Four-wheel steering control method and device and storage medium

Abstract

According to the four-wheel steering control method and the related equipment, four-wheel steering control is carried out on the target vehicle based on the changed front axle cornering stiffness and the changed rear axle cornering stiffness, and the four-wheel steering control effect is improved. The method comprises the following steps: receiving a vehicle signal corresponding to a target vehicle; confirming vehicle information corresponding to the target vehicle according to the vehicle signal; according to the vehicle information, the front axle cornering stiffness corresponding to the target vehicle and the rear axle cornering stiffness corresponding to the target vehicle are determined; determining an ideal vehicle state corresponding to the target vehicle according to the vehicle information, the front axle cornering stiffness, the rear axle cornering stiffness and a preset variable cornering stiffness vehicle dynamic model; determining an estimated vehicle key state corresponding to the target vehicle according to the vehicle information; determining a corner control quantity corresponding to the target vehicle according to the vehicle information, the ideal vehicle state and the estimated vehicle key state; and outputting the steering angle control quantity to the target vehicle to perform four-wheel steering control.

Description

【Technical field】 [0001] The present application belongs to the technical field of vehicle four-wheel steering control systems, and in particular relates to a four-wheel steering control method, device and storage medium. 【Background technique】 [0002] Car steering is the process of making the car produce the translation of the center of gravity and the rotation around the center of gravity when turning. When the angle of the steering wheel and the speed of the car are determined, the driving state of the front-wheel steered car is single, the rear wheels do not turn when turning, the steering center is on the extension line of the rear axle of the car, and the driving state of the four-wheel steered car is The rear wheel can be steered to control the angle between the rear wheel and the front wheel, and the steering performance is good. Therefore, the four-wheel steering system is more and more widely used. [0003] The current four-wheel steering system uses a fixed fron...

AI Technical Summary

Problems solved by technology

[0003] The current four-wheel steering system adopts fixed front axle cornering stiffness and rear axle cornering stiffness when performing four-wheel steering control, but when the car is actually running, the actual axle cornering stiffness changes under different working conditions , especially, when the vehicle speed is fast and the steering wheel angle is large, the tires enter the nonlinear region, and the four-wheel steering control effect is poor if the front axle cornering stiffness and rear axle cornering stiffness are fixed.

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