩确定方法以及装置。首先获取方向盘的期望转角,所述期望转角为方向盘转角的目标值;然后基于转动限幅和当前方向盘转角确定k个时刻的角度偏差,其中,所述转动限幅是单位时刻间隔的方向盘转角的幅度限值,其中,k为正整数;再基于所述k个时刻的角度偏差确定所述k个时刻的期望角速度;最后,基于所述k个时刻的期望角速度确定所述k个时刻的期望扭矩,其中,所述k个时刻的期望扭矩用于将所述方向盘调整到所述期望转角。本申请方法通过基于方向盘转角和方向盘角速度确定方向盘期望转角、方向盘期望角速度以及方向盘期望扭矩,使方向盘较为平稳地达到期望角度。
Vehicle steering wheel torque determination method and device
一种车辆方向盘扭矩确定方法以及装置
2024-06-28
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Device for transmitting torque of steering wheel for vehicle
European Patent Office | 2021
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