The invention discloses a steering state judgment and torque control method and device and a vehicle control unit. The steering state judgment and torque control method comprises the steps that the ideal yaw velocity and the actual yaw velocity of a vehicle are obtained; according to the angular velocity condition of the vehicle, it is determined that the vehicle is in an excessive reverse hitting state, and the angular velocity condition includes that the absolute value of the yaw velocity difference value is larger than a set threshold value, and the product of the ideal yaw velocity and the actual yaw velocity is smaller than zero; the yaw velocity difference value is equal to the ideal yaw velocity subtracted from the actual yaw velocity. By comparing the magnitude and direction (positive/negative) of the actual yaw velocity and the ideal yaw velocity, the state of reverse steering of the vehicle in the running process is identified, and therefore whether the vehicle is in the excessive reverse steering state or not can be accurately identified.
本发明公开了一种转向状态判断及扭矩控制方法及其装置、整车控制器,所述转向状态判断及扭矩控制方法包括:获取所述车辆的理想横摆角速度和实际横摆角速度;根据所述车辆的角速度条件,确定所述车辆处于过度反打状态,其中,所述角速度条件包括:横摆角速度差值的绝对值大于设定阈值,且所述理想横摆角速度和实际横摆角速度的乘积小于零;所述横摆角速度差值等于所述理想横摆角速度减所述实际横摆角速度。通过比较实际横摆角速度与理想横摆角速度的大小及方向(正/负),针对车辆在行驶过程中的反打方向盘的状态进行了识别,从而能够准确的识别出车辆是否出现过度反打状态。
Steering state judgment and torque control method and device and vehicle control unit
转向状态判断及扭矩控制方法及其装置、整车控制器
2025-03-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Vehicle steering torque control method, vehicle torque controller, vehicle and medium
European Patent Office | 2024
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