The invention provides a tire force distribution control method and device, equipment and a storage medium, and relates to the technical field of vehicles. The method comprises the following steps: determining a vehicle expected force matrix of vehicle driving according to acquired vehicle driving state information and center line position information of a road; and according to the vehicle expected force matrix, the tire force constraint condition and the pseudo-inverse matrix with the parameter self-adaptive function, the tire force of the vehicle is optimally distributed, meanwhile, it is ensured that the error between the distributed tire force matrix and the vehicle expected force matrix is minimum, and the wheel turning angle and the driving torque of the vehicle are controlled according to the distributed tire force matrix. According to the method, optimization solution can be carried out according to the dynamic working condition, high-timeliness and high-precision calculation results are obtained, and potential safety hazards caused by low tire force distribution speed and large tire force distribution errors under the limiting working condition are avoided.
本申请提供了一种轮胎力分配的控制方法、装置、设备及存储介质,涉及车辆技术领域。该方法包括根据获取的车辆行驶状态信息和道路的中心线位置信息,确定车辆行驶的车辆期望力矩阵;并根据车辆期望力矩阵、轮胎力约束条件和具有参数自适应功能的伪逆矩阵,对车辆的轮胎力进行优化分配,同时确保分配后的轮胎力矩阵与车辆期望力矩阵误差最小,根据分配后的轮胎力矩阵控制车辆的车轮转角和驱动力矩。本申请能够根据动态工况进行优化求解,进行高时效性、高精度的计算结果,避免极限工况下轮胎力分配速度慢、轮胎力分配误差大导致的安全隐患。
Tire force distribution control method and device, equipment and storage medium
轮胎力分配的控制方法、装置、设备及存储介质
2023-03-24
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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