The invention discloses a vehicle tire force direct control method and device and electronic equipment, and the method comprises the steps: converting a first target tire force under a vehicle body coordinate system into a second target tire force under a tire coordinate system based on a wheel rotation angle target value, and determining a tire slip angle and a tire slip rate based on the second target tire force obtained through conversion and a target tire model, optimizing a wheel rotation angle target value in an iteration mode, and finally obtaining a target tire slip angle and a target tire slip rate which meet iteration ending conditions. According to the embodiment of the invention, the method can solve a problem that a tire force control error is introduced because the difference that the tire force in a tire model is decomposed in a tire coordinate system and the tire force in an upper-layer motion control algorithm is decomposed in a vehicle body coordinate system is not considered in an existing tire force direct control method based on a tire inverse model. And the accurate target tire slip angle and target tire slip rate can be obtained.

    本申请公开了一种车辆轮胎力直接控制方法、装置及电子设备,基于车轮转角目标值将车体坐标系下的第一目标轮胎力转换为轮胎坐标系下的第二目标轮胎力,基于转换得到的第二目标轮胎力和目标轮胎模型确定轮胎侧偏角和轮胎滑移率,通过迭代的方式对车轮转角目标值进行优化,最终得到满足迭代结束条件的目标轮胎侧偏角和目标轮胎滑移率。根据本申请实施例,能够解决现有基于轮胎逆模型的轮胎力直接控制方法中,由于未考虑轮胎模型中轮胎力在轮胎坐标系中分解,而上层运动控制算法中轮胎力在车体坐标系间进行分解这一区别,从而引入轮胎力控制误差这一问题,保证了可以得到准确的目标轮胎侧偏角和目标轮胎滑移率。


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    Title :

    Vehicle tire force direct control method and device and electronic equipment


    Additional title:

    车辆轮胎力直接控制方法、装置及电子设备


    Contributors:
    DAI LUYAO (author) / ZHANG MINGXUAN (author) / ZHANG JIAWEN (author) / HUAI ZHOUYU (author)

    Publication date :

    2023-12-29


    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



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