The invention relates to the technical field of vehicle control, and discloses a rear wheel steering angle Map graph construction method and device and a rear wheel steering control method and device.According to the method, a vehicle dynamics model of a target vehicle is established, and based on the vehicle dynamics model, the vehicle speed, the steering wheel angle and calibration parameters are established, the reference vehicle model takes the expected yaw velocity as the output, the real vehicle model takes the expected yaw velocity as the input and the rear wheel steering angle as the output, and the output of the reference vehicle model is connected with the input of the real vehicle model to construct a vehicle control model; a vehicle speed set, a steering wheel angle set and preset calibration quantity parameters are input into a vehicle control model, Map maps corresponding to the vehicle speed, the steering wheel angle and the rear wheel steering angle can be obtained in advance, the rear wheel steering failure probability caused by algorithm logic Bug is reduced, the calculation load of a rear wheel steering controller is reduced, the target rear wheel angle calculation speed is increased, and the vehicle control efficiency is improved. And response delay is reduced.
本发明涉及车辆控制技术领域,公开了后轮转向角的Map图构建以及后轮转向控制方法及装置,本发明通过建立目标车辆的车辆动力学模型,基于车辆动力学模型,建立以车速、方向盘转角和标定量参数为输入,期望横摆角速度为输出的参考车模型,以期望横摆角速度为输入、后轮转向角为输出的实车模型,并将参考车模型的输出与实车模型的输入连接,构建得到车辆控制模型,将车速集合、方向盘转角集合以及预设的标定量参数输入到车辆控制模型中,可提前得到车速、方向盘转角和后轮转向角对应的Map图,降低由于算法逻辑Bug导致的后轮转向失效概率,减少后轮转向控制器的计算负载,提高目标后轮转角计算速度,减少响应延迟。
Map graph construction of rear wheel steering angle and rear wheel steering control method and device
后轮转向角的Map图构建以及后轮转向控制方法及装置
2024-12-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |