The invention discloses a yaw moment determination method and device, electronic equipment and a storage medium, and relates to the technical field of vehicle control, the method pre-constructs a numerical relationship among a virtual steering transmission ratio, a steering wheel angle and an additional yaw moment, and uses the virtual steering transmission ratio to closely associate the steering wheel angle with the additional yaw moment, so as to determine the yaw moment. Therefore, the steering wheel flexibility degree currently required by the vehicle is introduced into the determination of the yawing moment, that is, the additional yawing moment needing to be actively applied when the vehicle performs steering response to a certain steering wheel rotation angle in the target steering mode is determined by utilizing the numerical relationship among the virtual steering transmission ratio, the steering wheel rotation angle and the additional yawing moment. In this way, the actual yawing motion of the vehicle under the action of the additional yawing moment corresponds to the flexibility of the steering wheel, and the maneuverability and stability of the whole vehicle are improved.
本发明公开了一种横摆力矩的确定方法、装置、电子设备及存储介质,涉及车辆控制技术领域,该方法预先构建虚拟转向传动比、方向盘转角、附加横摆力矩之间的数值关系,利用虚拟转向传动比将方向盘转角和附加横摆力矩紧密关联,从而将车辆当前所需的方向盘灵活程度引入到横摆力矩的确定中,即利用虚拟转向传动比、方向盘转角和附加横摆力矩之间的数值关系,确定出车辆在目标转向模式下对一定的方向盘转角进行转向响应时,需要主动施加的附加横摆力矩。如此,将车辆在附加横摆力矩作用下的实际横摆运动和方向盘灵活度对应起来,提升整车的操纵性和稳定性。
Method and device for determining yawing moment, electronic equipment and storage medium
横摆力矩的确定方法、装置、电子设备及存储介质
2025-01-10
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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