The invention discloses a braking force distribution method and device, equipment and a storage medium, and the method comprises the steps: obtaining an observation input parameter and an actual yaw velocity, and carrying out the preprocessing of the observation input parameter, and obtaining a preprocessing parameter; and calculating an ideal yaw velocity according to the preprocessing parameters. Then, feedback control is constructed according to the observation input parameters, the actual yaw velocity and the ideal yaw velocity, and feed-forward control is constructed according to the observation input parameters; when the vehicle speed is not larger than the first preset vehicle speed, the expected yaw moment is calculated through feedforward control; when the vehicle speed is not less than a second preset vehicle speed, calculating an expected yaw moment by using feedback control; when the vehicle speed is larger than the first preset vehicle speed and smaller than the second preset vehicle speed, the expected yaw moment is calculated through compound control, and the second preset vehicle speed is larger than the first preset vehicle speed. And finally, according to the expected yawing moment, braking force distribution is performed to obtain expected braking force. The steering and braking cooperation capability of the drive-by-wire chassis can be improved.

    本申请公开了一种制动力的分配方法、装置、设备以及存储介质,该方法包括获取观测输入参数和实际横摆角速度,对观测输入参数进行预处理得到预处理参数。根据预处理参数计算理想横摆角速度。接着根据观测输入参数、实际横摆角速度和理想横摆角速度构建反馈控制,并根据观测输入参数构建前馈控制。当车辆车速不大于第一预设车速时利用前馈控制计算期望横摆力矩;当车辆车速不小于第二预设车速时利用反馈控制计算期望横摆力矩;当车辆车速大于第一预设车速且小于第二预设车速时利用复合控制计算期望横摆力矩,第二预设车速大于第一预设车速。最后根据期望横摆力矩进行制动力分配得到期望制动力。本申请可以提升线控底盘的转向和制动协同能力。


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    Title :

    Braking force distribution method and device, equipment and storage medium


    Additional title:

    一种制动力的分配方法、装置、设备以及存储介质


    Contributors:
    CONG SENSEN (author) / LI XUELI (author) / PAN DING (author) / LIU YONGXUAN (author)

    Publication date :

    2025-03-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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