Feedforward control method for torque, vehicle and storage medium

Abstract

The invention provides a torque feedforward control method, a vehicle and a storage medium. The method comprises the steps that the yaw control quantity of the vehicle is calculated; calculating a steady-state yaw control torque and a dynamic yaw control torque of the vehicle according to the yaw control quantity; obtaining a target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque; according to the method, the target yaw control torque is obtained according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so that the vehicle is controlled to carry out torque distribution on the left wheel and the right wheel of the vehicle according to the target yaw control torque; reasonable torque distribution is conducted on the left wheel and the right wheel of the vehicle, so that it is guaranteed that the vehicle moves in an expected state in a yawing mode, the stability and safety of the vehicle running state are improved, and the maneuverability of a driver to the vehicle is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a torque feedforward control method, a vehicle and a storage medium. Background Art

[0002] With the development of modern electric vehicle technology, multi-motor architecture models have gradually become the mainstream research direction. Since motors are easy to control and have fast response speeds, various vehicle control strategies can be developed based on electric vehicles to improve vehicle stability or vehicle flexibility, thereby enhancing driving pleasure. Among them, independent motor control has become a mainstream research direction.

[0003] At present, most vehicles equipped with independent motor control, i.e. single-axle dual-motor vehicles, adopt the left and right torque distribution method based on target yaw control. In the motor torque distribution control based on target yaw, combined with the driving conditions, the torque difference generated by the dual motors is used to add yaw torque to the vehicle, and the actual yaw of the current vehicle is corrected and compensated to make the vehicle reach the calculated target yaw, correct the vehicle state, and improve vehicle performance.

[0004] However, if feedback control is performed only through the current yaw read by the sensor, there may be a large delay and rapid control cannot be achieved. And if there is a large error in the control amount through feedback control alone, it will cause problems such as rapid accumulation of deviations, resulting in poor vehicle driving agility and stability. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art.

[0006] To this end, an object of the present invention is to propose a torque feedforward control method, which obtains a target yaw control torque based on the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby achieving reasonable torque distribution to the left and right wheels of the vehicle, thereby ensuring that the vehicle itself moves in an expected yaw state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0007] To this end, a second object of the present invention is to provide a torque feedforward control device.

[0008] To this end, a third object of the present invention is to provide a vehicle.

[0009] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0010] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention proposes a torque feedforward control method, which includes: calculating the yaw control amount of the vehicle; calculating the steady-state yaw control torque and the dynamic yaw control torque of the vehicle according to the yaw control amount; obtaining the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque; and distributing torque to the left and right wheels of the vehicle according to the target yaw control torque.

[0011] According to the torque feedforward control method of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, thereby ensuring that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0012] In some embodiments, calculating the yaw control amount of the vehicle includes: acquiring a target yaw angular velocity and a passive yaw angular velocity of the vehicle; and using a difference between the target yaw angular velocity and the passive yaw angular velocity as the yaw control amount.

[0013] In some embodiments, obtaining the passive yaw rate of the vehicle includes: obtaining a current vehicle speed and a reference lateral acceleration of the vehicle; and obtaining the passive yaw rate according to the vehicle speed and the reference lateral acceleration.

[0014] In some embodiments, obtaining a reference lateral acceleration of the vehicle includes: obtaining a current front wheel turning angle of the vehicle; and according to the front wheel turning angle, querying a target front wheel turning angle-lateral acceleration correspondence calibration table to obtain the reference lateral acceleration corresponding to the front wheel turning angle.

[0015] In some embodiments, before querying the target front wheel steering angle-lateral acceleration correspondence calibration table to obtain the reference lateral acceleration corresponding to the front wheel steering angle, it also includes: determining the road friction coefficient level of the road on which the vehicle is currently traveling; selecting the target front wheel steering angle-lateral acceleration correspondence calibration table corresponding to the road friction coefficient level from a database, wherein different road friction coefficient levels correspond to different target front wheel steering angle-lateral acceleration correspondence calibration tables, and a plurality of target front wheel steering angle-lateral acceleration correspondence calibration tables are pre-stored in the database.

[0016] In some embodiments, obtaining a target yaw rate of the vehicle includes: obtaining the target yaw rate from a vehicle controller, wherein the target yaw rate is calculated by the vehicle controller.

[0017] In some embodiments, calculating a steady-state yaw control torque of the vehicle according to the yaw control amount includes:

[0018]

[0019] Among them, M z，ff，ss is the steady-state yaw control torque, (r z，ref -r z，pas ) is the yaw control variable, C f is the front wheel cornering stiffness, C r is the rear wheel cornering stiffness, a is the distance from the vehicle center of mass to the front axle, b is the distance from the vehicle center of mass to the rear axle, v x is the longitudinal speed of the vehicle, m is the vehicle mass, r z，ref is the target yaw rate, r z，pas is the passive yaw angular velocity.

[0020] In some embodiments, calculating the dynamic yaw control torque of the vehicle according to the yaw control amount includes:

[0021]

[0022] Among them, M z，ff，dyn is the dynamic yaw control torque, is the first-order derivative of the yaw control variable with respect to time, is the first-order derivative of the target yaw rate with respect to time, is the first-order derivative of the passive yaw rate with respect to time, I zz is the vehicle's moment of inertia.

[0023] In some embodiments, obtaining a target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque includes: taking the sum of the steady-state yaw control torque and the dynamic yaw control torque as the target yaw control torque.

[0024] In order to achieve the above-mentioned purpose, an embodiment of the second aspect of the present invention proposes a torque feedforward control device, which includes: a first calculation module, used to calculate the yaw control amount of the vehicle; a second calculation module, used to calculate the steady-state yaw control torque and dynamic yaw control torque of the vehicle according to the yaw control amount; a third calculation module, used to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque; a control module, used to distribute torque to the left and right wheels of the vehicle according to the target yaw control torque.

[0025] According to the torque feedforward control device of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, thereby ensuring that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0026] In order to achieve the above-mentioned purpose, an embodiment of the third aspect of the present invention proposes a vehicle, which includes: a torque feedforward control device as described in the above-mentioned embodiment; or, the vehicle includes: a processor, a memory, and a torque feedforward control program stored in the memory and executable on the processor, and when the torque feedforward control program is executed by the processor, the torque feedforward control method as described in the above-mentioned embodiment is implemented.

[0027] According to the vehicle of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and the dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left wheel and the right wheel of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, so as to ensure that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0028] In order to achieve the above-mentioned objectives, an embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium, on which a torque feedforward control program is stored. When the torque feedforward control program is executed by a processor, the torque feedforward control method as described in the above-mentioned embodiment is implemented.

[0029] According to the computer-readable storage medium of an embodiment of the present invention, when the torque feedforward control program stored thereon is executed by the processor, the driving state of the vehicle is monitored in real time to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and the dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, thereby ensuring that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0030] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0032] Figure 1 is a flow chart of a torque feedforward control method according to an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of a curve showing the relationship between the front wheel turning angle and the lateral acceleration according to an embodiment of the present invention;

[0034] Figure 3 is a structural block diagram of a feedforward control algorithm according to an embodiment of the present invention;

[0035] Figure 4 is a structural block diagram of a torque feedforward control device according to an embodiment of the present invention;

[0036] Figure 5 is a structural block diagram of a vehicle according to an embodiment of the present invention;

[0037] Figure 6 is a structural block diagram of a vehicle according to another embodiment of the present invention.

[0038] Reference numerals: torque feedforward control device 2 ; first calculation module 21 ; second calculation module 22 ; third calculation module 23 ; control module 24 ; vehicle 3 ; processor 100 ; memory 101 ; torque feedforward control program 102 . DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0040] The following is combined with Figure 1-Figure 6 The torque feedback control method and device, vehicle and storage medium of the embodiments of the present invention are described in detail.

[0041] Let's first combine Figure 1-Figure 3 The torque feedforward control method according to the embodiment of the present invention is described by way of example.

[0042] like Figure 1 As shown, the torque feedforward control method of the embodiment of the present invention at least includes steps S1 to S4.

[0043] Step S1, calculating the yaw control amount of the vehicle.

[0044] The yaw control amount of the vehicle is a feedforward control input amount, and the yaw control amount is determined based on the target yaw rate and the passive yaw rate of the vehicle. It is understandable that the above parameters will change according to the different motion states of each wheel of the vehicle.

[0045] In an embodiment, the driving state of the vehicle can be monitored in real time through relevant sensors or controllers on the vehicle, and the driving data of the vehicle, such as the target yaw angular velocity and passive yaw angular velocity of the vehicle, can be obtained. The vehicle controller can calculate the yaw control amount of the vehicle according to the target yaw angular velocity and passive yaw angular velocity of the vehicle, and then the yaw control amount of the vehicle can be obtained from the vehicle controller, so as to calculate the steady-state yaw control torque and dynamic yaw control torque of the vehicle according to the above parameters, and then the torque can be reasonably distributed to the left and right wheels of the vehicle according to the target yaw control torque.

[0046] Step S2, calculating the steady-state yaw control torque and the dynamic yaw control torque of the vehicle according to the yaw control amount.

[0047] The steady-state yaw control torque is the yaw torque of the vehicle in a steady state, and the dynamic yaw control torque is the additional yaw torque that causes the yaw angular acceleration of the vehicle to change, thereby determining the target yaw control torque.

[0048] In an embodiment, after the yaw control amount of the vehicle is determined, the steady-state yaw control torque and the dynamic yaw control torque of the vehicle are calculated respectively according to the yaw control amount, so as to determine the target yaw control torque, and then the torque can be reasonably distributed to the left and right wheels of the vehicle according to the target yaw control torque.

[0049] Step S3, obtaining a target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque.

[0050] Among them, the target yaw control torque is the motor torque request after feedforward control, that is, the yaw control torque obtained according to the steady-state yaw control torque and the dynamic yaw control torque. It should be noted that when any parameter of the steady-state yaw control torque and the dynamic yaw control torque changes, the corresponding target yaw control torque is different. The target yaw control torque obtained according to the above parameters ensures that the target yaw control torque required by the vehicle at different times of driving is not too large or too small, thereby providing data support for the reasonable allocation of the left and right wheel torques of the vehicle. Therefore, the left and right wheel torques can be reasonably allocated under different conditions, realizing the real-time monitoring of the vehicle itself and the adaptive allocation of the left and right wheel torques, so that the vehicle itself moves in the expected yaw state, ensuring the stability and safety of the vehicle state and the maneuverability of the driver.

[0051] In an embodiment, after the steady-state yaw control torque and the dynamic yaw control torque are acquired, a target yaw control torque is jointly determined based on the steady-state yaw control torque and the dynamic yaw control torque, so as to perform targeted torque distribution to the left and right wheels of the vehicle based on the target yaw control torque.

[0052] Step S4: Distribute torque to the left and right wheels of the vehicle according to the target yaw control torque.

[0053] In an embodiment, after the target yaw control torque is obtained, torque is distributed to the left and right wheels of the vehicle respectively according to the target yaw control torque to correct the yaw state of the vehicle itself so that the vehicle itself moves in an expected yaw state, thereby ensuring the stability, safety and driver maneuverability of the vehicle state.

[0054] The vehicle in the embodiment of the present invention may include three motors or four motors. A three-motor vehicle is a vehicle in which one axle is provided with two motors, which are respectively used to drive the left and right wheels corresponding to the axle, and the other axle is provided with one motor, which is used to drive the left and right wheels corresponding to the axle. A three-motor vehicle includes, for example: a rear axle with two motors and a front axle with a single motor, or a front axle with two motors and a rear axle with a single motor. In other words, the vehicle has three motors, one motor is provided on the front axle for driving the front axle alone, and the other two motors are provided on the rear axle for driving the left and right wheels of the rear axle; or one motor is provided on the rear axle for driving the rear axle alone, and the other two motors are provided on the front axle for driving the left and right wheels of the front axle. A four-motor vehicle is a vehicle in which four motors are provided, each of which drives one wheel respectively, that is, the front axle is provided with two motors to drive the two wheels of the front axle respectively, and the rear axle is provided with two motors to drive the two wheels of the rear axle respectively, thereby realizing independent control of the motors to improve the response speed of the vehicle and make the vehicle more flexible, so that the ground adhesion can be fully utilized and slip control can be realized, which is conducive to improving the power and stability of the vehicle.

[0055] According to the torque feedforward control method of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, thereby ensuring that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0056] In some embodiments, calculating the yaw control amount of the vehicle includes: obtaining a target yaw angular velocity and a passive yaw angular velocity of the vehicle; and using the difference between the target yaw angular velocity and the passive yaw angular velocity as the yaw control amount.

[0057] In an embodiment, after obtaining the target yaw rate and passive yaw rate of the vehicle, the difference between the target yaw rate and the passive yaw rate is calculated, and the difference between the target yaw rate and the passive yaw rate is used as the yaw control amount, so as to distribute torque to the left and right wheels of the vehicle according to the yaw control amount, thereby improving the stability, safety and driver controllability of the vehicle state.

[0058] In some embodiments, obtaining the passive yaw rate of the vehicle includes: obtaining the current vehicle speed and a reference lateral acceleration of the vehicle; and obtaining the passive yaw rate according to the vehicle speed and the reference lateral acceleration.

[0059] In an embodiment, the driving state of the vehicle can be monitored in real time through relevant sensors on the vehicle, and the driving data of the vehicle can be obtained, such as obtaining the current speed of the vehicle, for example, recorded as v, and the reference lateral acceleration, for example, recorded as a y , determine the vehicle's current speed v and reference lateral acceleration a y Then, calculate the reference lateral acceleration a y The ratio of the vehicle's current speed v to the reference lateral acceleration a y The ratio of the current vehicle speed v is taken as the passive yaw rate value, for example, denoted as r z，pas , that is, the passive yaw angular velocity value r z，pas The calculation formula is as follows:

[0060]

[0061] By determining the passive yaw rate value r z，pas , so that according to the passive yaw rate value r z，pas Calculate the yaw control amount of the vehicle.

[0062] In some embodiments, obtaining a reference lateral acceleration of the vehicle includes: obtaining a current front wheel turning angle of the vehicle; and according to the front wheel turning angle, querying a target front wheel turning angle-lateral acceleration correspondence calibration table to obtain a reference lateral acceleration corresponding to the front wheel turning angle.

[0063] In an embodiment, Figure 2 FIG. 1 is a schematic diagram of a curve showing the relationship between the front wheel turning angle and the lateral acceleration according to an embodiment of the present invention. The horizontal axis is the lateral acceleration, for example, a y，ref , the vertical axis is the front wheel turning angle of the vehicle, for example, denoted as δ dyn , K u is the slope, a y，lin is the minimum available lateral acceleration, a y，max For the maximum available lateral acceleration, a target front wheel steering angle-lateral acceleration correspondence calibration table is established according to the above relationship curve diagram.

[0064] The vehicle's driving status can be monitored in real time through relevant sensors on the vehicle, and the vehicle's driving data can be obtained, such as obtaining the vehicle's current front wheel angle. According to the vehicle's current front wheel angle, the target front wheel angle-lateral acceleration correspondence calibration table is queried to obtain the reference lateral acceleration corresponding to the vehicle's current front wheel angle.

[0065] In some embodiments, before querying the target front wheel steering angle-lateral acceleration correspondence calibration table to obtain the reference lateral acceleration corresponding to the front wheel steering angle, it also includes: determining the road friction coefficient level of the road surface on which the vehicle is currently traveling; selecting the target front wheel steering angle-lateral acceleration correspondence calibration table corresponding to the road friction coefficient level from a database, wherein different road friction coefficient levels correspond to different target front wheel steering angle-lateral acceleration correspondence calibration tables, and a plurality of target front wheel steering angle-lateral acceleration correspondence calibration tables are pre-stored in the database.

[0066] In an embodiment, before querying the target front wheel steering angle-lateral acceleration correspondence calibration table to obtain the reference lateral acceleration corresponding to the front wheel steering angle, the road friction coefficient level of the vehicle's current driving road surface is also obtained, and the understeering gradient η is selected according to the road friction coefficient level. The higher the value, the greater the understeering tendency of the vehicle. The target front wheel steering angle-lateral acceleration correspondence calibration table corresponding to the road friction coefficient level of the vehicle's current driving road surface is selected from the database, where a y,lin and a y,maxThe two parameters are obtained from a target front wheel steering angle-lateral acceleration correspondence calibration table corresponding to the road friction coefficient level of the vehicle's current driving surface. Different road friction coefficient levels correspond to different target front wheel steering angle-lateral acceleration correspondence calibration tables. A plurality of target front wheel steering angle-lateral acceleration correspondence calibration tables are pre-stored in the database to determine the current target front wheel steering angle of the vehicle according to the road friction coefficient level of the current driving surface, thereby determining the reference lateral acceleration corresponding to the current front wheel steering angle of the vehicle. By determining the road friction coefficient level of the vehicle's current driving surface, the accuracy of feedforward control can be improved.

[0067] In a specific embodiment, the road friction coefficient level can be calculated based on the longitudinal acceleration and lateral acceleration of the vehicle. For example: Among them, μ is the friction coefficient level of the road surface, a x is the longitudinal acceleration, a y is the lateral acceleration.

[0068] In some embodiments, obtaining a target yaw rate of the vehicle includes: obtaining the target yaw rate from a vehicle controller, wherein the target yaw rate is calculated by the vehicle controller.

[0069] In an embodiment, Figure 3 The structure block diagram of the feedforward control algorithm of one embodiment of the present invention is shown in FIG. The vehicle controller calculates the target yaw rate, for example, as r z，ref After that, the target yaw rate r is obtained directly from the vehicle controller z，ref , get the target yaw angular velocity r z，ref and the passive yaw rate r z，pas Then, calculate the target yaw rate r z，ref and the passive yaw rate r z，pas The target yaw rate r z，ref and the passive yaw rate r z，pas The difference between and is taken as the yaw control amount of the vehicle, that is, the calculation formula of the yaw control amount of the vehicle is as follows:

[0070]

[0071] After the yaw control amount of the vehicle is determined, the steady-state yaw control torque and the dynamic yaw control torque of the vehicle are calculated according to the yaw control amount of the vehicle.

[0072] In some embodiments, calculating a steady-state yaw control torque of a vehicle according to a yaw control amount includes:

[0073]

[0074] Among them, M z，ff，ssis the steady-state yaw control torque, (r z，ref -r z，pas ) is the yaw control variable, C f is the front wheel cornering stiffness, C r is the rear wheel cornering stiffness, a is the distance from the vehicle center of mass to the front axle, b is the distance from the vehicle center of mass to the rear axle, v x is the longitudinal speed of the vehicle, m is the vehicle mass, r z，ref is the target yaw rate, r z，pas is the passive yaw rate.

[0075] In the embodiment, the driving state of the vehicle can be monitored in real time through relevant sensors on the vehicle, and the driving data of the vehicle can be obtained, such as obtaining the side stiffness C of the front wheel of the vehicle. f , rear wheel cornering stiffness C r , the distance from the vehicle center of mass to the front axle a, the distance from the vehicle center of mass to the rear axle b, and the vehicle mass m, the steady-state yaw control torque M is calculated based on the above parameters z，ff，ss , steady-state yaw control torque M z，ff，ss The calculation formula is as follows:

[0076]

[0077] By calculating the steady-state yaw control torque M of the vehicle z，ff，ss , in order to obtain the target yaw control torque.

[0078] In some embodiments, calculating the dynamic yaw control torque of the vehicle according to the yaw control amount includes:

[0079]

[0080] Among them, M z，ff，dyn is the dynamic yaw control torque, is the first-order derivative of the yaw control variable with respect to time, is the first-order derivative of the target yaw rate with respect to time, is the first-order derivative of the passive yaw rate with respect to time, I zz is the vehicle's moment of inertia.

[0081] In an embodiment, the driving state of the vehicle can be monitored in real time through relevant sensors on the vehicle, and the driving data of the vehicle can be obtained, such as the rotational inertia I of the vehicle. zz , and calculate the first-order derivative of the yaw control amount with respect to time, the first-order derivative of the target yaw angular velocity with respect to time, and the first-order derivative of the passive yaw angular velocity with respect to time. According to the above parameters, the dynamic yaw control torque M is calculated. z，ff，dyn , dynamic yaw control torque M z，ff，dyn The calculation formula is as follows:

[0082]

[0083] By calculating the vehicle's dynamic yaw control torque M z，ff，dyn , in order to obtain the target yaw control torque.

[0084] In some embodiments, obtaining the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque includes: taking the sum of the steady-state yaw control torque and the dynamic yaw control torque as the target yaw control torque.

[0085] In an embodiment, Figure 3 FIG. 1 is a block diagram of a feedforward control algorithm according to an embodiment of the present invention. Obtaining the steady-state yaw control torque M z，ff，ss and dynamic yaw control torque M z，ff，dyn Then, the steady-state yaw control torque M is calculated. z，ff，ss and dynamic yaw control torque M z，ff，dyn The steady-state yaw control torque M z，ff，ss and dynamic yaw control torque M z，ff，dyn The sum of the target yaw control torque is denoted as M z，ff , that is, the target yaw control torque M z，ff The calculation formula is as follows:

[0086]

[0087] Determine the target yaw control torque M z，ff Then, according to the target yaw control torque M z，ff Torque is distributed to the left and right wheels of the vehicle respectively to change the vehicle's yaw state so that the vehicle moves in the expected yaw state, ensuring the stability, safety and driver maneuverability of the vehicle.

[0088] According to the torque feedforward control method of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, thereby ensuring that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0089] Reference below Figure 4 The torque feedforward control device 2 according to the embodiment of the present invention is described.

[0090] like Figure 4 As shown, the torque distribution device 2 of the embodiment of the present invention includes: a first calculation module 21, a second calculation module 22, a third calculation module 23 and a control module 24, wherein:

[0091] The first calculation module 21 is used to calculate the yaw control amount of the vehicle; the second calculation module 22 is used to calculate the steady-state yaw control torque and the dynamic yaw control torque of the vehicle according to the yaw control amount; the third calculation module 23 is used to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque; the control module 24 is used to distribute torque to the left and right wheels of the vehicle according to the target yaw control torque.

[0092] In an embodiment, the first calculation module 21 can monitor the driving state of the vehicle in real time through relevant sensors or controllers on the vehicle, and obtain the driving data of the vehicle, such as the target yaw rate and passive yaw rate of the vehicle. The first calculation module 21 can calculate the yaw control amount of the vehicle according to the target yaw rate and passive yaw rate of the vehicle, and then obtain the yaw control amount of the vehicle from the vehicle controller, so as to calculate the steady-state yaw control torque and dynamic yaw control torque of the vehicle according to the above parameters, and then reasonably distribute the torque to the left and right wheels of the vehicle according to the target yaw control torque. Among them, the yaw control amount of the vehicle is the feedforward control input, and the yaw control amount is determined based on the target yaw rate and passive yaw rate of the vehicle. It can be understood that the above parameters will change according to the different motion states of each wheel of the vehicle.

[0093] The second calculation module 22 calculates the steady-state yaw control torque and the dynamic yaw control torque of the vehicle according to the yaw control amount, thereby determining the target yaw control torque, and then reasonably distributing the torque to the left and right wheels of the vehicle according to the target yaw control torque. The steady-state yaw control torque is the yaw torque of the vehicle in a steady state, and the dynamic yaw control torque is the additional yaw torque that causes the yaw angular acceleration of the vehicle to change, thereby determining the target yaw control torque.

[0094] The third calculation module 23 determines the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque, so as to distribute the torque to the left and right wheels of the vehicle in a targeted manner according to the target yaw control torque. The target yaw control torque is the motor torque request after feedforward control, that is, the yaw control torque obtained according to the steady-state yaw control torque and the dynamic yaw control torque. It should be noted that when any parameter of the steady-state yaw control torque and the dynamic yaw control torque changes, the corresponding target yaw control torque is different. The target yaw control torque obtained according to the above parameters ensures that the target yaw control torque required by the vehicle at different times of driving is not too large or too small, thereby providing data support for the reasonable distribution of the left and right wheel torques of the vehicle. Therefore, the left and right wheel torques can be reasonably distributed under different conditions, and the real-time monitoring of the vehicle itself and the adaptive distribution of the left and right wheel torques can be realized, so that the vehicle itself moves in the expected state, ensuring the stability, safety and maneuverability of the vehicle state.

[0095] The control module 24 distributes torque to the left and right wheels of the vehicle respectively according to the target yaw control torque to correct the yaw state of the vehicle itself so that the vehicle itself moves in the expected yaw state, thereby ensuring the stability, safety and driver maneuverability of the vehicle state.

[0096] According to the torque feedforward control device 2 of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and the dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, so as to ensure that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0097] In some embodiments, when the first calculation module 21 calculates the yaw control amount of the vehicle, it is specifically used to: obtain the target yaw angular velocity and the passive yaw angular velocity of the vehicle; and use the difference between the target yaw angular velocity and the passive yaw angular velocity as the yaw control amount.

[0098] In some embodiments, when the first calculation module 21 obtains the passive yaw angular velocity, it is specifically used to: obtain the current vehicle speed and reference lateral acceleration of the vehicle; and obtain the passive yaw angular velocity according to the vehicle speed and the reference lateral acceleration.

[0099] In some embodiments, when the first calculation module 21 obtains the reference lateral acceleration, it is specifically used to: obtain the current front wheel turning angle of the vehicle; based on the front wheel turning angle, query the target front wheel turning angle-lateral acceleration correspondence calibration table to obtain the reference lateral acceleration corresponding to the front wheel turning angle.

[0100] In some embodiments, before querying the target front wheel steering angle-lateral acceleration correspondence calibration table to obtain the reference lateral acceleration corresponding to the front wheel steering angle, the first calculation module 21 is specifically used to: determine the road friction coefficient level of the road surface on which the vehicle is currently traveling; select the target front wheel steering angle-lateral acceleration correspondence calibration table corresponding to the road friction coefficient level from the database, wherein different road friction coefficient levels correspond to different target front wheel steering angle-lateral acceleration correspondence calibration tables, and multiple target front wheel steering angle-lateral acceleration correspondence calibration tables are pre-stored in the database.

[0101] In a specific embodiment, the road friction coefficient level can be calculated based on the longitudinal acceleration and lateral acceleration of the vehicle. For example: Among them, μ is the friction coefficient level of the road surface, a x is the longitudinal acceleration, a y is the lateral acceleration.

[0102] In some embodiments, when the first calculation module 21 obtains the target yaw rate of the vehicle, it is specifically used to: obtain the target yaw rate from the vehicle controller, wherein the target yaw rate is calculated by the vehicle controller.

[0103] In some embodiments, the process of the second calculation module 22 calculating the steady-state yaw control torque of the vehicle according to the yaw control amount includes:

[0104]

[0105] Among them, M z，ff，ss is the steady-state yaw control torque, (r z，ref -r z，pas ) is the yaw control variable, C f is the front wheel cornering stiffness, C r is the rear wheel cornering stiffness, a is the distance from the vehicle center of mass to the front axle, b is the distance from the vehicle center of mass to the rear axle, v x is the longitudinal speed of the vehicle, m is the vehicle mass, r z，ref is the target yaw rate, r z，pas is the passive yaw rate.

[0106] In some embodiments, the process of the second calculation module 22 calculating the dynamic yaw control torque of the vehicle according to the yaw control amount includes:

[0107]

[0108] Among them, M z，ff，dyn is the dynamic yaw control torque, is the first-order derivative of the yaw control variable with respect to time, is the first-order derivative of the target yaw rate with respect to time, is the first-order derivative of the passive yaw rate with respect to time, I zz is the vehicle's moment of inertia.

[0109] In some embodiments, when the third calculation module 23 obtains the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque, it is specifically configured to: use the sum of the steady-state yaw control torque and the dynamic yaw control torque as the target yaw control torque.

[0110] According to the torque feedforward control device 2 of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and the dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, so as to ensure that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0111] Reference below Figure 5 and Figure 6 A vehicle 3 according to an embodiment of the present invention will be described.

[0112] In some embodiments, Figure 5 As shown, the vehicle 3 of the embodiment of the present invention includes the torque feedforward control device 2 as described in any one of the above embodiments of the present invention.

[0113] In other embodiments, Figure 6 As shown, the vehicle 3 of the embodiment of the present invention includes a processor 100, a memory 101, and a torque feedforward control program 102 stored in the memory 101 and executable on the processor 100. When the torque feedforward control program 102 is executed by the processor 100, the torque feedforward control method of the above embodiment is implemented.

[0114] According to the vehicle 3 of the embodiment of the present invention, the driving state of the vehicle is monitored in real time by relevant sensors or controllers on the vehicle to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and the dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, thereby ensuring that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0115] The following describes a computer-readable storage medium according to an embodiment of the present invention.

[0116] A torque feedforward control program is stored on a computer-readable storage medium in an embodiment of the present invention. When the torque feedforward control program is executed by a processor, the torque feedforward control method described in any one of the above embodiments of the present invention is implemented.

[0117] According to the computer-readable storage medium of an embodiment of the present invention, when the torque feedforward control program stored thereon is executed by the processor, the driving state of the vehicle can be monitored in real time to obtain the driving data of the vehicle, the yaw control amount of the vehicle is determined according to the relevant driving data of the vehicle, and the steady-state yaw control torque and the dynamic yaw control torque of the vehicle are respectively calculated according to the yaw control amount, so as to obtain the target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque of the vehicle, so as to control the vehicle to distribute torque to the left and right wheels of the vehicle respectively according to the target yaw control torque, thereby realizing reasonable torque distribution to the left and right wheels of the vehicle, thereby ensuring that the vehicle itself yaws and moves in an expected state, thereby improving the stability and safety of the vehicle's driving state, and ensuring the driver's maneuverability of the vehicle.

[0118] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0119] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A torque feedforward control method, characterized in that: The following steps are involved: Calculate the yaw control amount of the vehicle; Calculating a steady-state yaw control torque and a dynamic yaw control torque of the vehicle according to the yaw control amount; Obtaining a target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque; Torque is distributed to the left and right wheels of the vehicle according to the target yaw control torque.

2. The torque feedforward control method according to claim 1, characterized in that: Calculating the yaw control amount of the vehicle, including: Obtaining the target yaw rate and passive yaw rate of the vehicle; The difference between the target yaw angular velocity and the passive yaw angular velocity is used as the yaw control amount.

3. The torque feedforward control method according to claim 2, characterized in that: Get the passive yaw rate of the vehicle, including: Get the vehicle's current speed and reference lateral acceleration; The passive yaw rate is obtained according to the vehicle speed and the reference lateral acceleration.

4. The torque feedforward control method according to claim 3, characterized in that: Get the reference lateral acceleration of the vehicle, including: Get the current front wheel angle of the vehicle; According to the front wheel turning angle, a target front wheel turning angle-lateral acceleration correspondence calibration table is queried to obtain the reference lateral acceleration corresponding to the front wheel turning angle.

5. The torque feedforward control method according to claim 4, characterized in that: Before querying the target front wheel turning angle-lateral acceleration correspondence calibration table to obtain the reference lateral acceleration corresponding to the front wheel turning angle, the method further includes: Determine the road friction coefficient level of the road the vehicle is currently traveling on; The target front wheel steering angle-lateral acceleration correspondence calibration table corresponding to the road friction coefficient level is selected from the database, wherein different road friction coefficient levels correspond to different target front wheel steering angle-lateral acceleration correspondence calibration tables, and a plurality of target front wheel steering angle-lateral acceleration correspondence calibration tables are pre-stored in the database.

6. The torque feedforward control method according to claim 2, characterized in that: Get the target yaw rate of the vehicle, including: The target yaw angular velocity is obtained from a vehicle controller, wherein the target yaw angular velocity is calculated by the vehicle controller.

7. The torque feedforward control method according to claim 2, characterized in that: Calculating a steady-state yaw control torque of the vehicle according to the yaw control amount includes: Among them, M z，ff，ss is the steady-state yaw control torque, (r z，ref -r z，pas ) is the yaw control variable, C d is the front wheel cornering stiffness, C r is the rear wheel cornering stiffness, a is the distance from the vehicle center of mass to the front axle, b is the distance from the vehicle center of mass to the rear axle, v x is the longitudinal speed of the vehicle, m is the vehicle mass, r z，ref is the target yaw rate, r z，pas is the passive yaw angular velocity.

8. The torque feedforward control method according to claim 2, characterized in that: Calculating a dynamic yaw control torque of the vehicle according to the yaw control amount includes: Among them, M z，ff，dyn is the dynamic yaw control torque, is the first-order derivative of the yaw control variable with respect to time, is the first-order derivative of the target yaw rate with respect to time, is the first-order derivative of the passive yaw rate with respect to time, I zz is the vehicle's moment of inertia.

9. The torque feedforward control method according to claim 1, characterized in that: Obtaining a target yaw control torque according to the steady-state yaw control torque and the dynamic yaw control torque includes: The sum of the steady-state yaw control torque and the dynamic yaw control torque is taken as the target yaw control torque.

10. A vehicle, characterized in that: include: A processor, a memory, and a torque feedforward control program stored in the memory and executable on the processor, wherein the torque feedforward control program, when executed by the processor, implements the torque feedforward control method as described in any one of claims 1 to 9.

11. A computer-readable storage medium, characterized in that: A torque feedforward control program is stored on a computer-readable storage medium, and when the torque feedforward control program is executed by a processor, the torque feedforward control method according to any one of claims 1 to 9 is implemented.

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