The invention discloses a vehicle motion parameter calculation method, which comprises the steps of S1, obtaining geometric parameters of a vehicle, and establishing a vehicle model and a coordinate system, wherein the geometric parameters at least comprise the geometrical position relation between a front axle center and a rear axle center of the vehicle; S2, acquiring primary motion parameters of the vehicle; S3, obtaining speed vectors of the front axle center and the rear axle center according to the geometric parameters and the primary motion parameters; S4, acquiring a tire slip angle ofthe front wheel and a tire slip angle of the rear wheel according to the speed vectors of the front axle center and the rear axle center; S5, acquiring the lateral acceleration of the vehicle according to the primary motion parameters of the vehicle; and S6, obtaining the steering stability coefficient of the vehicle according to the lateral acceleration, the slip angle of the front wheel and theslip angle of the rear wheel. By converting and unifying the measured values in different reference systems, the estimation precision of the vehicle operating parameters is improved. Meanwhile, the motion state of the vehicle can be comprehensively measured, and a plurality of state parameter bases are provided for stability control and path planning of the vehicle.

    一种车辆运动参数的计算方法,包括:S1,获取车辆几何参数并建立车辆模型及坐标系,几何参数至少包括车辆的前轴中心和后轴中心的几何位置关系;S2,获取车辆的初级运动参数;S3,根据几何参数和初级运动参数,获取前轴中心和后轴中心的速度矢量;S4,根据前轴中心和后轴中心的速度矢量获取前车轮的轮胎侧偏角和后车轮的轮胎侧偏角;S5,根据车辆的初级运动参数获取车辆的侧向加速度;S6,根据侧向加速度和前车轮的侧偏角和后车轮的侧偏角获得车辆的转向稳定性系数。通过对不同参考系中的测量值进行转换统一,提高了车辆运行参数的估计精度。同时,能够较全面的衡量车辆运动状态,对于车辆的稳定控制和路径规划提供了多个状态参数依据。


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    Title :

    Vehicle motion parameter calculation method


    Additional title:

    一种车辆运动参数的计算方法


    Contributors:
    HUANG BINGSHENG (author) / ZHANG LEI (author) / LYU JINTONG (author)

    Publication date :

    2020-07-31


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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