The invention relates to a steering wheel torque control method and device, computer equipment and a readable storage medium. The method comprises the steps that a target steering wheel turning angle carried in a steering wheel turning angle request instruction, corresponding to the current moment, of a target vehicle is obtained; obtaining a feedforward control instruction corresponding to the current moment according to the target steering wheel rotation angle; according to the deviation between the actual steering wheel turning angle of the target vehicle at the current moment and the target steering wheel turning angle, determining a PID parameter associated with the current moment, and according to the PID parameter and the deviation, determining a feedback control instruction corresponding to the current moment; and generating a steering wheel torque control instruction for the current moment based on the feedforward control instruction and the feedback control instruction. By the adoption of the method, dynamic modeling is not needed, the problem that the accuracy of the control instruction is reduced due to the fact that the modeled model is inaccurate and the model covers incomplete scenes is solved, the accurate steering wheel torque control instruction is obtained, and then the control precision of the steering wheel torque is improved.
本申请涉及一种方向盘扭矩控制方法、装置、计算机设备和可读存储介质。所述方法包括:获取目标车辆对应于当前时刻的方向盘转角请求指令中携带的目标方向盘转角;根据目标方向盘转角,得到当前时刻对应的前馈控制指令;根据目标车辆在当前时刻的实际方向盘转角和目标方向盘转角之间的偏差,确定当前时刻关联的PID参数,并根据PID参数和偏差,确定当前时刻对应的反馈控制指令;基于前馈控制指令以及反馈控制指令,生成针对当前时刻的方向盘扭矩控制指令。采用本方法能够无需动力学建模,避免因建模的模型不准确以及模型覆盖场景不全而导致的控制指令准确度下降的问题,得到准确的方向盘扭矩控制指令,进而提高方向盘扭矩的控制精度。
Steering wheel torque control method and device, computer equipment and readable storage medium
方向盘扭矩控制方法、装置、计算机设备和可读存储介质
2025-02-25
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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