The invention provides a split ramp running control method and a vehicle, and belongs to the technical field of vehicle braking. The method comprises the steps that according to the driving torque of each wheel of the vehicle, the additional yaw torque of the vehicle is obtained; on the basis of the additional yaw torque, the ideal steady state of the vehicle and the current vehicle data, a feed-forward rotation angle of the vehicle is obtained; based on the current vehicle data of the vehicle, the slope angle of the road surface where the vehicle is located and the ideal steady state of the vehicle, a feedback rotation angle of the vehicle is obtained; according to the feedforward rotation angle and the feedback rotation angle, rotation angle distribution is carried out, and the wheel rotation angle of each wheel of the vehicle is obtained; and controlling the steering of each wheel of the vehicle according to the steering angle of each wheel. Thus, based on the relevant data of the vehicle on the split ramp and the ideal steady state of the vehicle, the feed-forward turning angle and the feedback turning angle are obtained, the feedback turning angle is used for conducting turning angle compensation, then wheel turning angle distribution and control are conducted accordingly, the gradeability of the vehicle can be improved, the lateral stability of the vehicle can be guaranteed through steering control, and therefore the stability of the vehicle is improved. And the driving safety of the vehicle is ensured.
本发明提出一种对开坡道行驶控制方法及车辆,属于车辆制动技术领域。方法包括:根据车辆各车轮的驱动力矩,获得车辆的附加横摆转矩;基于附加横摆转矩、车辆理想稳态和当前的车辆数据,获得车辆的前馈转角;基于车辆当前的车辆数据、所处路面的坡度角以及车辆理想稳态,获得车辆的反馈转角;根据前馈转角和反馈转角,进行转角分配,得到车辆各车轮的车轮转角;依据各车轮转角,控制车辆的各车轮转向。如此,基于车辆在对开坡道上的相关数据以及车辆理想稳态,获得前馈转角和反馈转角,以用反馈转角进行转角补偿,进而据此进行车轮转角分配和控制,既能提高车辆的爬坡能力,又能通过转向控制保证车辆的侧向稳定性,确保车辆的行驶安全。
Split ramp running control method and vehicle
对开坡道行驶控制方法及车辆
2025-02-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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