The invention relates to a method, device and equipment for determining an understeering gradient, a vehicle and a medium. The method includes determining a compensation value for a first understeer gradient for feed-forward control of a first steering behavior based on the first steering behavior of the vehicle on the first curve. The method further includes determining a second understeer gradient based on the first understeer gradient and the compensation value. In this way, the new understeering gradient can be determined based on the steering behavior of the vehicle, the understeering gradient used for controlling the steering behavior of the vehicle is updated, the understeering gradient can better conform to the actual situation of the vehicle, and therefore feedforward control over the steering behavior of the vehicle based on the understeering gradient is more accurate, and the control accuracy of the vehicle is improved. Therefore, the number of times of feedback adjustment on the steering behavior of the vehicle can be reduced, and the steering behavior of the vehicle is more stable.

    本公开涉及用于确定转向不足梯度的方法、装置、设备、车辆和介质。该方法包括基于车辆在第一弯道上的第一转向行为,确定针对第一转向不足梯度的补偿值,其中第一转向不足梯度用于对第一转向行为进行前馈控制。该方法还包括基于第一转向不足梯度和所述补偿值,确定第二转向不足梯度。通过这种方式,能够基于车辆的转向行为确定出新的转向不足梯度,使用于控制车辆的转向行为的转向不足梯度得到更新,使转向不足梯度更能符合车辆的实际情况,从而使基于转向不足梯度对车辆的转向行为进行的前馈控制更为准确,进而能够降低对车辆的转向行为进行反馈调节的次数,使车辆的转向行为更稳定。


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    Titel :

    Method, device, equipment, vehicle and medium for determining understeering gradient


    Weitere Titelangaben:

    用于确定转向不足梯度的方法、装置、设备、车辆和介质


    Beteiligte:
    LIU SHAOBO (Autor:in) / YANG NA (Autor:in) / WANG JIANJUN (Autor:in)

    Erscheinungsdatum :

    29.04.2025


    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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