The invention discloses a vehicle control mode determination method and device, electronic equipment and a storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring a vehicle state of a vehicle at a target moment; according to the maximum slip rate of each wheel of the vehicle at the target moment, the maximum additional yawing moment capable of being provided by each wheel at the target moment is determined; the wheel with the actual slip rate not exceeding the maximum slip rate at the target moment serves as a target wheel; according to the vehicle state and the maximum additional yawing moment capable of being provided by the target wheel, the control mode of the vehicle is determined, and the control mode is used for controlling the longitudinal acceleration of the vehicle to be kept unchanged or change according to the target trend by adjusting the driving force and/or braking force of the target wheel. The technical problem that in the prior art, when the yaw stability of the vehicle is controlled through differential braking, the vehicle control smoothness is poor is solved.
本申请公开了一种车辆控制模式的确定方法、装置、电子设备及存储介质,涉及车辆控制技术领域。其中,该方法包括:获取车辆在目标时刻的车辆状态;根据车辆的每个车轮在目标时刻的最大滑移率,确定每个车轮在目标时刻所能提供的最大附加横摆力矩;将在目标时刻,实际滑移率未超过最大滑移率的车轮作为目标车轮;根据车辆状态、目标车轮所能提供的最大附加横摆力矩,确定车辆的控制模式,其中,控制模式用于通过调整目标车轮的驱动力和/或制动力,控制车辆的纵向加速度保持不变或者按照目标趋势变化。本申请解决了现有技术中通过差动制动来控制车辆横摆稳定性时存在的车辆控制平顺性差的技术问题。
Vehicle control mode determination method and device, electronic equipment and storage medium
车辆控制模式的确定方法、装置、电子设备及存储介质
2025-03-11
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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