The invention discloses a power-assisted steering method and device of a vehicle, electronic equipment, a storage medium and the vehicle, and relates to the technical field of vehicle control, the initial hand torque of a driver rotating a steering wheel of the vehicle is obtained, the initial power-assisted torque is obtained according to the initial hand torque and the vehicle speed of the vehicle, and then the initial power-assisted torque is obtained through a preset low-pass filter. The method comprises the steps that an initial power-assisted moment is obtained, a low-frequency power-assisted moment is obtained by filtering the initial power-assisted moment, a high-frequency power-assisted moment is obtained by filtering the initial power-assisted moment through a preset high-pass filter, a high-frequency power-assisted moment is obtained according to the high-frequency power-assisted moment and the vehicle speed, and then the low-frequency power-assisted moment and the high-frequency power-assisted moment are linearly superposed to obtain a superposed power-assisted moment; according to the method and the device, the superposed power-assisted torque is subjected to stability compensation through the preset third-order wave trap, the compensated power-assisted torque is obtained, the rotation of the steering wheel is assisted according to the compensated power-assisted torque, the stability of the steering wheel during rotation is improved, and therefore the experience feeling of a user in driving a vehicle is improved.
本发明公开了一种车辆的转向助力方法、装置、电子设备、存储介质及车辆,涉及车辆控制技术领域,通过获取驾驶员转动车辆的方向盘的初始手力矩,并根据初始手力矩和车辆的车速,获得初始助力矩,再通过预设的低通滤波器,对初始助力矩进行滤波,获得低频助力矩,以及通过预设的高通滤波器,对初始手力矩进行滤波,获得高频手力矩,并根据高频手力矩和车速,获得高频助力矩,然后将低频助力矩和高频助力矩进行线性叠加,获得叠加助力矩,再通过预设的三阶陷波器,对叠加助力矩进行稳定性补偿,获得补偿后助力矩,以根据补偿后助力矩,助力方向盘的转动,提高了方向盘在转动时的稳定性,从而提高了用户驾驶车辆的体验感。
Power-assisted steering method and device of vehicle, electronic equipment, storage medium and vehicle
车辆的转向助力方法、装置、电子设备、存储介质及车辆
2024-08-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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