The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle driving stability control method, device and equipment and a medium, and the vehicle driving stability control method comprises the following steps: obtaining an expected yaw velocity # imgabs0 # and an actual yaw velocity of a vehicle, and obtaining a feedback control quantity delta R-FB of a rear wheel steering angle based on the expected yaw velocity # imgabs0 # and the actual yaw velocity; obtaining a vehicle speed vx, a front wheel rotation angle delta F and an expected side slip angle, and obtaining a feedforward control quantity delta R-FF of a rear wheel rotation angle according to the vehicle speed vx, the front wheel rotation angle delta F and the expected side slip angle; based on the feedback control quantity delta R-FB of the rear wheel rotation angle and the feed-forward control quantity delta R-FF of the rear wheel rotation angle, the rear wheel rotation angle output quantity delta R = delta R-FB + delta R-FF is obtained. According to the method, the problems of insufficient vehicle steering control stability and the like are solved, and the lag problem of correction after braking deceleration and instability caused by an ESP scheme can be avoided.
本发明属于车辆控制技术领域,具体涉及一种车辆行驶稳定性控制方法、装置、设备及介质,所述车辆行驶稳定性控制方法包括:获取并基于车辆的期望横摆角速度#imgabs0#和实际横摆角速度,得到后轮转角的反馈控制量δR‑FB;获取并根据车速vx、前轮转角δF和期望质心侧偏角,得到后轮转角的前馈控制量δR‑FF;基于后轮转角的反馈控制量δR‑FB和后轮转角的前馈控制量δR‑FF,得到后轮转角输出量δR=δR‑FB+δR‑FF。本发明解决了车辆转向操控稳定性不足等问题,能够避免ESP方案导致的制动减速和失稳之后进行修正的滞后问题。
Vehicle driving stability control method, device, equipment and medium
车辆行驶稳定性控制方法、装置、设备及介质
2024-12-27
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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