CN110001630A - A kind of distributed-driving electric automobile automatic parking wheelpath differential correction system and method - Google Patents
A kind of distributed-driving electric automobile automatic parking wheelpath differential correction system and method Download PDFInfo
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- CN110001630A CN110001630A CN201910209485.8A CN201910209485A CN110001630A CN 110001630 A CN110001630 A CN 110001630A CN 201910209485 A CN201910209485 A CN 201910209485A CN 110001630 A CN110001630 A CN 110001630A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Abstract
The invention discloses a kind of distributed-driving electric automobile automatic parking wheelpath differential correction system and methods, and detection module detects parking position automatically first and the environmental information that will park is sent to control module；Secondly, the trajectory planning module planning of control module VCU goes out with reference to track of parking, and controls steering motor according to vehicle actual path and carry out self-steering, drive vehicle tracking with reference to track of parking.During tracking, when vehicle is practical park track and with reference to park trajector deviation e it is larger when, the differential compensation module of VCU is control target with e, the torque differences of left and right hub motor are control output, vehicle differential is driven to turn to, trajector deviation caused by steering precision is poor when reducing because of steering system low speed.The present invention can reduce the error of parking of vehicle self-steering by assisting vehicle to carry out control of parking using differential steering during automatic parking, improve park path accuracy and the reliability parked of automatic parking.
Description
Technical field
The present invention relates to intelligent automobile control technology fields, and in particular to a kind of distributed driving electric vehicle automatic parking
Wheelpath update the system and its method.
Background technique
The automated parking system insufficient driver of experience that can help parking easily is stopped, and driver is parked from cumbersome
It frees in the process.The difficult point of automated parking system first is that speed is lower when due to parking, steering motor steering moment compared with
Greatly, steering response is more sluggish, it is lower to turn to precision, so as to cause park track and with reference to deviation between track of parking it is larger.Point
Cloth drive electric vehicle due to each hub motor torque can independent control, maneuverability with higher, flexibility and reliable
Property.By the torque control signal different to left and right hub motor, left and right wheels can be made to generate torque differences and rotational speed difference, drive vehicle
Sliding turns to.Current existing conventional truck or distributed-driving electric automobile automatic parking technology, mainly utilize various volumes
Outer sensor improves the precision for environment sensing of parking, and less pays close attention to since the execution error bring tracking of actuator is inclined
Difference.
Summary of the invention
The purpose of the present invention is be directed to distributed-driving electric automobile automatic parking when due to steering motor steering response compared with
For it is sluggish, turn to that the more low precision that causes to park of precision is lower, this larger problem of trajector deviation, utilize distributed driving vehicle
Kinetic characteristics, so that left and right hub motor is generated torque differences and rotational speed difference, vehicle sliding driven to turn to and improve turning for vehicle
To flexibility, to make up steering motor self-steering bring trajector deviation.
In order to realize the above goal of the invention, using following technical scheme:
When carrying out self-steering by steering motor control vehicle, it is based on vehicle Three Degree Of Freedom model, with the practical pool of vehicle
Wheel paths and with reference to the deviation e to park between track be PID controller input, be output with the torque of left and right hub motor,
Make to generate torque differences and rotational speed difference between left and right vehicle wheel wheel, drives vehicle to carry out differential steering, deviation e is eliminated, to make up steering
The turning error of actuating motor.
A kind of distributed-driving electric automobile automatic parking wheelpath differential correction system of the invention, including detection mould
Block, control module, execution module；
The detection module includes position-detection sensor and several speed probes and current sensor, and described turn
Fast sensor and current sensor are respectively used to the revolving speed and electric current of detection four hub motors of electric car；The position inspection
Survey the environmental location information that sensor is used to detect parking position；The location information that detection module will test is sent to control module,
Tach signal, the current signal that will test are sent to execution module；
The control module is vehicle-mounted VCU, and VCU includes three modules: path planning module, self-steering module, difference
Dynamic compensating module；The environmental information for the parking position that the path planning module is detected according to detection module carries out track of parking
Planning, and determine with reference to track of parking；The self-steering module is parked track according to the reference that path planning module exports
Deviation e between the track of actually parking of detection module detection, the corner of steering wheel is obtained using automatic parking steer arithmetic
δ；The differential compensation module is according to reference to the track and actually the park size of the deviation e between track judges whether need of parking
Want differential compensation；
The each hub motor torque command of the steering wheel angle order being calculated is sent to execution by the control module
Module；The execution module includes steering motor controller and steering motor, hub motor control device and hub motor.
Further, the steering motor controller is used to receive the steering wheel angle δ of the self-steering module of VCU, and
Control steering motor is turned to.
Further, the speed probe includes speed probe a, speed probe b, speed probe c, revolution speed sensing
Device d, current sensor include current sensor a, current sensor b, current sensor c, current sensor d；The revolving speed
Sensor a is used to detect the revolving speed of hub motor a；Speed probe b is used to detect the revolving speed of hub motor b；Speed probe c
For detecting the revolving speed of hub motor c；Speed probe d is used to detect the revolving speed of hub motor d；The current sensor a
For detecting the electric current of hub motor a；The current sensor b is used to detect the electric current of hub motor b；The electric current passes
Sensor c is used to detect the electric current of hub motor c；The current sensor d is used to detect the electric current of hub motor d.
The technical solution of method of the invention are as follows: a kind of distributed-driving electric automobile automatic parking wheelpath is differential to repair
The method of positive system, comprising the following steps:
After driver drives to reach parking position nearby, automated parking system start button is pressed, at this point, system starts work
Make；
Firstly, detection module detects parking place information, the environmental location information that will park is sent to control module VCU；
Secondly, the path planning module of VCU is good with reference to track of parking according to parking place information planning, at the same time, from
Main steering module is according to reference to the track and actually the deviation e between track that parks calculates steering wheel angle δ, differential compensation of parking
Module is according to reference to the track and actually the deviation e between track that parks judges whether to need to carry out differential compensation of parking, if desired
The torque of each hub motor is then calculated, and sends it to execution module；
Then, the steering motor controller control steering motor of execution module, which rotate, reaches corresponding steering wheel turn
Angle, hub motor control device control hub motor reaches corresponding torque, until end of parking.
Further, judge whether to need differential compensation, if | e | > e0When, trajector deviation is larger, needs to carry out at this time differential
Compensation, if | e |≤e0, then illustrate that deviation is smaller, without carrying out differential compensation, when judgement needs differential compensation, be based on vehicle
Three Degree Of Freedom model calculates the torque of left side hub motor a and hub motor b using simple, effective pid algorithmThe right hub motor c and hub motor d torqueWhen deviation e is timing, M is positive, when deviation e is negative, M
It is negative.
Further, the path planning module realizes the detailed process of the determination of vehicle body and environmental location information are as follows:
Using position-detection sensor, the coarse position information of environment and vehicle is obtained, it is contemplated that front wheel angle, by four
Hub motor revolving speed integrates the time to obtain the motion profile of vehicle:
Wherein s is wheel movement displacement, and w is vehicle wheel rotational speed, and R is radius of wheel；
The electric current i of hub motor is taken into account when calculating the motion profile of vehicle, to calculate the driving force of driving wheel
Refuse T:
T=C Φ iR
Wherein C is constant of the machine, and Φ is motor magnetic flux, and R is radius of wheel, is obtaining each In-wheel motor driving torque T
Afterwards, vehicle yaw moment M is calculated:
M=Tfr-Tfl+Trl-Trr
WhereinBefore respectively left front, right, left back, off hind wheel hub motor driving moment, obtaining vehicle
Consider that it influences whole vehicle state after yaw moment, be based on vehicle three-degrees-of-freedom dynamics model, system state equation are as follows:
Wherein x=[β γ]T, w=δ, u=M be respectively system state variable (side slip angle and yaw velocity),
Front wheel angle and yaw moment respectively integrate yaw velocity γ and side slip angle β, obtain vehicle in driving process
It is middle rotation with break away displacement, be taken into account in vehicle body moving process, the motion profile and specific location to vehicle carry out into
One step determines.
Beneficial effect
(1) it is equivalent to for the parking system of itself, does not increase additional device and sensor, save cost.
(2) due to available wheel torque, it is more accurate to hold to vehicle body multidate information, can more accurately determine
Vehicle position information.
(3) it is compensated using differential steering by the poor caused trajector deviation of parking of self-steering effect, improves vehicle
Handling maneuver flexibility and track of parking precision.
(4) differential steering is realized by the torque of control hub motor, can also be implemented separately certainly in steering motor failure
Dynamic function of parking, improves the robustness and fault-tolerant ability of parking system.
(5) the torque output pressure of steering motor, shake and sideway instability during reduction is parked can be reduced.
Detailed description of the invention
Fig. 1 is present system structure chart
Fig. 2 is working-flow figure
Specific embodiment
Present invention specific implementation is made with reference to the accompanying drawing and being further described.
As shown in Figure 1, present system can be divided into three modules: detection module, control module, execution module.Wherein
Detection module includes speed probe a, current sensor a, speed probe b, current sensor b, speed probe c, electric current
Sensor c, speed probe d, current sensor d, position-detection sensor.The speed probe a is for detecting wheel hub
The revolving speed of motor a；Speed probe b is used to detect the revolving speed of hub motor b；Speed probe c is for detecting hub motor c's
Revolving speed；Speed probe d is used to detect the revolving speed of hub motor d；The current sensor a is for detecting hub motor a's
Electric current；The current sensor b is used to detect the electric current of hub motor b；The current sensor c is for detecting wheel hub electricity
The electric current of machine c；The current sensor d is used to detect the electric current of hub motor d；The sensor of the position detection is normal
Automatic parking sensor, can be ultrasonic sensor or radar sensor, and the environment position for detecting parking position is believed
Breath.The location information that testing agency will test is sent to control module, and tach signal, the current signal that will test are sent to execution
Module.The control module is vehicle-mounted VCU, and VCU includes three modules: path planning module, self-steering module, differential benefit
Repay module.There are two the main functions of the path planning module: first be vehicle body and environmental location information determination.Benefit
With position-detection sensor, the coarse position information of environment and vehicle is obtained.In view of front wheel angle, four hub motors are turned
Speed integrates the time to obtain the motion profile of vehicle, as shown in formula (1):
Wherein s is wheel movement displacement, and w is vehicle wheel rotational speed, and R is radius of wheel.
The electric current i of hub motor is taken into account when calculating the motion profile of vehicle, to calculate the driving force of driving wheel
T is refused, formula is such as shown in (2):
T=C Φ iR (2)
Wherein C is constant of the machine, and Φ is motor magnetic flux, and R is radius of wheel.Obtaining each In-wheel motor driving torque T
Afterwards, vehicle yaw moment M is calculated, as shown in formula (3):
M=Tfr-Tfl+Trl-Trr (3)
WhereinBefore respectively left front, right, left back, off hind wheel hub motor driving moment.Obtaining vehicle
Consider that it influences whole vehicle state after yaw moment, is based on vehicle three-degrees-of-freedom dynamics model, system state equation such as formula
(3) shown in:
Wherein x=[β γ]T, w=δ, u=M be respectively system state variable (side slip angle and yaw velocity),
Front wheel angle and yaw moment.As can be seen that yaw moment can all have an impact sideway and the lateral deviation movement of vehicle.It is right respectively
Yaw velocity γ is integrated with side slip angle β, is obtained the displacement that vehicle is rotated in the process of moving with breakked away, is examined
Consider in vehicle body moving process, the motion profile and specific location of vehicle are further determined that.Second effect is basis
Ambient enviroment and vehicle body location information park the planning of track, and determine with reference to track of parking；The self-steering mould
The deviation e that root tuber is parked between track and the track of actually parking of detection module detection according to the reference that path planning module exports,
The corner δ of steering wheel is calculated using automatic parking common steer arithmetic such as PID, fuzzy control etc.；The differential compensation
Module according to reference to park track and actually the park size of the deviation e between track judge whether to need differential compensation, if | e |
> e0When (e0For the positive value set according to experience), trajector deviation is larger, it needs to carry out differential compensation at this time, if | e |≤e0, then
Illustrate that deviation is smaller, without carrying out differential compensation.When judgement needs differential compensation, it is based on vehicle Three Degree Of Freedom model, is utilized
Simply, effectively pid algorithm calculates the torque of left side hub motor a and hub motor bThe right hub motor c and
Hub motor d torqueWhen deviation e is timing, M is positive, and when deviation e is negative, M is negative.Control module will calculate
To each hub motor torque command of steering wheel angle order be sent to execution module.The execution module includes to turn to electricity
Machine controller and steering motor, hub motor control device a, hub motor control device b, hub motor control device c, hub motor control
Device d and hub motor a processed, hub motor b, hub motor c, hub motor d.The steering motor controller is for receiving
The steering wheel angle δ of the self-steering module of VCU, and control steering motor and turned to.The hub motor control device a,
Hub motor b is used to receive the torque command of differential compensation moduleHub motor c and hub motor d is for receiving difference
The torque command of dynamic compensating moduleAnd according to corresponding speed probe a, current sensor a, speed probe b, electricity
The current signal and revolving speed that flow sensor b, speed probe c, current sensor c, speed probe d, current sensor d are detected
Signal controls itself corresponding hub motor a, hub motor b, hub motor c, hub motor d and reaches corresponding torque.
Present system workflow is made below with reference to Fig. 2 and being specifically described:
After driver drives to reach parking position nearby, automated parking system start button is pressed, at this point, system starts work
Make.Firstly, detection module detects parking place information, the environmental location information that will park is sent to control module VCU.Secondly, VCU
Path planning module it is good with reference to parking track according to parking place information planning, at the same time, self-steering module is according to ginseng
It examines the deviation e to park between track and track of actually parking and calculates steering wheel angle δ, differential compensation module is parked according to reference
Deviation e between track and track of actually parking judges whether to need to carry out differential compensation, if desired then calculates each wheel hub
The torque of motor, and send it to execution module.Then, the steering motor controller control steering motor of execution module carries out
Rotation reaches corresponding steering wheel angle, and hub motor control device control hub motor reaches corresponding torque, until knot of parking
Beam.
To sum up, a kind of distributed-driving electric automobile automatic parking wheelpath differential correction system of the invention and side
Method drives electric vehicle automated parking system for distribution, proposes a kind of wheelpath update the system and method.It examines first
Survey module detects parking position automatically and the environmental information that will park is sent to control module；Secondly, the trajectory planning of control module VCU
Module planning goes out with reference to parking track, and controls steering motor according to vehicle actual path and carry out self-steering, drive vehicle with
Track is with reference to track of parking.During tracking, when vehicle is practical park track and with reference to park trajector deviation e it is larger when, VCU's
Differential compensation module is control target with e, and the torque differences of left and right hub motor are control output, drives vehicle differential to turn to, subtracts
Trajector deviation caused by steering precision is poor when the small low speed because of steering system.The present invention is differential by utilizing during automatic parking
It turns to assist vehicle to carry out control of parking, can reduce the error of parking of vehicle self-steering, improve parking for automatic parking
Path accuracy and the reliability parked.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. means specific features described in conjunction with this embodiment or example, knot
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, specific features, structure, material or the spy of description
Point can be combined in any suitable manner in any one or more of the embodiments or examples.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (6)
1. a kind of distributed-driving electric automobile automatic parking wheelpath differential correction system, which is characterized in that including detection
Module, control module, execution module；
The detection module includes position-detection sensor and several speed probes and current sensor, and the revolving speed passes
Sensor and current sensor are respectively used to the revolving speed and electric current of detection four hub motors of electric car；The position detection passes
Sensor is used to detect the environmental location information of parking position；The location information that detection module will test is sent to control module, will examine
Tach signal, the current signal of survey are sent to execution module；
The control module is vehicle-mounted VCU, and VCU includes three modules: path planning module, self-steering module, differential benefit
Repay module；The environmental information for the parking position that the path planning module is detected according to detection module park the rule of track
It draws, and determines with reference to track of parking；The self-steering module according to the reference that path planning module exports park track with
Deviation e between the track of actually parking of detection module detection, the corner δ of steering wheel is obtained using automatic parking steer arithmetic；
The differential compensation module is according to reference to the track and actually the park size of the deviation e between track judges whether needs of parking
Differential compensation；
The each hub motor torque command of the steering wheel angle order being calculated is sent to execution module by the control module；
The execution module includes steering motor controller and steering motor, hub motor control device and hub motor.
2. a kind of distributed-driving electric automobile automatic parking wheelpath differential correction system according to claim 1,
It is characterized in that, the steering motor controller receives the steering wheel angle δ of the self-steering module of VCU, and control steering
Motor is turned to.
3. a kind of distributed-driving electric automobile automatic parking wheelpath differential correction system according to claim 1,
It is characterized in that, the speed probe includes speed probe a, speed probe b, speed probe c, speed probe d,
Current sensor includes current sensor a, current sensor b, current sensor c, current sensor d；The revolution speed sensing
Device a is used to detect the revolving speed of hub motor a；Speed probe b is used to detect the revolving speed of hub motor b；Speed probe c is used for
Detect the revolving speed of hub motor c；Speed probe d is used to detect the revolving speed of hub motor d；The current sensor a is used for
Detect the electric current of hub motor a；The current sensor b is used to detect the electric current of hub motor b；The current sensor
C is used to detect the electric current of hub motor c；The current sensor d is used to detect the electric current of hub motor d.
4. a kind of distributed-driving electric automobile automatic parking wheelpath differential correction system according to claim 3
Method, which comprises the following steps:
After driver drives to reach parking position nearby, automated parking system start button is pressed, at this point, system starts；
Firstly, detection module detects parking place information, the environmental location information that will park is sent to control module VCU；
Secondly, the path planning module of VCU is good with reference to track of parking according to parking place information planning, it is at the same time, autonomous to turn
To module according to reference to the track and actually the deviation e between track that parks calculates steering wheel angle δ, differential compensation module of parking
According to reference to the track and actually the deviation e between track that parks judges whether to need to carry out differential compensation of parking, if desired then count
The torque of each hub motor is calculated, and sends it to execution module；
Then, the steering motor controller control steering motor of execution module, which rotate, reaches corresponding steering wheel angle, takes turns
Hub electric machine controller control hub motor reaches corresponding torque, until end of parking.
5. the side of distributed-driving electric automobile automatic parking wheelpath differential correction system according to claim 4
Method, which is characterized in that judge whether to need the detailed process of differential compensation are as follows: if | e | > e0When, trajector deviation is larger, at this time
It needs to carry out differential compensation, if | e |≤e0, then illustrate that deviation is smaller, without carrying out differential compensation, when judgement needs differential compensation
When, it is based on vehicle Three Degree Of Freedom model, the torque of left side hub motor a and hub motor b is calculated using pid algorithmThe right hub motor c and hub motor d torqueWhen deviation e is timing, M is positive, when deviation e is negative, M
It is negative.
6. the side of distributed-driving electric automobile automatic parking wheelpath differential correction system according to claim 4
Method, which is characterized in that the path planning module includes the steps that realizing that vehicle body and environmental location information determine；
Detailed process are as follows:
Using position-detection sensor, the coarse position information of environment and vehicle is obtained, it is contemplated that front wheel angle, by four wheel hubs
Motor speed integrates the time to obtain the motion profile of vehicle:
Wherein s is wheel movement displacement, and w is vehicle wheel rotational speed, and R is radius of wheel；
The electric current i of hub motor is taken into account when calculating the motion profile of vehicle, refuses T to calculate the driving force of driving wheel:
T=C Φ iR
Wherein C is constant of the machine, and Φ is motor magnetic flux, and R is radius of wheel, right after obtaining each In-wheel motor driving torque T
Vehicle yaw moment M is calculated:
M=Tfr-Tfl+Trl-Trr
Wherein Tfl,Tfr,Trl,TrrBefore respectively left front, right, left back, off hind wheel hub motor driving moment, obtaining vehicle cross
Consider that it influences whole vehicle state after pendulum torque, be based on vehicle three-degrees-of-freedom dynamics model, system state equation are as follows:
Wherein x=[β γ]T, w=δ, u=M are respectively the state variable (side slip angle and yaw velocity) of system, front-wheel
Corner and yaw moment respectively integrate yaw velocity γ and side slip angle β, obtain vehicle and turn in the process of moving
The dynamic displacement with sideslip, is taken into account in vehicle body moving process, and the motion profile and specific location to vehicle carry out further
It determines.
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