The invention discloses a vehicle yaw velocity cross slope compensation correction method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining preset vehicle kinetic parameters according to a first yaw velocity model of a vehicle; according to the preset vehicle kinetic parameters and vehicle parameters actually collected under different gradients, a mapping relation meeting a preset evaluation index is calibrated, and the mapping relation comprises a cross slope angle and a cross slope compensation coefficient; according to the mapping relation, the influence relation of different cross slopes on the yaw velocity of the vehicle is determined, so that the first yaw velocity model of the vehicle is corrected, and a second yaw velocity model is obtained. Due to the fact that gradient coefficient compensation is added, control over transverse motion can be more accurate by using dynamics calculation based on the yaw velocity.

    本申请公开了一种车辆的横摆角速度横坡补偿修正方法、装置及电子设备、存储介质,所述方法包括:根据车辆的第一横摆角速度模型,得到预设车辆动力学参数;通过所述预设车辆动力学参数与不同坡度下实际采集的车辆参数,标定出满足预设评价指标的映射关系,所述映射关系包括横坡角度与横坡补偿系数;根据所述映射关系,确定不同横坡对车辆的横摆角速度的影响关系,以对所述车辆的第一横摆角速度模型进行修正,得到第二横摆角速度模型。通过本申请由于增加了坡度系数补偿,对于横向运动的控制使用基于横摆角速度的动力学计算会更加精确。


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    Title :

    Vehicle yaw velocity cross slope compensation correction method and device, electronic equipment and storage medium


    Additional title:

    车辆的横摆角速度横坡补偿修正方法、装置及电子设备、存储介质


    Contributors:
    JIA CHUNHUI (author) / TIAN SHAN (author) / ZHANG DONGHAO (author) / DING FENG (author) / YANG XINGBANG (author)

    Publication date :

    2023-09-08


    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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