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Vehicle steady-state steering control method and device

A technology for steering control and vehicles, which is applied in the field of vehicle control and can solve problems such as massive data calculations

Active Publication Date: 2021-06-08
BEIJING CHJ AUTOMOTIVE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the method using state feedback requires a large number of data operations

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  • Vehicle steady-state steering control method and device
  • Vehicle steady-state steering control method and device
  • Vehicle steady-state steering control method and device

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Embodiment Construction

[0059] In order to better understand the above purpose, features and advantages of the present application, the solution of the present application will be further described below. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0060] In the following description, a lot of specific details have been set forth in order to fully understand the present application, but the present application can also be implemented in other ways different from those described here; obviously, the embodiments in the description are only a part of the present application, and Not all examples.

[0061] An embodiment of the present application provides a vehicle steady-state control method, which is based on an analysis method to determine the control parameters for making the vehicle turn in a steady state.

[0062] figure 1 It is a flowchart of a vehicle steady-state steering ...

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Abstract

The invention provides a vehicle steady-state steering control method and device. The method comprises steps that the front wheel cornering stiffness, the rear wheel cornering stiffness, the front bearing weight and the rear bearing weight are obtained; according to the front wheel cornering stiffness, the rear wheel cornering stiffness, the front bearing weight, the rear bearing weight, the turning radius of the vehicle, the vehicle wheelbase, the current vehicle speed and the current steering angle, whether the vehicle is in a steady-state steering state or not is judged; if the vehicle is not in the steady-state steering state, an adjusted vehicle speed and an adjusted steering angle that cause the vehicle to be in the steady-state steering state and minimize a loss function are calculated; and the vehicle is controlled according to the adjusted vehicle speed and the adjusted steering angle. The method is advantaged in that based on the actual model, the calculated amount is small, the vehicle control parameters can be rapidly determined, and then the vehicle can rapidly enter steady-state steering.

Description

technical field [0001] The present application relates to the technical field of vehicle control, in particular to a vehicle steady-state steering control method and device. Background technique [0002] When the vehicle is cornering in the automatic driving mode, it is necessary to ensure stable steering, that is, the vehicle needs to drive according to the turning radius planned by the path, and stay on the predetermined turning path without oversteering or understeering. [0003] At present, the control method for automatic driving of vehicles to achieve steady-state steering is designed using the method of state feedback; using this method requires real-time monitoring of vehicle status and implementation of feedback control. However, the method using state feedback requires a large number of data operations. Contents of the invention [0004] In order to solve the above technical problems or at least partly solve the above technical problems, the present application ...

Claims

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Application Information

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IPC IPC(8): B60W30/045B60W10/20B60W40/064B60W40/13
CPCB60W30/045B60W10/20B60W40/064B60W40/13
Inventor 吕传龙马俊彦郑艺强关书伟郭姣
Owner BEIJING CHJ AUTOMOTIVE TECH CO LTD
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