The embodiment of the invention provides a pivot steering control method and device based on a driving intention and a vehicle, and belongs to the technical field of vehicle control. According to the method, the peak yaw angular acceleration of pivot steering is determined through the maximum road adhesion constraint, and the expected yaw angular velocity is determined according to the real-time road adhesion coefficient, an accelerator pedal opening signal input by a driver and the peak yaw angular acceleration. In response to a vehicle steering mode instruction, inputting a steering demand in the vehicle steering mode instruction into a fuzzy inference device to obtain an expected cornering stiffness value, performing following control according to an expected yaw velocity based on a model prediction control algorithm to determine a predicted differential torque, determining a reference differential torque of steady-state steering according to the expected cornering stiffness value, and performing steady-state steering according to the reference differential torque. The predicted differential torque is compensated through the reference differential torque to obtain the target differential torque, and the expected cornering stiffness value is fused into wheel torque analysis by combining the expected cornering stiffness value corresponding to the steering requirement, so that the flexibility of in-situ steering control is improved.
本申请实施例提供了一种基于驾驶意图的原地转向控制方法、设备及车辆,属于车辆控制技术领域。该方法通过最大路面附着约束确定原地转向的峰值横摆角加速度,根据实时的路面附着系数、驾驶员输入的加速踏板开度信号和峰值横摆角加速度确定期望横摆角速度。响应于车辆转向模式指令,将车辆转向模式指令中的转向需求输入模糊推理器,得到期望侧偏刚度值,再基于模型预测控制算法,根据期望横摆角速度进行跟随控制确定预测差动力矩,根据期望侧偏刚度值确定稳态转向的参考差动力矩,通过参考差动力矩对预测差动力矩进行补偿得到目标差动力矩,通过结合转向需求对应的期望侧偏刚度值,将期望侧偏刚度值融入车轮力矩分析,提高原地转向控制的灵活性。
Pivot steering control method and device based on driving intention and vehicle
基于驾驶意图的原地转向控制方法、设备及车辆
2024-07-12
Patent
Electronic Resource
Chinese
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