The invention relates to the field of vehicle control, in particular to a wheel slip rate correction method and device, electronic equipment and a medium. The wheel slip rate correction method comprises the following steps: building a 4 + 2n-degree-of-freedom whole vehicle dynamic model, wherein 4 + 2n degrees of freedom comprise the four degrees of freedom of the vertical direction, the longitudinal direction, the pitching direction and the side tilting direction of a vehicle body and the 2n degrees of freedom of the vertical direction and the rotation direction of n wheels; based on a state observer and the whole vehicle dynamics model, determining the vertical motion displacement and the reference vehicle speed of each wheel; based on the principle of sliding mode control, the vertical motion displacement of each wheel, the reference vehicle speed, the wheel speed of each wheel and the target slip rate serve as input, outputting the corrected braking torque of each wheel. According to the method, the wheel slip rate on the bumpy road surface can be effectively corrected and controlled, the emergency braking strength is improved, and the driving safety is improved.
本发明涉及车辆控制领域,具体而言,涉及一种车轮滑移率的修正方法、装置、电子设备及介质。该车轮滑移率的修正方法包括以下步骤:搭建4+2n自由度整车动力学模型,4+2n自由度包括车身的垂向、纵向、俯仰和侧倾四个自由度,以及n个车轮的垂向和旋转共2n个自由度;基于状态观测器和所述整车动力学模型,确定各个车轮垂向运动位移和参考车速;基于滑模控制的原理,以各个所述车轮垂向运动位移、所述参考车速、各个车轮的轮速和目标滑移率为输入,输出修正后的各个车轮的制动力矩。该方法可对颠簸路面下车轮滑移率进行有效修正控制,提升紧急制动强度,提高行车安全性。
Wheel slip rate correction method and device, electronic equipment and medium
车轮滑移率的修正方法、装置、电子设备及介质
2021-08-20
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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