The invention provides a vehicle steady-state parameter calculation method and device based on a nonlinear tire model. The method comprises the steps that the current vehicle speed and the front wheel turning angle of a vehicle are obtained; calculating a steady-state vehicle speed upper limit based on the current vehicle speed, the front wheel turning angle, the vehicle parameters and the road surface parameters; under the condition that the current vehicle speed is not higher than the steady-state vehicle speed upper limit, the steady-state yaw velocity of the vehicle is calculated based on a nonlinear tire model; wherein the steady-state vehicle speed upper limit and the steady-state yaw velocity are vehicle steady-state parameters. According to the method, accurate calculation of the steady-state vehicle speed upper limit and the steady-state yaw velocity of the vehicle is realized by fully considering the nonlinear mechanical characteristics of the vehicle tire under the limit driving working condition and the influence of the road adhesion effect on the tire lateral force; more accurate target parameters are provided for a chassis control system with the steady-state yaw velocity as the target parameter, and the stability control effect of the vehicle is effectively improved.
本发明提供一种基于非线性轮胎模型的车辆稳态参量计算方法及装置,其中的方法包括:获取车辆的当前车速和前轮转角;基于当前车速和前轮转角,以及车辆参数和路面参数,计算稳态车速上限;在当前车速不高于稳态车速上限的情况下,基于非线性轮胎模型,计算车辆的稳态横摆角速度;其中,稳态车速上限与稳态横摆角速度均为车辆稳态参量。该方法通过充分考虑车辆轮胎在极限行驶工况下表现出的非线性力学特性以及路面附着作用对轮胎侧向力的影响,实现了车辆稳态车速上限和稳态横摆角速度的准确计算,为以稳态横摆角速度为目标参量的底盘控制系统提供了更加准确的目标参量,有效改善了车辆的稳定性控制效果。
Vehicle steady-state parameter calculation method and device based on nonlinear tire model
基于非线性轮胎模型的车辆稳态参量计算方法及装置
01.03.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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