The embodiment of the invention discloses a tire force direct control method, device and equipment and a storage medium, after a target longitudinal force and a target lateral force corresponding to a target tire of a vehicle and the longitudinal sliding rigidity, the cornering rigidity, the ground adhesion coefficient and the vertical load of the target tire are obtained, according to the target longitudinal force and the target lateral force, the target longitudinal force and the target lateral force are obtained; the longitudinal sliding rigidity and the cornering rigidity are fused, and the combined rigidity of the target tire is obtained; and processing the target longitudinal force, the target lateral force, the combined rigidity, the ground adhesion coefficient and the vertical load to obtain a target slip angle and a target slip rate of the target tire. According to the embodiment of the invention, the longitudinal slip stiffness and the cornering stiffness are fused on the basis of the target longitudinal force and the target lateral force to obtain the combined stiffness, and then the target slip angle and the target slip rate of the target tire are calculated on the basis of the combined stiffness, so that the accurate tire slip angle and slip rate can be obtained when the tire is in the combined slip working condition; and the direct control precision of the tire force is improved.
本发明实施例公开了一种轮胎力直接控制方法、装置、设备及存储介质,在获得车辆的目标轮胎对应的目标纵向力和目标侧向力,以及所述目标轮胎的纵滑刚度、侧偏刚度、地面附着系数和垂向载荷后,根据目标纵向力和目标侧向力,对纵滑刚度和侧偏刚度进行融合,获得目标轮胎的联合刚度;对目标纵向力和目标侧向力、联合刚度、地面附着系数和垂向载荷进行处理,得到目标轮胎的目标侧偏角和目标滑移率。本发明实施例通过基于目标纵向力和目标侧向力将纵滑刚度和侧偏刚度进行融合,得到联合刚度,进而基于联合刚度计算目标轮胎的目标侧偏角和目标滑移率,使得在轮胎处于联合滑移工况时,也能得到准确的轮胎侧偏角和滑移率,提高了轮胎力直接控制精度。
Tire force direct control method, device and equipment and storage medium
轮胎力直接控制方法、装置、设备及存储介质
2024-01-16
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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