Steering wheel feel compensation method

1 . A method for compensating steering wheel feel, applied to a vehicle, wherein the vehicle comprises a first motor, a second motor, and a third motor, the first motor is configured to drive a left front wheel of the vehicle, the second motor is configured to drive a right front wheel of the vehicle, the third motor is configured to drive a steering gear, and the method comprising:

obtaining a traveling status and a steering status of the vehicle, and determining a compensation manner of the third motor;

obtaining a driving torque of the first motor and a driving torque of the second motor, and determining a compensation torque for the third motor; and

applying the compensation torque for the third motor to the third motor based on the compensation manner,

wherein the obtaining a driving torque of the first motor and a driving torque of the second motor, and determining a compensation torque for the third motor comprises:

determining a resultant rotational torque of a kingpin based on the driving torque of the first motor and the driving torque of the second motor;

determining a force received by a steering tie rod based on the resultant rotational torque; and

determining a force torque of a steering wheel based on the force received by the steering tie rod,

wherein the compensation torque for the third motor is equal to the force torque of the steering wheel, and

wherein:

the force received by the steering tie rod based on the resultant rotational torque is determined according to: F S =T f /H, where F S is the force received by the steering tie rod, T f is the resultant rotational torque of the kingpin, and H is a distance from an inner point of the steering tie rod to a wheel center; and

the force torque of the steering wheel based on the force received by the steering tie rod is determined according to: T S =F S *a/(2*π*1000), where T S is the force torque of the steering wheel, and a is a line angle transmission ratio of a steering system.

2 . The method according to claim 1 , wherein the traveling status comprises a forward state and a reversing state, and the steering status comprises a left steering state and a right steering state.

3 . The method according to claim 2 , wherein the determining a compensation manner of the third motor comprises:

in response to that the vehicle is in the forward state and the left steering state, reducing a left steering torque of the third motor.

4 . The method according to claim 2 , wherein the determining a compensation manner of the third motor comprises:

in response to that the vehicle is in the forward state and the right steering state, reducing a right steering torque of the third motor.

5 . The method according to claim 2 , wherein the determining a compensation manner of the third motor comprises:

in response to that the vehicle is in the reversing state and the left steering state, increasing a left steering torque of the third motor.

6 . The method according to claim 2 , wherein the determining a compensation manner of the third motor comprises:

in response to that the vehicle is in the reversing state and the right steering state, increasing a right steering torque of the third motor.

7 . The method according to claim 1 , wherein the determining a resultant rotational torque of a kingpin based on the driving torque of the first motor and the driving torque of the second motor comprises:

determining a driving force of the first motor and a driving force of the second motor based on the driving torque of the first motor and the driving torque of the second motor according to:

F

f

⁢

1

=

T

1

d

1

,

where F f1 is the driving force of the first motor, T 1 is the driving torque of the first motor, and d 1 is a tire radius of the left front wheel; and

F

f

⁢

2

=

T

2

d

2

,

where F f2 is the driving force of the second motor, T 2 is the driving torque of the second motor, and d 2 is a tire radius of the right front wheel; and

determining the resultant rotational torque of the kingpin based on the driving force of the first motor and the driving force of the second motor according to T f =(F f2 −F f1 )*e, where T f is the resultant rotational torque of the kingpin, and e is a kingpin inclination center offset.

8 . A non-transitory computer readable medium, storing computer executable programs, wherein the computer executable programs are executable to cause a processor to perform operations applied to a vehicle, wherein the vehicle comprises a first motor, a second motor, and a third motor, the first motor is configured to drive a left front wheel of the vehicle, the second motor is configured to drive a right front wheel of the vehicle, the third motor is configured to drive a steering gear, wherein the operations comprise:

obtaining a traveling status and a steering status of the vehicle, and determining a compensation manner of the third motor;

obtaining a driving torque of the first motor and a driving torque of the second motor, and determining a compensation torque for the third motor; and

applying the compensation torque for the third motor to the third motor based on the compensation manner,

wherein the obtaining a driving torque of the first motor and a driving torque of the second motor, and determining a compensation torque for the third motor comprises:

determining a resultant rotational torque of a kingpin based on the driving torque of the first motor and the driving torque of the second motor;

determining a force received by a steering tie rod based on the resultant rotational torque; and

determining a force torque of a steering wheel based on the force received by the steering tie rod,

wherein the compensation torque for the third motor is equal to the force torque of the steering wheel, and

wherein:

the force received by the steering tie rod based on the resultant rotational torque is determined according to: F S =T f /H, where F S is the force received by the steering tie rod, T f is the resultant rotational torque of the kingpin, and H is a distance from an inner point of the steering tie rod to a wheel center; and

the force torque of the steering wheel based on the force received by the steering tie rod is determined according to: T S =F S *a/(2*π*1000), where T S is the force torque of the steering wheel, and a is a line angle transmission ratio of a steering system.

9 . The non-transitory computer readable medium according to claim 8 , wherein the traveling status comprises a forward state and a reversing state, and the steering status comprises a left steering state and a right steering state.

10 . The non-transitory computer readable medium according to claim 9 , wherein the determining a compensation manner of the third motor comprises:

in response to that the vehicle is in the forward state and the left steering state, reducing a left steering torque of the third motor.

11 . The non-transitory computer readable medium according to claim 9 , wherein the determining a compensation manner of the third motor comprises:

in response to that the vehicle is in the forward state and the right steering state, reducing a right steering torque of the third motor.

12 . The non-transitory computer readable medium according to claim 9 , wherein the determining a compensation manner of the third motor comprises:

in response to that the vehicle is in the reversing state and the left steering state, increasing a left steering torque of the third motor.

13 . The non-transitory computer readable medium according to claim 9 , wherein the determining a compensation manner of the third motor comprises:

in response to that the vehicle is in the reversing state and the right steering state, increasing a right steering torque of the third motor.

14 . The non-transitory computer readable medium according to claim 8 , wherein the determining a resultant rotational torque of a kingpin based on the driving torque of the first motor and the driving torque of the second motor comprises:

determining a driving force of the first motor and a driving force of the second motor based on the driving torque of the first motor and the driving torque of the second motor according to:

F

f

⁢

1

=

T

1

d

1

,

where F f1 is the driving force of the first motor, T 1 is the driving torque of the first motor, and d 1 is a tire radius of the left front wheel; and

F

f

⁢

2

=

T

2

d

2

,

where F f2 is the driving force of the second motor, T 2 is the driving torque of the second motor, and d 2 is a tire radius of the right front wheel; and

determining the resultant rotational torque of the kingpin based on the driving force of the first motor and the driving force of the second motor according to T f =(F f2 −F f1 )*e, where T f is the resultant rotational torque of the kingpin, and e is a kingpin inclination center offset.

15 . A vehicle, comprising a processor and computer executable programs, wherein the computer executable programs are executable to cause the processor to perform operations, wherein the vehicle comprises a first motor, a second motor, and a third motor, the first motor is configured to drive a left front wheel of the vehicle, the second motor is configured to drive a right front wheel of the vehicle, the third motor is configured to drive a steering gear, wherein the operations comprise:

obtaining a traveling status and a steering status of the vehicle, and determining a compensation manner of the third motor;

obtaining a driving torque of the first motor and a driving torque of the second motor, and determining a compensation torque for the third motor; and

applying the compensation torque for the third motor to the third motor based on the compensation manner,

wherein the obtaining a driving torque of the first motor and a driving torque of the second motor, and determining a compensation torque for the third motor comprises:

determining a resultant rotational torque of a kingpin based on the driving torque of the first motor and the driving torque of the second motor;

determining a force received by a steering tie rod based on the resultant rotational torque; and

determining a force torque of a steering wheel based on the force received by the steering tie rod,

wherein the compensation torque for the third motor is equal to the force torque of the steering wheel, and

wherein:

the force received by the steering tie rod based on the resultant rotational torque is determined according to: F S =T f /H, where F S is the force received by the steering tie rod, T f is the resultant rotational torque of the kingpin, and H is a distance from an inner point of the steering tie rod to a wheel center; and

the force torque of the steering wheel based on the force received by the steering tie rod is determined according to: T S =F S *a/(2*π*1000), where T S is the force torque of the steering wheel, and a is a line angle transmission ratio of a steering system.