The embodiment of the invention discloses a transverse control method and device for a four-wheel steering automobile, the automobile and a medium. The method comprises the steps that transverse control parameters of the four-wheel steering automobile and preset state quantity determination parameters are obtained, and a target state quantity is determined from all obtained state quantities of the four-wheel steering automobile according to the state quantity determination parameters; obtaining a pre-constructed target linear matrix inequality and a controller, wherein the target linear matrix inequality is a linear matrix inequality obtained by performing dimension expansion on an initial linear matrix inequality constructed based on the transverse control parameters; and processing the target linear matrix inequality to obtain a transfer quantity and a controller parameter, and determining a rear wheel steering angle according to the transfer quantity and the controller parameter so as to perform four-wheel steering transverse control on the four-wheel steering automobile according to the front wheel steering angle and the rear wheel steering angle. According to the technical scheme, transverse control over the four-wheel steering automobile can be completed with low conservative property.
本发明实施例公开一种四轮转向汽车的横向控制方法、装置、汽车及介质。该方法包括:获取四轮转向汽车的横向控制参数和预先设置的状态量确定参数,并根据状态量确定参数从已获取的四轮转向汽车的各状态量中确定目标状态量;获取预先构建得到的目标线性矩阵不等式和控制器,其中目标线性矩阵不等式是对基于横向控制参数构建得到的初始线性矩阵不等式进行维度扩展后得到的线性矩阵不等式;对目标线性矩阵不等式进行处理,得到中转量和控制器参数,并根据中转量和控制器参数确定后轮转向角,以根据前轮转向角和后轮转向角对四轮转向汽车进行四轮转向的横向控制。本发明实施例的技术方案,可以以较低的保守性完成四轮转向汽车的横向控制。
Transverse control method and device of four-wheel steering automobile, automobile and medium
一种四轮转向汽车的横向控制方法、装置、汽车及介质
2022-04-15
Patent
Electronic Resource
Chinese
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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