The invention relates to a road feeling simulation method and device, electronic equipment and a storage medium, and relates to the field of intelligent driving. The method comprises the following steps: determining a first correction torque based on a difference value between a hand torque detected by a sensor and a target hand torque; the target hand torque is determined based on steering wheel angle and motor speed; determining a second correction torque based on a steering coefficient and a hand release coefficient of the steering wheel; the steering coefficient of the steering wheel is used for adjusting the steering wheel rotation angle; the release coefficient is used for adjusting steering wheel feedback torque; determining a target correction torque according to the first correction torque and the second correction torque; performing stability filtering processing on the target correction torque based on a stability filtering function, and determining a target simulation torque; and the stability filtering processing is used for removing the noise torque of the target correction torque. Therefore, road feeling simulation is performed based on the target torque, so that the torque precision of road feeling simulation feedback is improved.
本申请涉及一种路感模拟方法、装置、电子设备及存储介质,涉及智能驾驶领域。该方法包括:基于传感器检测手力矩与目标手力矩之间的差值确定第一修正力矩;目标手力矩基于方向盘转角、电机转速确定;基于方向盘的转向系数、脱手系数确定第二修正力矩;方向盘的转向系数用于调整方向盘转动角度;脱手系数用于调整方向盘反馈力矩;根据第一修正力矩与第二修正力矩确定目标修正力矩;基于稳定性滤波函数对目标修正力矩进行稳定性滤波处理,确定目标模拟力矩;稳定性滤波处理用于去除目标修正力矩的噪声力矩。由此,基于目标力矩进行路感模拟,从而提高了路感模拟反馈的力矩精度。
Road feeling simulation method and device, electronic equipment and storage medium
路感模拟方法、装置、电子设备及存储介质
2024-07-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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