According to the four-wheel steering control method and the related equipment, four-wheel steering control is carried out on the target vehicle based on the changed front axle cornering stiffness and the changed rear axle cornering stiffness, and the four-wheel steering control effect is improved. The method comprises the following steps: receiving a vehicle signal corresponding to a target vehicle; confirming vehicle information corresponding to the target vehicle according to the vehicle signal; according to the vehicle information, the front axle cornering stiffness corresponding to the target vehicle and the rear axle cornering stiffness corresponding to the target vehicle are determined; determining an ideal vehicle state corresponding to the target vehicle according to the vehicle information, the front axle cornering stiffness, the rear axle cornering stiffness and a preset variable cornering stiffness vehicle dynamic model; determining an estimated vehicle key state corresponding to the target vehicle according to the vehicle information; determining a corner control quantity corresponding to the target vehicle according to the vehicle information, the ideal vehicle state and the estimated vehicle key state; and outputting the steering angle control quantity to the target vehicle to perform four-wheel steering control.
本申请提供一种四轮转向控制方法及相关设备,基于变化的前轴侧偏刚度及后轴侧偏刚度,对目标车辆进行四轮转向控制,提高四轮转向控制效果。该方法包括:接收目标车辆所对应的车辆信号;根据车辆信号确认目标车辆所对应的车辆信息;根据车辆信息确定目标车辆所对应的前轴侧偏刚度及目标车辆所对应的后轴侧偏刚度;根据车辆信息、前轴侧偏刚度、后轴侧偏刚度以及预设的变侧偏刚度车辆动力模型确定目标车辆所对应的理想车辆状态;根据车辆信息确定目标车辆所对应的估计车辆关键状态;根据车辆信息、理想车辆状态以及估计车辆关键状态确认目标车辆所对应的转角控制量;将转角控制量输出至目标车辆,以进行四轮转向控制。
Four-wheel steering control method and device and storage medium
四轮转向控制方法、装置及存储介质
2022-07-05
Patent
Electronic Resource
Chinese
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