The invention discloses a vehicle curve control compensation method and device, computer equipment and a computer readable storage medium. The method comprises the steps that whether the current side slip angle and the current yaw velocity of a vehicle exceed a side slip angle threshold value or a yaw velocity threshold value of the vehicle or not is determined; if yes, the optimal feedback gain is calculated through a quadratic form optimal control algorithm, and a space state quantity equation of the quadratic form optimal control algorithm is established according to a two-degree-of-freedom model of the steering system; determining a state quantity deviation according to the current state quantity of the vehicle and the ideal state quantity of the vehicle; and determining a front wheel compensation angle of the vehicle according to the optimal feedback gain and the state quantity deviation so as to calculate a compensated front wheel rotation angle through a quadratic form optimal control algorithm when the vehicle does not meet a steady state control threshold, thereby avoiding the problem of insufficient steering or unbalance of the vehicle.

    本申请公开了一种车辆弯道控制补偿方法、装置、计算机设备及计算机可读存储介质,该方法包括确定车辆的当前质心侧偏角和当前橫摆角速度是否超出所述车辆的质心侧偏角阈值或橫摆角速度阈值;若超出,则通过二次型最优控制算法计算最优反馈增益,其中所述二次型最优控制算法的空间状态量方程是根据转向系统的二自由度模型建立的;根据所述车辆的当前状态量和所述车辆的理想状态量确定状态量偏差;根据所述最优反馈增益和所述状态量偏差确定所述车辆的前轮补偿角度,以实当车辆不满足稳态控制阈值时,通过二次型最优控制算法计算出补偿的前轮转角,避免车辆出现转向不足或失衡的问题。


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    Title :

    Vehicle curve control compensation method, device, equipment and medium


    Additional title:

    一种车辆弯道控制补偿方法、装置、设备与介质


    Contributors:
    HUANG XIWANG (author) / LIU HUIKAI (author) / FU BIN (author)

    Publication date :

    2022-06-17


    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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