CN116135669A - Vehicle steering control method and device, electronic equipment and storage medium - Google Patents
Vehicle steering control method and device, electronic equipment and storage medium Download PDFInfo
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- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
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- 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
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/006—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels using a measured or estimated road friction coefficient
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Abstract
The invention discloses a vehicle steering control method, a vehicle steering control device, electronic equipment and a storage medium. The method comprises the following steps: acquiring current state information of a vehicle, and determining a steering state of the vehicle based on the current state information of the vehicle; determining vehicle ideal state information based on the vehicle current state information and an ideal vehicle model, in the case that the vehicle steering state is in a nonlinear state; and determining a target rear wheel steering angle based on the current state information of the vehicle and the ideal state information of the vehicle, and controlling a rear wheel steering system to steer based on the target rear wheel steering angle. According to the invention, under the condition that the vehicle is in a nonlinear state, the ideal state information of the vehicle is determined through the ideal vehicle model, the target rear wheel turning angle is further determined, the wheel steering system is controlled to steer based on the target rear wheel turning angle, the vehicle steering state of the vehicle is detected in real time, the rear wheel turning angle of the vehicle is actively regulated, the vehicle is controlled in advance, and the steering stability of the vehicle is improved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a vehicle steering control method, device, electronic apparatus, and storage medium.
Background
The vehicle steering control is a main research direction in the technical field of vehicle control, and can improve the steering stability of the vehicle and ensure the stable running of the vehicle.
In the prior art, vehicles utilize ESP systems to brake one or more wheels to correct the vehicle's trajectory offset for vehicle stability control.
However, for vehicles with large carrying capacity or high mass center, the attitude correction by means of emergency braking may cause the center of gravity of the vehicle to change sharply, or even cause the vehicle to roll over; in addition, the brake system is activated frequently, resulting in a large energy loss while the vehicle speed is reduced.
Disclosure of Invention
The invention provides a vehicle steering control method, a device, electronic equipment and a storage medium, which are used for improving the steering stability of a vehicle.
According to an aspect of the present invention, there is provided a vehicle steering control method including:
acquiring current state information of a vehicle, and determining a steering state of the vehicle based on the current state information of the vehicle;
determining vehicle ideal state information based on the vehicle current state information and an ideal vehicle model, in the case that the vehicle steering state is in a nonlinear state;
and determining a target rear wheel steering angle based on the current state information of the vehicle and the ideal state information of the vehicle, and controlling a rear wheel steering system to steer based on the target rear wheel steering angle.
According to another aspect of the present invention, there is provided a vehicle steering control apparatus including:
the vehicle steering state determining module is used for acquiring current state information of the vehicle and determining the vehicle steering state based on the current state information of the vehicle;
a vehicle ideal state information determining module for determining vehicle ideal state information based on the vehicle current state information and an ideal vehicle model in a case where the vehicle steering state is in a nonlinear state;
and the target rear wheel steering angle determining module is used for determining a target rear wheel steering angle based on the current state information of the vehicle and the ideal state information of the vehicle, and controlling a rear wheel steering system to steer based on the target rear wheel steering angle.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle steering control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute a vehicle steering control method according to any one of the embodiments of the present invention.
According to the technical scheme, under the condition that the vehicle is in a nonlinear state, ideal state information of the vehicle is determined through the ideal vehicle model, then the target rear wheel steering angle is determined according to the current state information of the vehicle and the ideal state information of the vehicle, the steering system is controlled to steer based on the target rear wheel steering angle, the steering state of the vehicle is detected in real time, the rear wheel steering angle is actively regulated, the vehicle is controlled in advance, and the steering stability of the vehicle is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a vehicle steering control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vehicle steering control device according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first additional rear wheel turning angle", "second additional rear wheel turning angle", and the like in the description and the claims of the present invention and the above-described drawings are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a vehicle steering control method according to an embodiment of the present invention, where the method may be performed by a vehicle steering control device, which may be implemented in hardware and/or software, and may be configured in a rear wheel steering system, and may be applicable to a case where active control is performed on rear wheels of a vehicle during steering of the vehicle. As shown in fig. 1, the method includes:
s110, acquiring current state information of the vehicle, and determining a steering state of the vehicle based on the current state information of the vehicle.
The vehicle current state information refers to information related to steering of the vehicle, and specifically includes, but is not limited to, lateral acceleration of the vehicle, yaw rate of the vehicle, lateral angle of center of mass of the vehicle, running speed of the vehicle, front wheel rotation angle, and the like, which are not limited herein. In this embodiment, the vehicle yaw rate gain may be determined from the vehicle yaw rate and the steering wheel angle, and the relationship between the vehicle yaw rate gain and the vehicle running speed may be detected to determine the vehicle steering state, wherein the vehicle steering state includes a linear state and a nonlinear state.
For example, the relationship between the vehicle yaw rate gain and the vehicle running speed may be expressed by the following formula:
wherein,,
the yaw rate gain of the vehicle is represented by u, the vehicle running speed is represented by L, the vehicle wheelbase is represented by l=a+b, a and b are the front wheelbase and the rear wheelbase, respectively, and K is the stability factor.
In the case of the neutral steering vehicle, the stability factor k=0, and when the vehicle is in a linear state, the yaw rate gain is in a linear relationship with the vehicle running speed, and it is possible to determine whether the vehicle steering state is in a linear or nonlinear state by detecting the relationship between the yaw rate gain and the vehicle running speed in real time.
And S120, determining ideal state information of the vehicle based on the current state information of the vehicle and an ideal vehicle model under the condition that the steering state of the vehicle is in a nonlinear state.
Specifically, the relation between the yaw rate gain of the vehicle and the running speed of the vehicle is detected in real time, and the ideal state information of the vehicle is determined according to the current state information of the vehicle and the ideal vehicle module under the condition that the steering state of the vehicle is in a nonlinear state, wherein the ideal vehicle model can be a linear two-degree-of-freedom model.
On the basis of the above embodiment, optionally, the determining the ideal state information of the vehicle based on the current state information of the vehicle and the ideal vehicle model includes: substituting the current state information of the vehicle into an ideal vehicle model to obtain vehicle steady state information, wherein the vehicle steady state information comprises steady state yaw rate and steady state centroid slip angle; determining a vehicle maximum yaw rate and a maximum centroid slip angle based on a road attachment coefficient and the vehicle travel speed; determining ideal state information of the vehicle based on the vehicle steady state information, the vehicle maximum yaw rate and the maximum centroid slip angle; the vehicle ideal state information includes an ideal centroid slip angle and an ideal yaw rate.
Specifically, the current state information of the vehicle can be substituted into a linear two-degree-of-freedom model to obtain a steady-state yaw rate and a steady-state centroid slip angle.
The maximum yaw rate is determined from the road surface attachment coefficient and the vehicle running speed, and the calculation formula of the maximum yaw rate is as follows, by way of example:
wherein omega r2 The maximum yaw rate is represented, μ represents the road adhesion coefficient, u represents the vehicle running speed, and g represents the gravitational acceleration.
The maximum centroid slip angle is determined according to the road surface attachment coefficient, and an exemplary calculation formula of the maximum centroid slip angle is as follows:
β r2 ＝arctan(0.02μg)
wherein beta is r2 The maximum centroid slip angle is represented, μ represents the road adhesion coefficient, g is the gravitational acceleration.
In order to meet different working conditions, taking the minimum value of the steady-state yaw rate and the maximum yaw rate as an ideal yaw rate; and taking the minimum value of the steady-state centroid slip angle and the maximum centroid slip angle as an ideal centroid slip angle.
For example, the ideal yaw rate may be determined by the following formula:
ω r ′＝min{|ω r1 |,|ω r2 |}；
the ideal centroid slip angle can be determined by the following formula:
β r ′＝min{|β r1 |,|β r2 |}；
wherein omega r ' represents the ideal yaw rate, ω r1 Represents steady-state yaw rate, ω r2 Representing a maximum yaw rate; beta r ' represents ideal centroid slip angle, beta r1 Represents steady-state centroid slip angle, beta r2 Representing the maximum centroid slip angle.
On the basis of the above embodiment, optionally, the method for estimating the road adhesion coefficient includes: determining a road surface attachment coefficient based on the vehicle lateral acceleration and a non-linearity attachment coefficient compensation amount; the nonlinear attachment coefficient compensation amount comprises a first nonlinear attachment coefficient compensation amount and a second nonlinear attachment coefficient compensation amount.
The first nonlinear attachment coefficient compensation amount refers to an attachment coefficient compensation amount based on the yaw rate nonlinearity, specifically, the nonlinearity based on the yaw rate can be determined according to the yaw rate of the vehicle and the steady yaw rate, and then the attachment coefficient compensation amount based on the yaw rate nonlinearity can be determined according to the nonlinearity based on the yaw rate.
The calculation formula of the first nonlinear attachment coefficient compensation amount is as follows:
μ ω ＝|ω r -ω r1 |
wherein mu nl1 Represents the attachment coefficient compensation amount, mu, based on the non-linearity of yaw rate ω Representing the non-linearity, ω, based on yaw rate r Represents the yaw rate, ω of the vehicle r1 Indicating steady state yaw rate.
The second nonlinear attachment coefficient compensation amount refers to an attachment coefficient compensation amount based on the nonlinearity of the lateral acceleration, specifically, the nonlinearity based on the lateral acceleration may be determined according to the vehicle running speed, the vehicle yaw rate, and the vehicle lateral acceleration, and further the attachment coefficient compensation amount based on the nonlinearity of the lateral acceleration may be determined according to the nonlinearity based on the lateral acceleration.
The calculation formula of the second nonlinear attachment coefficient compensation amount is as follows:
a y1 ＝uω r -a y
wherein mu nl2 Represents the adhesion coefficient compensation amount, a, based on the lateral acceleration nonlinearity y1 Represents a non-linearity based on lateral acceleration, u represents a vehicle running speed, ω r Indicating the yaw rate of the vehicle, a y Indicating the vehicle lateral acceleration.
In this embodiment, the attachment coefficient compensation amount of the nonlinearity is determined based on the first nonlinear attachment coefficient compensation amount and the second nonlinear attachment coefficient compensation amount, and the road surface attachment coefficient is determined based on the attachment coefficient compensation amount of the nonlinearity and the vehicle lateral acceleration.
Illustratively, the attachment coefficient compensation amount of the nonlinearity can be determined by the following equation:
μ nl ＝min(μ nl1 ,μ nl2 )；
the estimation formula of the road adhesion coefficient is as follows:
wherein μ is an estimated value of road adhesion coefficient, a y Mu, for vehicle lateral acceleration nl The amount of attachment coefficient compensation for nonlinearity.
And S130, determining a target rear wheel steering angle based on the current state information of the vehicle and the ideal state information of the vehicle, and controlling a rear wheel steering system to steer based on the target rear wheel steering angle.
In this embodiment, the target rear wheel steering angle may be determined according to the current state information of the vehicle and the ideal state information of the vehicle, and the rear wheel steering system may control the rear wheel steering angle to rotate at the preset rotation speed to the target rear wheel steering angle, so that the vehicle is in a stable state, thereby improving the steering stability of the vehicle.
On the basis of the above embodiment, optionally, the determining the target rear wheel steering angle based on the vehicle current state information and the vehicle ideal state information includes: determining a conventional rear wheel steering angle based on the front wheel steering angle and rear wheel steering angle scaling factor; determining an additional rear wheel steering angle based on the vehicle yaw rate, the vehicle centroid slip angle, and the vehicle ideal state information; a target rear wheel steering angle is determined based on the regular rear wheel steering angle and the additional rear wheel steering angle.
Specifically, determining a conventional rear wheel rotation angle according to a front wheel rotation angle and a rear wheel rotation angle proportionality coefficient of the vehicle; and determining an additional rear wheel steering angle according to the yaw rate of the vehicle, the side deviation angle of the mass center of the vehicle and the determined ideal state information of the vehicle, adding the conventional rear wheel steering angle and the additional rear wheel steering angle to obtain a target rear wheel steering angle, and controlling the rear wheel steering system to steer based on the target rear wheel steering angle.
The calculation formula of the conventional rear wheel rotation angle is as follows:
δ R1 ＝kδ F ；
wherein delta R1 Is the rotation angle delta of the conventional rear wheel F For front wheel rotation angle, k 1 、k 2 The rigidity of the lateral deviation of the front axle and the rear axle are respectively a front axle base and a rear axle base, L is a vehicle axle base, L=a+b, m is a vehicle mass, u is a vehicle running speed, and k is a rear wheel steering angle proportionality coefficient.
The calculation formula of the target rear wheel steering angle is as follows:
δ R ＝δ R1 +δ R2
wherein delta R For target rear wheel steering angle, delta R1 、δ R2 The conventional rear wheel turning angle and the additional rear wheel turning angle are respectively.
On the basis of the above-described embodiment, optionally, the determining an additional rear wheel steering angle based on the vehicle yaw rate, the vehicle centroid slip angle, and the vehicle ideal state information includes: determining a first additional rear-wheel-rotation angle based on the vehicle yaw rate, the vehicle ideal yaw rate, and a first fuzzy controller; determining a second additional rear wheel corner based on the vehicle centroid slip angle, the vehicle ideal centroid slip angle, and a second fuzzy controller; the additional rear wheel steering angle is determined based on the first additional rear wheel steering angle and the second additional rear wheel steering angle.
The first fuzzy controller is a two-dimensional fuzzy controller based on yaw rate feedback, and is established based on a corresponding fuzzy rule.
Illustratively, the fuzzy rule table for outputting the first yaw moment based on the yaw-rate feedback is as follows:
the fuzzy rule table for outputting the first additional rear wheel rotation angle based on the yaw rate feedback is as follows:
| first yaw moment | PB | PM | PS | ZO | NS | NM | NB |
| First additional rear wheel steering angle | NB | NM | NS | ZO | PS | PM | PB |
It should be noted that, in the process of obtaining the first additional rear wheel corner by fuzzy reasoning through the first fuzzy controller, the following steps are: firstly, fuzzy reasoning is carried out according to the difference value between the yaw rate of the vehicle and the ideal yaw rate and the change rate of the difference value between the yaw rate of the vehicle and the ideal yaw rate, so as to obtain a first yaw moment, and then a first additional rear-wheel rotation angle is determined according to the first yaw moment. Illustratively, if the first yaw moment obtained by fuzzy reasoning is "PB", the first additional rear-wheel rotation angle is "NB", and so on.
In the embodiment, a difference value between the yaw rate of the vehicle and the ideal yaw rate and a change rate of the difference value between the yaw rate of the vehicle and the ideal yaw rate are taken as inputs, and are input into a first fuzzy controller for fuzzy reasoning to obtain a first additional rear wheel rotation angle; the vehicle yaw rate and ideal yaw rate difference, the vehicle yaw rate and ideal yaw rate difference change rate, the first yaw moment and the blurring level of the first additional rear wheel turning angle are all selected to be 7 levels, the blurring sets are all positive negative large, negative medium, negative small, zero, positive small, positive medium and positive large = { NB, NM, NS, ZO, PS, PM, PB }, the domain of the vehicle yaw rate and ideal yaw rate difference and the vehicle yaw rate change rate difference is selected to be [ -6,6], the yaw moment domain is selected to be [ -7,7], the first additional rear wheel turning angle domain is selected to be [ -1,1], and the membership functions of the input and output quantity are uniformly distributed triangle functions.
The second fuzzy controller is a two-dimensional fuzzy controller based on centroid slip angle feedback, and is established based on corresponding fuzzy rules.
Illustratively, the fuzzy rule table for outputting the second yaw moment based on the centroid slip angle feedback is as follows:
the fuzzy rule table for outputting the second additional rear wheel corner based on the centroid slip angle feedback is as follows:
| second yaw moment | PB | PM | PS | ZO | NS | NM | NB |
| Second additional rear wheel steering angle | NB | NM | NS | ZO | PS | PM | PB |
It should be noted that, in the process of obtaining the second additional rear wheel corner by fuzzy reasoning through the second fuzzy controller, the following steps are: and performing fuzzy reasoning according to the difference value of the vehicle mass center slip angle and the ideal mass center slip angle and the change rate of the difference value of the vehicle mass center slip angle and the ideal mass center slip angle to obtain a second yaw moment, and further determining a second additional rear wheel corner according to the second yaw moment. Illustratively, if the second yaw moment obtained by fuzzy reasoning is "PB", the second additional rear-wheel rotation angle is "NB", and so on.
In the embodiment, a difference value between a vehicle mass center slip angle and an ideal mass center slip angle and a change rate of the difference value between the vehicle mass center slip angle and the ideal mass center slip angle are used as inputs, and a second fuzzy controller is input for fuzzy reasoning to obtain a second additional rear wheel corner; the difference value of the vehicle mass center slip angle and the ideal mass center slip angle, the change rate of the difference value of the vehicle mass center slip angle and the ideal mass center slip angle, the second yaw moment and the blurring level of the second additional rear wheel turning angle are all selected to be 7 levels, the blurring sets are all of negative large, negative medium, negative small, zero, positive small, middle and positive large = { NB, NM, NS, ZO, PS, PM, PB }, the arguments of the difference value of the vehicle mass center slip angle and the ideal mass center slip angle and the change rate of the difference value of the vehicle mass center slip angle and the ideal mass center slip angle are taken as [ (6, 6], the yaw moment arguments are taken as [ (7, 7], the second additional rear wheel turning angle is taken as [ (1, 1], and the membership functions of input and output quantity are all triangle functions which are uniformly distributed.
In this embodiment, the first additional rear wheel steering angle and the second additional rear wheel steering angle may be weighted, and the weighted first additional rear wheel steering angle and the weighted second additional rear wheel steering angle may be added to obtain the additional rear wheel steering angle.
On the basis of the above embodiment, optionally, the determining the target rear wheel steering angle based on the first additional rear wheel steering angle and the second additional rear wheel steering angle includes: determining a first control weight and a second control weight based on the road adhesion coefficient; and carrying out weighting processing based on the first additional rear wheel turning angle and the first control weight, and the second additional rear wheel turning angle and the second control weight to obtain an additional rear wheel turning angle.
Specifically, weights of the first additional rear wheel corner and the second additional rear wheel corner may be determined according to the road surface attachment coefficient, where the first control weight is a weight of the first additional rear wheel corner, and the second control weight is a weight of the second additional rear wheel corner. In this embodiment, the first additional rear wheel steering angle and the second additional rear wheel steering angle are weighted based on the first control weight and the second control weight, and then added to obtain the additional rear wheel steering angle.
The first control weight and the second control weight are determined in the following manner:
k 2 ＝1-k 1
the calculation formula of the additional rear wheel rotation angle is as follows:
δ R2 ＝k 1 δ β +k 2 δ ω
wherein k is 1 Representing a second control weight, k 2 Represents a first control weight, mu is a road adhesion coefficient, delta R2 For attaching the rear wheel corner delta β For the second additional rear wheel corner, delta ω For the first additional rear wheel steering angle.
According to the technical scheme, under the condition that the vehicle is in a nonlinear state, ideal state information of the vehicle is determined through an ideal vehicle model, then a target rear wheel steering angle is determined according to current state information of the vehicle and the ideal state information of the vehicle, a control wheel steering system steers based on the target rear wheel steering angle, the vehicle steering state of the vehicle is detected in real time, the rear wheel steering angle is actively regulated, the vehicle is controlled in advance, and the steering stability of the vehicle is improved.
Example two
Fig. 2 is a schematic structural diagram of a vehicle steering control device according to a second embodiment of the present invention. As shown in fig. 2, the apparatus includes:
a vehicle steering state determining module 210, configured to obtain current state information of a vehicle, and determine a vehicle steering state based on the current state information of the vehicle;
a vehicle ideal state information determining module 220 for determining vehicle ideal state information based on the vehicle current state information and an ideal vehicle model in a case where the vehicle steering state is in a nonlinear state;
the target rear wheel steering angle determining module 230 is configured to determine a target rear wheel steering angle based on the current state information of the vehicle and the ideal state information of the vehicle, and control the rear wheel steering system to steer based on the target rear wheel steering angle.
According to the technical scheme, under the condition that the vehicle is in a nonlinear state, ideal state information of the vehicle is determined through an ideal vehicle model, then a target rear wheel steering angle is determined according to current state information of the vehicle and the ideal state information of the vehicle, a control wheel steering system steers based on the target rear wheel steering angle, the vehicle steering state of the vehicle is detected in real time, the rear wheel steering angle is actively regulated, the vehicle is controlled in advance, and the steering stability of the vehicle is improved.
On the basis of the above embodiment, optionally, the vehicle ideal state information determining module 220 is specifically configured to substitute the vehicle current state information into an ideal vehicle model to obtain vehicle steady state information, where the vehicle steady state information includes a steady state yaw rate and a steady state centroid slip angle; determining a vehicle maximum yaw rate and a maximum centroid slip angle based on a road attachment coefficient and the vehicle travel speed; determining ideal state information of the vehicle based on the vehicle steady state information, the vehicle maximum yaw rate and the maximum centroid slip angle; the vehicle ideal state information includes an ideal centroid slip angle and an ideal yaw rate.
On the basis of the embodiment, optionally, the vehicle current state information includes vehicle lateral acceleration, vehicle yaw rate, vehicle centroid slip angle, vehicle running speed and front wheel turning angle; the target rear wheel turning angle determination module 230 is configured to determine a conventional rear wheel turning angle based on the front wheel turning angle and the rear wheel turning angle scaling factor; determining an additional rear wheel steering angle based on the vehicle yaw rate, the vehicle centroid slip angle, and the vehicle ideal state information; a target rear wheel steering angle is determined based on the regular rear wheel steering angle and the additional rear wheel steering angle.
On the basis of the above embodiment, optionally, the target rear wheel steering angle determining module 230 includes a first fuzzy controller and a second fuzzy controller; the first fuzzy controller is used for carrying out fuzzy reasoning based on the yaw rate of the vehicle and the ideal yaw rate of the vehicle to obtain a first additional rear-wheel rotation angle; and the second fuzzy controller is used for carrying out fuzzy reasoning on the vehicle mass center slip angle and the vehicle ideal mass center slip angle to obtain a second additional rear wheel corner.
On the basis of the above-described embodiment, optionally, the target rear wheel steering angle determination module 230 further includes an additional rear wheel steering angle determination unit that determines the additional rear wheel steering angle based on the first additional rear wheel steering angle and the second additional rear wheel steering angle.
On the basis of the above-described embodiment, optionally, the additional rear wheel steering angle determining unit is specifically configured to determine the first control weight and the second control weight based on the road surface adhesion coefficient; and carrying out weighting processing based on the first additional rear wheel turning angle and the first control weight and the second additional rear wheel turning angle and the second control weight to obtain an additional rear wheel turning angle.
On the basis of the above embodiment, optionally, the apparatus further includes a road surface adhesion coefficient determining module for determining a road surface adhesion coefficient based on the vehicle lateral acceleration and the nonlinearity adhesion coefficient compensation amount; the nonlinear attachment coefficient compensation amount comprises a first nonlinear attachment coefficient compensation amount and a second nonlinear attachment coefficient compensation amount.
The vehicle steering control device provided by the embodiment of the invention can execute the vehicle steering control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example III
Fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the respective methods and processes described above, such as a vehicle steering control method.
In some embodiments, the vehicle steering control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the vehicle steering control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle steering control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
The computer program for implementing the vehicle steering control method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
Example IV
The fourth embodiment of the present invention also provides a computer-readable storage medium storing computer instructions for causing a processor to execute a vehicle steering control method, the method comprising:
acquiring current state information of a vehicle, and determining a steering state of the vehicle based on the current state information of the vehicle; determining ideal state information of the vehicle based on the current state information of the vehicle and an ideal vehicle model under the condition that the steering state of the vehicle is in a nonlinear state; and determining a target rear wheel steering angle based on the current state information of the vehicle and the ideal state information of the vehicle, and controlling the rear wheel steering system to steer based on the target rear wheel steering angle.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. A vehicle steering control method characterized by comprising:
acquiring current state information of a vehicle, and determining a steering state of the vehicle based on the current state information of the vehicle;
determining vehicle ideal state information based on the vehicle current state information and an ideal vehicle model, in the case that the vehicle steering state is in a nonlinear state;
and determining a target rear wheel steering angle based on the current state information of the vehicle and the ideal state information of the vehicle, and controlling a rear wheel steering system to steer based on the target rear wheel steering angle.
2. The method of claim 1, wherein the determining vehicle ideal state information based on the vehicle current state information and an ideal vehicle model comprises:
substituting the current state information of the vehicle into an ideal vehicle model to obtain vehicle steady state information, wherein the vehicle steady state information comprises steady state yaw rate and steady state centroid slip angle;
determining a vehicle maximum yaw rate and a maximum centroid slip angle based on a road attachment coefficient and the vehicle travel speed;
determining ideal state information of the vehicle based on the vehicle steady state information, the vehicle maximum yaw rate and the maximum centroid slip angle; the vehicle ideal state information includes an ideal centroid slip angle and an ideal yaw rate.
3. The method of claim 2, wherein the vehicle current state information includes vehicle lateral acceleration, vehicle yaw rate, vehicle centroid slip angle, vehicle travel speed, and front wheel steering angle;
the determining a target rear wheel steering angle based on the vehicle current state information and the vehicle ideal state information includes:
determining a conventional rear wheel steering angle based on the front wheel steering angle and rear wheel steering angle scaling factor;
determining an additional rear wheel steering angle based on the vehicle yaw rate, the vehicle centroid slip angle, and the vehicle ideal state information;
a target rear wheel steering angle is determined based on the regular rear wheel steering angle and the additional rear wheel steering angle.
4. The method of claim 3, wherein the determining an additional rear wheel steering angle based on the vehicle yaw rate, the vehicle centroid slip angle, and the vehicle ideal state information comprises:
determining a first additional rear-wheel-rotation angle based on the vehicle yaw rate, the vehicle ideal yaw rate, and a first fuzzy controller;
determining a second additional rear wheel corner based on the vehicle centroid slip angle, the vehicle ideal centroid slip angle, and a second fuzzy controller;
the additional rear wheel steering angle is determined based on the first additional rear wheel steering angle and the second additional rear wheel steering angle.
5. The method of claim 4, wherein the determining the target rear wheel steering angle based on the first additional rear wheel steering angle and the second additional rear wheel steering angle comprises:
determining a first control weight and a second control weight based on the road adhesion coefficient;
and carrying out weighting processing based on the first additional rear wheel turning angle and the first control weight and the second additional rear wheel turning angle and the second control weight to obtain an additional rear wheel turning angle.
6. A method according to claim 3, wherein the method of estimating the road adhesion coefficient comprises:
determining a road surface attachment coefficient based on the vehicle lateral acceleration and a non-linearity attachment coefficient compensation amount; the nonlinear attachment coefficient compensation amount comprises a first nonlinear attachment coefficient compensation amount and a second nonlinear attachment coefficient compensation amount.
7. A vehicle steering control apparatus, characterized by comprising:
the vehicle steering state determining module is used for acquiring current state information of the vehicle and determining the vehicle steering state based on the current state information of the vehicle;
a vehicle ideal state information determining module for determining vehicle ideal state information based on the vehicle current state information and an ideal vehicle model in a case where the vehicle steering state is in a nonlinear state;
and the target rear wheel steering angle determining module is used for determining a target rear wheel steering angle based on the current state information of the vehicle and the ideal state information of the vehicle, and controlling a rear wheel steering system to steer based on the target rear wheel steering angle.
8. The apparatus of claim 7, wherein the target rear wheel steering angle determination module comprises a first fuzzy controller and a second fuzzy controller;
the first fuzzy controller is used for carrying out fuzzy reasoning based on the yaw rate of the vehicle and the ideal yaw rate of the vehicle to obtain a first additional rear-wheel rotation angle;
and the second fuzzy controller is used for carrying out fuzzy reasoning on the vehicle mass center slip angle and the vehicle ideal mass center slip angle to obtain a second additional rear wheel corner.
9. An electronic device, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle steering control method of any one of claims 1-6.
10. A computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle steering control method of any one of claims 1-6 when executed.
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| CN202310187438.4A CN116135669B (en) | 2023-03-01 | 2023-03-01 | Vehicle steering control method and device, electronic equipment and storage medium |
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| JP2008007001A (en) * | 2006-06-30 | 2008-01-17 | Toyota Motor Corp | Steering device of vehicle |
| CN104443022A (en) * | 2014-11-11 | 2015-03-25 | 深圳职业技术学院 | Four-wheeled independently-driven electric automobile stability control method and system |
| CN109094644A (en) * | 2018-07-19 | 2018-12-28 | 南京航空航天大学 | Active rear steer and direct yaw moment control method under limiting condition |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH1191608A (en) * | 1997-09-24 | 1999-04-06 | Nissan Motor Co Ltd | Vehicle motion control system |
| JP2008007001A (en) * | 2006-06-30 | 2008-01-17 | Toyota Motor Corp | Steering device of vehicle |
| CN104443022A (en) * | 2014-11-11 | 2015-03-25 | 深圳职业技术学院 | Four-wheeled independently-driven electric automobile stability control method and system |
| CN109094644A (en) * | 2018-07-19 | 2018-12-28 | 南京航空航天大学 | Active rear steer and direct yaw moment control method under limiting condition |
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