The invention provides a steering auxiliary control method and a steering auxiliary control device.According to the steering auxiliary control method, in the vehicle steering process, the steering braking torque corresponding to each wheel is determined according to the steering wheel angle parameter, and the steering braking torque is used for reducing the steering radius of the vehicle; vehicle running state information is obtained, safety braking torque intervals corresponding to wheels are determined on the basis of the vehicle running state information, the safety braking torque intervals are braking torque range intervals enabling the vehicle to run stably, and finally safety limitation is conducted on steering braking torque on the basis of the safety braking torque intervals. According to the method, the target braking torque corresponding to each wheel is obtained, braking control is conducted on the vehicle based on the target braking torque, and the risk that the vehicle is out of control due to the fact that the vehicle yawing torque is too large is avoided by conducting safety limitation on the braking torque applied to the wheels.
本发明提出了一种转向辅助控制方法及转向辅助控制装置,根据本发明提出的转向辅助控制方法,在车辆转向过程中,根据方向盘转角参数确定各车轮分别对应的转向制动力矩,转向制动力矩用于减小车辆的转向半径,获取车辆运行状态信息,基于车辆运行状态信息确定各车轮分别对应的安全制动力矩区间,其中,安全制动力矩区间为使车辆稳定行驶的制动力矩范围区间,最后基于安全制动力矩区间对转向制动力矩进行安全限制,得到各车轮分别对应的目标制动力矩,并基于目标制动力矩对车辆进行制动控制,通过对施加在车轮上的制动力矩进行安全限制,避免由车辆横摆力矩过大引起的车辆失控风险。
Steering assist control method and steering assist control device
转向辅助控制方法及转向辅助控制装置
2024-09-03
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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