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KR20170093493A - Steering apparatus for compensating side wind and control method thereof - Google Patents

Steering apparatus for compensating side wind and control method thereof

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Publication number
KR20170093493A
KR20170093493A KR1020160014964A KR20160014964A KR20170093493A KR 20170093493 A KR20170093493 A KR 20170093493A KR 1020160014964 A KR1020160014964 A KR 1020160014964A KR 20160014964 A KR20160014964 A KR 20160014964A KR 20170093493 A KR20170093493 A KR 20170093493A
Authority
KR
South Korea
Prior art keywords
torque
steering
controller
compensation
steering wheel
Prior art date
Application number
KR1020160014964A
Other languages
Korean (ko)
Inventor
홍승규
Original Assignee
주식회사 만도
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 만도 filed Critical 주식회사 만도
Priority to KR1020160014964A priority Critical patent/KR20170093493A/en
Publication of KR20170093493A publication Critical patent/KR20170093493A/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
    • G01L5/221—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers to steering wheels, e.g. for power assisted steering

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The present invention provides a steering device including a controller sensing a roll speed of a vehicle varied by cross wind and generating a compensation current according to the roll speed and a steering motor providing cross wind compensating torque to a steering wheel according to the compensation current. The objective of the present invention is to provide a steering device technology and a steering control technology compensating for influences of cross wind. The present invention provides a steering control method including: a step of sensing the roll speed of the vehicle varied by cross wind; a step of generating the compensation current according to the roll speed; and a step of providing the cross wind compensating torque to the steering wheel according to the compensation current.

Description

TECHNICAL FIELD [0001] The present invention relates to a steering apparatus and a steering control method for compensating a lateral wind,

The present invention relates to a steering apparatus and a steering control method. More particularly, the present invention relates to a steering apparatus and a steering control method for compensating a lateral wind.

An electric power steering (EPS) has a steering motor that provides a steering assist torque to the steering wheel shaft.

When the driver generates a torque on the steering wheel through manipulation, the steering device senses such driver operating torque and drives the steering motor in the same direction. According to such a drive, the steering motor provides the steering wheel with steering assist torque in the same direction as the driver operation torque, and the driver can use this steering assist torque to control the steering with less force.

The steering assist torque provided by the steering motor is a main function that assists the steering force of the driver as described above, but may perform other functions in addition to these functions. For example, the steering system also controls the steering motor to enhance steering stability.

When an external force is generated in the vehicle or the steering wheel, the steering is changed by such an external force. This steering variation needs to be removed for steering stability because it is not the intended variation of the driver. The steering system also controls the steering motor to prevent steering fluctuations due to external forces.

The lateral wind blowing to the side of the vehicle is one such external force. The lateral wind blowing to the side of the vehicle acts as a force to change the traveling direction of the vehicle, and this force generates a torque in the steering wheel, and the steering fluctuation occurs due to such torque.

However, conventionally, it has been difficult to distinguish between the torque caused by the wind and the driver's operating torque. Accordingly, there has been a problem that the steering apparatus can not appropriately compensate the torque caused by the wind.

In view of the foregoing, it is an object of the present invention to provide a steering device technique and a steering control technique for compensating for the influence of a lateral wind.

In order to achieve the above-mentioned object, in one aspect, the present invention provides a control apparatus comprising: a controller that senses a roll speed of a vehicle that is varied by a horizontal wind and generates a compensation current according to the roll speed; And a steering motor that provides a wind compensation torque to the steering wheel in accordance with the compensation current.

In another aspect, the present invention provides a method comprising: sensing a roll speed of a vehicle that is varied by a lateral wind; Generating a compensation current according to the roll speed; And providing a steep compensation torque to the steering wheel according to the compensation current.

According to another aspect of the present invention, there is provided a steering apparatus comprising: a steering motor for providing a steering assist torque to a steering wheel according to a control current; And a controller for sensing the roll speed of the vehicle through the roll sensor, calculating a value of the lateral wind compensation torque according to the roll speed, and generating the control current by reflecting the value of the lateral wind compensation torque.

As described above, according to the present invention, it is possible to compensate the torque generated on the steering wheel by the lateral wind, thereby enhancing the steering stability.

1 is a schematic configuration diagram of a steering apparatus according to an embodiment of the present invention.
2 is a view showing the roll direction of the vehicle.
3 is an exemplary graph showing the relationship between the lateral wind and the roll speed.
4 is a flowchart of a steering control method according to an embodiment of the present invention.
5 is a flowchart of a steering control method according to another embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference numerals whenever possible, even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

1 is a schematic configuration diagram of a steering apparatus according to an embodiment of the present invention.

Referring to Fig. 1, the steering apparatus may include a steering wheel 1, a steering shaft 2, a torque sensor 5, a steering motor 7, a controller 10, a battery 4, and the like.

The steering shaft 2 is connected to the steering wheel 1 and is a portion for transmitting the steering force by the driver to a wheel or the like. The torque sensor 5 is a sensor for sensing a steering torque generated in the steering wheel 1. [

The steering motor 7 is a structure that assists the steering force of the driver by providing the steering assist torque with the steering wheel 1. [ The controller 10 is configured to control the operation of the steering motor 7 based on the sensing value of the torque sensor 5 and the battery 4 is configured to supply power to the controller 10. [

The controller 10 may include a digital processor for computing information and may include a motor control circuit for generating and supplying a control current to the steering motor 7. [

On the other hand, the controller 10 controls the steering motor 7 to compensate for the torque generated on the steering wheel by the wind.

The vehicle may be equipped with a roll sensor for detecting the roll rotation of the vehicle, and the controller 10 may sense the roll speed of the vehicle from such roll sensor and compensate for the torque caused by the wind by this roll speed.

2 is a view showing the roll direction of the vehicle.

The roll axis means the front and rear axles passing through the center of the vehicle. The roll direction means the direction of rotation around the roll axis.

The vehicle may be equipped with a roll sensor to sense rotation in the roll direction. These roll sensors can sense roll speed, sense roll acceleration, or sense roll angle. On the other hand, the roll sensor only senses the roll speed, and the roll angle or the roll acceleration may be calculated by the controller 10. For example, the controller 10 can calculate the roll angle by integrating the roll speed, and calculate the roll acceleration by differentiating the roll speed.

When the transverse wind blows, the vehicle moves in the roll direction. The steering apparatus according to an embodiment senses the roll direction movement and estimates the intensity of the transverse wind blowing to the vehicle. The steering device compensates for such torque by measuring the intensity of the torque applied to the steering wheel 1 by the lateral wind according to the intensity of the transverse wind.

3 is an exemplary graph showing the relationship between the lateral wind and the roll speed.

As the transverse wind strength increases, the roll speed also increases accordingly. The steering apparatus estimates the intensity of the transverse wind using this relationship between the lateral wind and the roll speed, and compensates for such torque after measuring the intensity of the torque applied to the steering wheel 1 by the lateral wind.

4 is a flowchart of a steering control method according to an embodiment of the present invention.

Referring to Fig. 4, the roll speed of the vehicle, which is varied by the lateral wind, is sensed (S400).

The roll speed may not be sensed only for steering control. For example, the roll speed may be sensed by another part to detect rollover of the vehicle or the like. When the roll speed is sensed in another part, the steering device (for example, the controller 10) can obtain this roll speed value through communication with other parts.

The roll speed can be sensed by a roll sensor, which, when the roll sensor senses the roll acceleration or the roll angle, the steering device - for example, the controller 10 - can differentiate the roll angle or integrate the roll acceleration The roll angle value can be obtained.

When the roll speed value is obtained, the steering device (e. G., Controller 10) compares the roll speed with a reference value (S402).

The step S402 may be omitted in accordance with the embodiment, but may be included to remove the influence of noise or the like.

The steering device - for example, the controller 10 - compares the roll speed with a reference value, and if the roll speed is below the reference value (NO in S402), it may not perform the lateral wind compensation process. The roll sensor transmits the roll speed sensing value to the other devices through an electric signal, and noise may be inserted into the electric signal. Noise can be inserted into the roll sensor during sensing. When the roll speed is lower than the reference value (NO in S402), the steering apparatus (for example, controller 10) compares the roll speed with a reference value to prevent unstable operation due to such noise, have.

If the roll speed exceeds the reference value (YES in S402), the steering device, for example, the controller 10, may generate a compensation current according to the roll speed (S404).

This compensation current is a control current for controlling the steering motor 7. [ The steering motor 7 may generate the lateral wind compensation torque in accordance with the compensation current and provide this lateral wind compensation torque to the steering wheel 1 (S406).

The lateral wind compensation torque is a torque having substantially the same magnitude as the torque applied to the steering wheel 10 by the lateral wind and having an opposite direction. The steering apparatus can cancel the torque applied to the steering wheel 10 by the lateral wind with this lateral wind compensation torque.

The lateral wind compensation torque generated in the steering motor 7 can be caused by the compensation current supplied from the controller 10. [ The motor control circuit controls the torque of the motor by using a control current such as a d-axis current / q-axis current. The controller 10 generates a control current like this motor control circuit to control the torque of the steering motor 7 Respectively.

Specifically, the controller 10 generates a compensation current, which is calculated according to the roll speed, as a control current to generate the horizontal wind compensation torque through the steering motor 7, and provides it to the steering motor 7. [

As described with reference to Fig. 3, there is a certain relationship between the physical strength of the transverse wind and the roll speed. As a result, a constant relationship can also be created between the roll speed and the wind compensation torque.

The controller 10 may store the relationship information between the roll speed and the lateral wind compensation torque in an equation or table. The controller 10 can calculate the lateral wind compensation torque by substituting the roll speed into these relational expressions or tables. Then, the controller 10 can generate a compensation current corresponding to the calculated lateral-wind compensation torque and supply it to the steering motor 7. [

On the other hand, the controller 10 may store the relationship information between the roll speed and the compensation current into an equation or table. The controller 10 can calculate the compensation current by substituting the roll speed into the compensation type or compensation table, and can generate the calculated compensation current and supply it to the steering motor 7. [

The relationship information between the roll speed and the wind compensation torque or the relationship information between the roll speed and the compensation current can be obtained through experiments. The area of the side surface or the weight of the vehicle may be different for each vehicle, and the designer of the steering apparatus can experiment with each vehicle to generate the relationship information between the roll speed and the wind compensation torque or the relationship information between the roll speed and the compensation current. Of course, depending on the embodiment, such relationship information may be automatically generated according to vehicle information such as the lateral area of the vehicle and the weight of the vehicle.

The steering device - for example, the controller 10 - is able to compensate for external forces due to the lateral wind when the vehicle is in a particular driving condition.

For example, the controller 10 can generate a compensation current in the absence of an angular variation of the steering wheel 1 - substantially when the angular variation is within a certain range from zero.

When there is no change in the angle of the steering wheel 1, the steering wheel 1 may not generate an operating torque due to the intention of the driver. It is highly likely that the torque of the steering wheel 1 sensed by the torque sensor 5 is not an operating torque due to an intention of the driver but a torque generated by an external force in a situation where there is no change in the angle of the steering wheel 1. [ When the operating torque due to the driver's intention and the torque due to the external force are not accurately distinguished, the compensating torque may act in a direction that interferes with the operation of the driver. However, since the operating torque due to the intention of the driver does not occur in the situation where the angle of the steering wheel 1 does not vary as described above, the problem that the (lateral wind) compensating torque acts in the direction that interferes with the operation of the driver It may not occur.

The controller 10 can generate the compensation current only when there is no change in the angle of the steering wheel 10 and there is a change in the torque sensing value of the steering wheel 1 being sensed through the torque sensor 5. [ In particular, the controller 10 can generate the compensation current only when the torque sensing value changes in the direction of increasing.

On the other hand, the controller 10 can generate the compensation current only when the vehicle is running straight. From the viewpoint of the steering wheel, the controller 10 can generate the compensation current only when the steering angle of the steering wheel 1 is 0 degrees-substantially when the steering angle falls within a certain range from 0 degrees.

In this case, the torque of the steering wheel 1 is not likely to be an operating torque due to an intention of the driver, but is likely to be a torque generated by an external force (a lateral wind), and the steering device, for example, the controller 10, The torque generated by the external force (lateral wind) can be removed.

In this case, the torque sensing value sensed by the steering wheel 1 through the torque sensor 5 should be substantially equal to zero if there is no external force (horizontal wind). However, when a torque is generated in the steering wheel 1 by the horizontal wind, the torque sensing value sensed by the torque sensor 5 becomes larger than zero. The steering apparatus generates the lateral wind compensation torque to cancel the torque appearing on the steering wheel 1 by the horizontal wind. The torque appearing on the steering wheel 1 by the horizontal wind may be the same as the torque sensing value of the torque sensor 5. [ In this case, the steering apparatus can completely eliminate the torque appearing on the steering wheel 1 by the lateral wind by generating the lateral wind compensation torque equal to the torque sensing value of the torque sensor 5.

In another aspect, the controller 10 may generate a compensating current such that the torque sensing value of the torque sensor 5 and the value of the lateral wind compensation torque become equal. When the controller 10 calculates the compensation current according to the roll speed, the controller 10 converts the calculated compensation current into the torque value of the steering motor 7, A compensation current can be generated so that the torque sensing value of the motor becomes equal. If the converted torque value and the torque sensing value are mathematically set to have different signs from each other, the controller 10 determines that the sum of the converted torque value and the torque sensing value falls within a certain range from 0 0 < / RTI >

Although the method of compensating the torque applied to the steering wheel 1 by the lateral wind in a state in which there is no operating torque of the driver in the above embodiment is mainly described, the present invention is not limited thereto. The steering apparatus according to the present invention can appropriately compensate the influence of the lateral wind on the steering wheel 1 even in the presence of the operating torque of the driver. Since it is difficult to distinguish between the operating torque of the driver and the torque due to the lateral wind when trying to compensate for the influence of the lateral wind on the steering wheel 1 with the values sensed in the steering device - for example, the steering wheel 1 - It becomes difficult. However, since the steering apparatus according to the present invention estimates the torque due to the lateral wind at a value sensed by the roll sensor rather than the steering device, it is possible to easily distinguish the operation torque of the driver from the torque due to the lateral wind. Accordingly, the steering apparatus according to the present invention can appropriately compensate the influence of the lateral wind on the steering wheel 1 even in the presence of the operating torque of the driver.

5 is a flowchart of a steering control method according to another embodiment of the present invention.

Referring to FIG. 5, the vehicle senses the roll speed using a roll sensor and senses the torque of the steering wheel 1 using the torque sensor 5 (S500).

Then, the steering device (for example, the controller 10) can calculate the value of the lateral wind compensation torque according to the roll speed (S502). In order to calculate the lateral wind compensation torque value, the controller 10 may previously store the relationship information between the roll speed and the lateral wind compensation torque. Then, the controller 10 can calculate the value of the wind compensation torque by substituting the sensed roll speed value into the relationship information.

After the lateral wind compensation torque value is calculated, the steering device - for example, the controller 10 - compensates the torque sensing value of the steering wheel 1 sensed through the torque sensor 5 with the value of the lateral wind compensation torque, The control current can be generated in accordance with the torque sensing value. Here, the compensated torque sensing value may be the same value as the driver operation torque value.

Specifically, the steering device (for example, the controller 10) calculates the driver operation torque by reflecting the value of the lateral wind compensation torque to the torque sensing value of the steering wheel 1, amplifies the driver operation torque, The torque can be generated to be canceled by the lateral wind compensation torque.

[Equation 1]

Driver operating torque (T1) = torque sensing value (T2) - lateral wind compensation torque value (T3)

For example, the controller 10 can calculate the driver's operation torque T1 by subtracting the lateral wind compensation torque value T3 from the torque sensing value T2 as shown in equation (1).

And, the steering device (for example, the controller 10) can generate the control current according to the driver's operation torque T1. More specifically, the steering device - for example, the controller 10 - can generate the control current by reflecting the driver operation torque T1 and the lateral wind compensation torque value T3.

&Quot; (2) "

Steering assist torque (T4) = K x driver operating torque (T1) - lateral wind compensation torque value (T3)

The compensated steering wheel torque T5 = the torque sensing value T2 + the steering assist torque T4 = the driver operation torque T1 + the lateral wind compensation torque value T3 + the steering assist torque T4 =

= Driver operating torque (T1) + lateral wind compensation torque value (T3) + K x driver operating torque (T1) - lateral wind compensation torque value (T3) = (K +

The steering apparatus - the controller 10, for example, calculates the steering assist torque T4 at a magnitude obtained by subtracting the lateral wind compensation torque value T3 from the value obtained by multiplying the driver operating torque T1 by K times The control current can be generated.

When the control current is generated, the steering motor 7 provides the steering assist torque T4 to the steering wheel 1 in accordance with the control current (S508). At this time, when the steering assist torque T4 is generated as described above, the torque T5 of the steering wheel 1 to which the steering assist torque T4 is added finally reaches (K + 1 ) So that only the operating torque of the driver is amplified and the torque due to the lateral wind is removed.

Meanwhile, in the above-described embodiments, the roll speed is sensed through the roll sensor and the value of the lateral wind compensation torque is calculated according to the roll speed. However, the controller 10 stores the relationship information between the roll angle and the lateral wind compensation torque The controller 10 may calculate the value of the wind compensation torque according to the roll angle sensed by the roll sensor. Alternatively, the controller 10 may store the relationship information including both the roll speed and the roll angle as factors, and may calculate the value of the lateral wind compensation torque by substituting both the roll speed and the roll angle into the relationship information.

It is to be understood that the terms "comprises", "comprising", or "having" as used in the foregoing description mean that the constituent element can be implanted unless specifically stated to the contrary, But should be construed as further including other elements. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (12)

A controller that senses a roll speed of the vehicle that is varied by the lateral wind and generates a compensation current according to the roll speed; And
A steering motor for providing a lateral-wind compensation torque to the steering wheel in accordance with the compensation current,
≪ / RTI > The method according to claim 1,
The controller comprising:
And generates the compensation current so that a sum of a torque sensing value of the steering wheel sensed by the torque sensor and a conversion torque value of the compensation current to the steering wheel is within a first range from 0. The method according to claim 1,
The controller comprising:
And the compensation current is calculated by substituting the roll speed into the compensation table. The method according to claim 1,
The controller comprising:
And generates the compensation current only when the roll speed exceeds a reference value. The method according to claim 1,
The controller comprising:
And generates the compensation current only when the angle variation of the steering wheel falls within a second range from zero. 6. The method of claim 5,
The controller comprising:
And generates the compensation current only when the torque sensing value of the steering wheel sensed by the torque sensor fluctuates. The method according to claim 1,
The controller comprising:
And generates the compensation current only when the steering angle of the steering wheel falls within a third range from zero degrees. Sensing a roll speed of the vehicle that is varied by the lateral wind;
Generating a compensation current according to the roll speed; And
Providing a compensated current to the steering wheel in accordance with the compensation current
≪ / RTI > 9. The method of claim 8,
In the step of generating the compensation current,
A steering control method for generating the compensation current only when the roll speed exceeds a reference value and the angular variation of the steering wheel falls within a certain range from 0 and the torque sensing value of the steering wheel sensed through the torque sensor fluctuates . A steering motor that provides a steering assist torque to the steering wheel according to the control current; And
A controller that senses the roll speed of the vehicle through the roll sensor and calculates the value of the lateral wind compensation torque according to the roll speed and generates the control current by reflecting the value of the lateral wind compensation torque;
≪ / RTI > 11. The method of claim 10,
The controller comprising:
And sensing the roll angle through the roll sensor and calculating the value of the wind compensation torque according to the roll speed and the roll angle. 11. The method of claim 10,
The controller comprising:
And compensates the torque sensing value of the steering wheel sensed by the torque sensor by the value of the lateral wind compensation torque, and then generates the control current according to the compensated torque sensing value.
KR1020160014964A 2016-02-05 2016-02-05 Steering apparatus for compensating side wind and control method thereof KR20170093493A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2574258A (en) * 2018-06-01 2019-12-04 Jaguar Land Rover Ltd An apparatus and a method for controlling steering
CN110722949A (en) * 2019-10-22 2020-01-24 北京经纬恒润科技有限公司 Crosswind compensation method of vehicle, suspension controller and steering controller
CN115071811A (en) * 2019-01-29 2022-09-20 动态Ad有限责任公司 Computer-implemented method, vehicle, and non-transitory computer-readable medium
CN115214773A (en) * 2022-03-01 2022-10-21 广州汽车集团股份有限公司 Vehicle control method, device, system, vehicle and storage medium
US12054209B2 (en) 2019-01-29 2024-08-06 Motional Ad Llc Electric power steering torque compensation

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2574258A (en) * 2018-06-01 2019-12-04 Jaguar Land Rover Ltd An apparatus and a method for controlling steering
GB2574258B (en) * 2018-06-01 2021-11-10 Jaguar Land Rover Ltd Steering control dependent on roll angle
CN115071811A (en) * 2019-01-29 2022-09-20 动态Ad有限责任公司 Computer-implemented method, vehicle, and non-transitory computer-readable medium
US12054209B2 (en) 2019-01-29 2024-08-06 Motional Ad Llc Electric power steering torque compensation
CN110722949A (en) * 2019-10-22 2020-01-24 北京经纬恒润科技有限公司 Crosswind compensation method of vehicle, suspension controller and steering controller
CN115214773A (en) * 2022-03-01 2022-10-21 广州汽车集团股份有限公司 Vehicle control method, device, system, vehicle and storage medium
CN115214773B (en) * 2022-03-01 2023-11-21 广州汽车集团股份有限公司 Vehicle control method, device, system, vehicle and storage medium

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