The invention provides a rear wheel steering angle calculation method and device, and the method comprises the steps: obtaining vehicle parameters, and collecting a whole vehicle signal, the vehicle parameters being used for representing the inherent parameters of a vehicle, and the whole vehicle signal being used for representing the real-time working condition of the vehicle; a low-speed rear wheel rotation angle and a high-speed rear wheel rotation angle are calculated based on the vehicle parameters and the whole vehicle signals, the low-speed rear wheel rotation angle is used for representing the rear wheel rotation angle requirement at the low speed, and the high-speed rear wheel rotation angle is used for representing the rear wheel rotation angle requirement at the high speed; based on a pre-trained neural network model, the whole vehicle signal serves as an input parameter of the neural network model, a first weight and a second weight are output, the first weight is used for representing the weight of the low-speed rear wheel rotation angle, and the second weight is used for representing the weight of the high-speed rear wheel rotation angle; according to the first weight, the second weight, the low-speed rear wheel rotation angle and the high-speed rear wheel rotation angle, the final rear wheel rotation angle is obtained through calculation. The size and direction of the rear wheel steering angle under the current working condition can be accurately determined.
本申请提供了一种后轮转角计算方法及装置,获取车辆参数,并采集整车信号,车辆参数用于表征车辆的固有参数,整车信号用于表征车辆的实时工况;基于车辆参数和整车信号,计算低速后轮转角和高速后轮转角,低速后轮转角用于表征低速下的后轮转角需求,高速后轮转角用于表征高速下的后轮转角需求;基于预先训练好的神经网络模型,将整车信号作为神经网络模型的输入参数,输出第一权重和第二权重,第一权重用于表征低速后轮转角的权重,第二权重用于表征高速后轮转角的权重;根据第一权重和第二权重,以及低速后轮转角和高速后轮转角,计算得到最终后轮转角。本申请能够准确确定当前工况的后轮转角大小和方向。
Rear wheel turning angle calculation method and device
一种后轮转角计算方法及装置
2024-02-20
Patent
Electronic Resource
Chinese
Vehicle rear wheel turning angle control method and device, electronic equipment and storage medium
European Patent Office | 2024
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