The invention discloses a vehicle deviation compensation control method and device, a controller and a vehicle. The vehicle speed, the vehicle yaw velocity, the steering wheel angle and the steering wheel torque of the vehicle are obtained; judging whether the vehicle is in a straight working condition or not according to the vehicle speed, the vehicle yaw velocity and the steering wheel angle; if the vehicle is in the straight running working condition, determining the type of the deviation working condition of the vehicle according to the vehicle yaw velocity, the steering wheel angle and the steering wheel torque; according to the type of the deviation working condition of the vehicle, a motor compensation torque is determined through a fuzzy P I control algorithm; and according to the motor compensation torque and a pre-stored historical compensation torque, vehicle deviation is compensated. Therefore, under the working condition that the vehicle suddenly deviates or no driver intervenes, the deviation behavior of the vehicle can be actively compensated, active deviation compensation can be provided in the whole driving process, the driving fatigue of the driver is relieved, and the driving safety is improved.

    本发明公开一种车辆跑偏补偿控制方法、装置、控制器及车辆,获取车辆的车速、车辆横摆角速度、方向盘角度及方向盘扭矩;根据车速、车辆横摆角速度及方向盘角度,判断车辆是否处于直行工况;若车辆处于直行工况,则根据车辆横摆角速度、方向盘角度及方向盘扭矩,确定车辆的跑偏工况的类型;根据车辆的跑偏工况的类型,通过模糊P I控制算法,确定电机补偿扭矩;根据电机补偿扭矩及预存的历史补偿扭矩,对车辆跑偏进行补偿。如此,可以保障车辆在突发跑偏,或无驾驶员介入的工况下,能够对车辆的跑偏行为进行主动补偿,并能在整个行车过程中提供主动跑偏补偿,缓解驾驶员的驾驶疲劳,提高行车安全。


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    Title :

    Vehicle deviation compensation control method and device, controller and vehicle


    Additional title:

    车辆跑偏补偿控制方法、装置、控制器及车辆


    Contributors:
    LIU XIAN (author) / FU JING (author) / LIU CONG (author) / WU YANG (author)

    Publication date :

    2025-01-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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