The invention relates to a vehicle stability control method and device, a vehicle and a storage medium, and the method comprises the steps: inputting the obtained current tire load transfer amount and current front and rear axle tire slip angles of the vehicle into a preset time-varying tire cornering stiffness fitting model, and obtaining the front axle cornering stiffness and the rear axle cornering stiffness of the current vehicle, and calculating an expected side slip angle and an expected yaw velocity of the vehicle, inputting the side slip angle at the previous moment, the yaw velocity at the previous moment, the expected side slip angle and the expected yaw velocity into a preset sliding mode variable structure controller to obtain the yaw moment of the current vehicle, and controlling the current vehicle based on the yaw moment. Therefore, the problem that limitation is brought to the design of a controller when the tire cornering stiffness is set to be a fixed value is solved, the estimation precision of the tire cornering stiffness can be higher, errors are smaller, vehicle stability control is achieved based on the tire cornering stiffness, sideslip of the vehicle is effectively avoided, and stable running of the vehicle is guaranteed.

    本申请涉及一种车辆稳定性控制方法、装置、车辆及存储介质,该方法包括:将获取到的车辆的当前轮胎载荷转移量和当前前后轴轮胎侧偏角输入至预设的时变轮胎侧偏刚度拟合模型,得到当前车辆的前轴侧偏刚度和后轴侧偏刚度,计算车辆的期望质心侧偏角和期望横摆角速度,并根据上一时刻质心侧偏角、上一时刻横摆角速度、期望质心侧偏角和期望横摆角速度输入至预设的滑模变结构控制器,得到当前车辆的横摆力矩,并基于横摆力矩对当前车辆进行控制。由此,解决了将轮胎侧偏刚度设为定值给控制器的设计带来局限性等问题,能够使轮胎侧偏刚度估计精度更高,误差更小以基于该轮胎侧偏刚度实现车辆稳定性控制,有效地避免车辆发生侧滑,保证车辆的稳定行驶。


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    Titel :

    Vehicle stability control method and device, vehicle and storage medium


    Weitere Titelangaben:

    车辆稳定性控制方法、装置、车辆及存储介质


    Beteiligte:
    WANG RUI (Autor:in) / WANG YU (Autor:in) / HAN YANING (Autor:in) / WANG SHAN (Autor:in) / FENG ZHE (Autor:in) / LYU SIWEN (Autor:in)

    Erscheinungsdatum :

    2024-03-19


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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