The invention discloses a vehicle control method and system and a computer readable storage medium. The vehicle control method comprises the steps that vertical force of all wheels is obtained through force sensors installed on all suspensions; obtaining a road adhesion coefficient; obtaining the road adhesion force limit of each wheel according to the vertical force of each wheel and the road adhesion coefficient; acquiring control force for controlling the current motion state of the vehicle; and if the difference value between the control force and the road surface adhesion force limit of a certain wheel is smaller than a set difference threshold value, the vehicle is controlled. The vertical force of each wheel is obtained through the force sensors installed on the suspensions, accurate vertical force data of the multiple wheels can be obtained, and the road adhesion limit is obtained by obtaining the road adhesion coefficient. And if the difference value between the control force and the road adhesion limit of a certain wheel is smaller than the set difference threshold value, the vehicle is controlled, so that the vehicle can be prevented from slipping, and the vertical force can be fully utilized to control the vehicle.
本申请公开一种车辆控制方法、控制系统及计算机可读存储介质,车辆控制方法包括:通过各个悬架上安装的力传感器来获取各个车轮的垂向力;获取路面附着系数;根据各个车轮的垂向力及路面附着系数得到各个车轮的路面附着力极限;获取控制车辆的当前运动状态的控制力;若控制力与某个车轮的路面附着力极限的差值小于设定的差值阈值,对车辆进行控制。通过各个悬架上安装的力传感器来获取各个车轮的垂向力,可以获取多个车轮的准确的垂向力数据,并通过获取路面附着系数,得到路面附着力极限。若控制力与某个车轮的路面附着力极限的差值小于设定的差值阈值,对车辆进行控制,不仅可以避免车辆滑移,也能充分利用垂向力进行车辆控制。
Vehicle control method, control system and computer readable storage medium
车辆控制方法、控制系统及计算机可读存储介质
24.12.2024
Patent
Elektronische Ressource
Chinesisch
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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