The invention provides a vehicle steady-state steering control method and device. The method comprises steps that the front wheel cornering stiffness, the rear wheel cornering stiffness, the front bearing weight and the rear bearing weight are obtained; according to the front wheel cornering stiffness, the rear wheel cornering stiffness, the front bearing weight, the rear bearing weight, the turning radius of the vehicle, the vehicle wheelbase, the current vehicle speed and the current steering angle, whether the vehicle is in a steady-state steering state or not is judged; if the vehicle is not in the steady-state steering state, an adjusted vehicle speed and an adjusted steering angle that cause the vehicle to be in the steady-state steering state and minimize a loss function are calculated; and the vehicle is controlled according to the adjusted vehicle speed and the adjusted steering angle. The method is advantaged in that based on the actual model, the calculated amount is small, the vehicle control parameters can be rapidly determined, and then the vehicle can rapidly enter steady-state steering.

    本申请提供一种车辆稳态转向控制方法和装置,方法包括:获取前轮侧偏刚度、后轮侧偏刚度、前轴承重和后轴承重;根据所述前轮侧偏刚度、所述后轮侧偏刚度、所述前轴承重、所述后轴承重、车辆的转弯半径、车辆轴距、当前车速和当前转向角判断车辆是否处在稳态转向状态;在车辆没有处在稳态转向状态的情况下,计算使得车辆处在稳态转向状态并且损失函数最小的调整车速和调整转向角;根据所述调整车速和调整转向角控制所述车辆。采用本申请的方法,基于实际模型,其计算量较小,能够实现车辆控制参量快速的确定,进而利于车辆快速地进入稳态转向。


    Access

    Download


    Export, share and cite



    Title :

    Vehicle steady-state steering control method and device


    Additional title:

    车辆稳态转向控制方法和装置


    Contributors:
    LYU CHUANLONG (author) / MA JUNYAN (author) / ZHENG YIQIANG (author) / GUAN SHUWEI (author) / GUO JIAO (author)

    Publication date :

    2021-06-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



    Steady State Steering Response

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


    Steady State Steering Response

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


    No Steady-State Error Tracking Control of Multi-Axle Steering Vehicle

    Zhang, Xiao Jiang ;Gao, Xiu Chao ;Yu, Lei | Trans Tech Publications | 2012



    Steady-state steering of a tilting three-wheeled vehicle

    Barker, M. / Drew, B. / Darling, J. et al. | Taylor & Francis Verlag | 2010