The invention discloses a steady-state yaw rate planning method with a given insufficient steering degree, and belongs to the technical field of vehicle motion state planning. Comprising the following steps: S1, establishing a two-degree-of-freedom vehicle model, and solving a steady-state equation to obtain a steady-state yaw rate corresponding to a zero slip angle; s2, giving a relation between a steady-state yaw rate with a proper insufficient steering degree and a speed; s3, the relation between the steady-state yaw rate and the front wheel steering angle is given, so that when the front wheel steering angle changes, the steady-state yaw rate gradually tends to the steady-state yaw rate corresponding to the 0 side slip angle; and S4, a steady-state yaw rate planning method is given according to the relation between the steady-state yaw rate and the speed and the front wheel steering angle. The invention provides a steady-state yaw rate planning method which can maintain a small side slip angle and enable a vehicle to have a proper understeering degree. The method is suitable for an unsaturated area with small lateral acceleration in the vehicle steering working condition, and the controllability of the vehicle is improved.

    一种具有给定不足转向度的稳态横摆率规划方法,属于车辆运动状态规划技术领域。包括以下步骤:S1.建立二自由度模型车辆模型,求解稳态方程,得到0侧偏角对应的稳态横摆率;S2.给出具有适当不足转向度的稳态横摆率与速度的关系;S3.给出稳态横摆率与前轮转向角的关系,使得在前轮转向角变化时,使得稳态横摆率逐渐趋于0侧偏角对应的稳态横摆率;S4.结合稳态横摆率与速度和前轮转向角的关系,给出稳态横摆率规划方法。本发明提供了一种维持质心侧偏角较小,并且使得车辆具有适当的不足转向度的稳态横摆率规划方法。该方法适用于车辆转向工况中侧向加速度较小的不饱和区,提高了车辆的操控性。


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    Titel :

    Steady-state yaw rate planning method with given insufficient steering degree


    Weitere Titelangaben:

    一种具有给定不足转向度的稳态横摆率规划方法


    Beteiligte:
    GUAN YIHANG (Autor:in) / ZHOU HONGLIANG (Autor:in) / HE ZHEN (Autor:in)

    Erscheinungsdatum :

    05.01.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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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    THOMPSON, A. G. | Taylor & Francis Verlag | 1977


    Steady State Steering Response

    Thompson,A.G. / Cranfield Inst.of Technol.,Sch.of Automot.Stud.,US | Kraftfahrwesen | 1977


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