The invention discloses a vehicle front wheel turning angle determination method and device, equipment, a program and a storage medium, and the method comprises the steps: obtaining the current state data of a vehicle; the current state data at least comprise one or more of the following: running speed, yaw velocity, lateral acceleration and tire cornering stiffness; based on the linear two-degree-of-freedom model and the current state data, a state-space equation about the yaw velocity and the lateral velocity of the vehicle is determined, and an ideal angular transmission ratio of the vehicle is determined; determining a sliding mode controller of the vehicle based on the state-space equation; related parameters of the exponential approach rate in the sliding mode controller serve as particles of a particle swarm optimization algorithm, and an optimal parameter solution of the related parameters is determined; and the optimal parameter solution and the ideal angular transmission ratio are substituted into a sliding mode controller, and the front wheel rotation angle of the vehicle is determined.
本申请公开了一种车辆前轮转角的确定方法、装置、设备、程序及存储介质,其中,所述方法包括:获取车辆的当前状态数据;当前状态数据至少包括以下一种或多种:行驶速度、横摆角速度、侧向加速度和轮胎侧偏刚度;基于线性二自由度模型和当前状态数据,确定车辆的关于横摆角速度与侧向速度的状态空间方程,以及确定车辆的理想角传动比;基于状态空间方程,确定车辆的滑模控制器;将滑模控制器中的指数趋近率的相关参数作为粒子群优化算法的粒子,确定相关参数的最优参数解;将最优参数解和理想角传动比代入滑模控制器,确定车辆的前轮转角。
Vehicle front wheel turning angle determination method and device, equipment, program and storage medium
车辆前轮转角的确定方法、装置、设备、程序及存储介质
2024-04-19
Patent
Electronic Resource
Chinese
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