The invention discloses a compensation quantity calibration method of an active front wheel steering controller under a butt joint road surface boundary working condition. The compensation quantity calibration method comprises the following steps: 1) establishing a vehicle system model considering a tire transient dynamic behavior; 2) calculating a vehicle course angle and a driving track when the friction coefficient of the road surface suddenly changes based on the yaw velocity, the longitudinal velocity and the lateral velocity of the steering vehicle; 3) determining the steady-state yaw velocity before the vehicle turns to pass through the boundary of the road surface, and taking the steady-state yaw velocity as a control target; and 4) calculating the front wheel steering angle compensation amount after the road boundary according to the control target. The method can be used for correcting the vehicle driving track deviation caused by the change of the road surface friction coefficient, and the tire force and vehicle motion state transient characteristics caused by the sudden change of the road surface friction coefficient are considered when the target yaw velocity is calculated, so that the control is more accurate.
本发明公开了一种对接路面边界工况下主动前轮转向控制器的补偿量标定方法,包括步骤:1)建立考虑轮胎瞬态动力学行为的车辆系统模型;2)基于转向车辆的横摆角速度、纵向速度和侧向速度计算路面摩擦系数突变时的车辆航向角和行驶轨迹;3)确定车辆转向通过路面边界之前的稳态横摆角速度,并将其作为控制目标;4)根据控制目标计算路面边界后的前轮转向角补偿量。本发明能够用于修正由路面摩擦系数变化造成的车辆行驶轨迹偏差,在计算目标横摆角速度时考虑了由路面摩擦系数突变造成的轮胎力和车辆运动状态瞬态特性,从而使得控制更为准确。
Compensation quantity calibration method of active front wheel steering controller under butt joint road surface boundary working condition
对接路面边界工况下主动前轮转向控制器的补偿量标定方法
2024-06-14
Patent
Electronic Resource
Chinese
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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