Vehicle steering control method and device, computer equipment and storage medium

Abstract

The invention relates to a vehicle steering control method and device, computer equipment and a storage medium. The method comprises the following steps: establishing a plurality of linear tire models for approximating nonlinear tire dynamics according to tire cornering stiffness and tire slip angles of front and rear wheels of a vehicle; establishing a state-space equation of the man-vehicle coupling model according to the plurality of linear tire models; establishing manipulation stability controllers according to the state-space equation, and solving each manipulation stability controller; calculating the system state under the optimal control according to the solution of the control stability controller, and calculating the error vector of the man-vehicle coupling model according to the expected state matrix; calculating a likelihood function of a control stability controller according to the error vector of the man-vehicle coupling model, and calculating the probability of the man-vehicle coupling model; and performing weighted summation according to the probability of the man-vehicle coupling model and the solution of the manipulation stability controller to obtain the steering control quantity of the vehicle. By adopting the method, the steering control quantity calculation efficiency of the vehicle can be improved.

Description

technical field [0001] The present application relates to the technical field of vehicle control, in particular to a vehicle steering control method, device, computer equipment and storage medium. Background technique [0002] With the development of automobile control technology, automobiles controlled by wire-by-wire chassis appear. The wire-control chassis automobile is considered to be an excellent carrier for the realization of intelligent driving technology due to its advantages of rapid response, simple layout, and high controllable degree of freedom. Among them, four The wheel-independent drive electric vehicle has just applied the wire control chassis technology. In the situation of human-machine co-driving, the driving style of the driver is affected by factors such as age and emotion, and there are great individual differences, which affects the stability of the vehicle. [0003] At present, the nonlinear method is used to solve the control stability problem of t...

AI Technical Summary

Problems solved by technology

In the situation of human-machine co-driving, the driving style of the driver is affected by factors such as age and emotion, and individual differences are large, which affects the stability of the vehicle.

[0003] At present, the nonlinear method is used to solve the control stability problem of the human-vehicle system, but the nonlinear method takes a long time to solve and has poor real-time performance. If the nonlinear system is approximately linearized, it will lead to the loss of system control accuracy.

[0004] Therefore, there is an urgent need for a high-efficiency and high-precision control method to solve the control stability problem of the man-vehicle system

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