Method for determining target yaw velocity of vehicle and related device

Abstract

The invention provides a method for determining the target yaw velocity of a vehicle and a related device, and relates to the field of automobile movement, and the method comprises the steps: obtaining the whole vehicle mass of the vehicle, a first distance between a front wheel and a mass center, a second distance between a rear wheel and the mass center, front wheel cornering stiffness, rear wheel cornering stiffness, a current speed and a current front wheel rotation angle; inputting the obtained data into a steady-state steering model to obtain the yaw velocity of the vehicle based on front wheel steering; determining a target front wheel steering angle based on the current front wheel steering angle; calculating a target yaw velocity of the vehicle based on rear wheel steering based on the current driving mode, the target front wheel steering angle, the whole vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current velocity; the target yaw velocity of the vehicle can be calculated according to the yaw velocity of the vehicle based on the front wheel steering and the target yaw velocity of the vehicle based on the rear wheel steering, the influence of the front wheel steering and the rear wheel steering on the yaw velocity of the vehicle is comprehensively considered, and the accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of automobile sports, and in particular to a method for determining a target yaw rate of a vehicle and a related device. Background Art

[0002] In vehicle dynamics research, yaw rate is a crucial parameter that describes the rate at which a vehicle rotates around its vertical axis (i.e., the axis perpendicular to the ground and passing through the center of mass of the vehicle). This parameter is directly related to vehicle stability, handling, and the steering feel of the driver.

[0003] Currently, the target yaw rate of the vehicle is usually determined based on the front wheel steering and steady-state steering models.

[0004] However, as rear-wheel steering is gradually applied to vehicle models, it will also directly affect the target yaw rate of the vehicle. The steady-state steering model only determines the target yaw rate of the vehicle for front-wheel steering, which easily leads to poor accuracy of the determined target yaw rate. Summary of the invention

[0005] In view of the above problems, the present application provides a method and a related device for determining a target yaw rate of a vehicle, in order to improve the accuracy of the determined target yaw rate. The specific scheme is as follows:

[0006] A first aspect of the present application provides a method for determining a target yaw rate of a vehicle, characterized by comprising:

[0007] Obtain the vehicle mass, the first distance between the front wheel and the center of mass, the second distance between the rear wheel and the center of mass, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel steering angle of the vehicle;

[0008] Inputting the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel steering angle into a steady-state steering model to obtain the yaw angular velocity of the vehicle based on the front wheel steering;

[0009] Determining a target front wheel turning angle based on the current front wheel turning angle;

[0010] Calculate a target yaw rate of the vehicle based on rear wheel steering based on the acquired current driving mode, the target front wheel steering angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed;

[0011] A target yaw rate of the vehicle is calculated based on the yaw rate of the vehicle based on the front wheel steering and the target yaw rate of the vehicle based on the rear wheel steering.

[0012] In a possible implementation, the target front wheel turning angle includes a transient target front wheel turning angle and a steady-state target front wheel turning angle;

[0013] The step of determining a target front wheel turning angle based on the current front wheel turning angle comprises:

[0014] Calculating the instantaneous target front wheel turning angle based on the acquired rate of change of the current front wheel turning angle, the preset prediction time and the current front wheel turning angle;

[0015] The current front wheel turning angle is used as the steady-state target front wheel turning angle.

[0016] In a possible implementation, the calculating the target yaw rate of the vehicle based on rear wheel steering based on the acquired current driving mode, the target front wheel steering angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed includes:

[0017] Calculate the instantaneous target yaw rate of the vehicle based on rear-wheel steering based on the acquired current driving mode, the instantaneous target front wheel turning angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed;

[0018] Based on the acquired current driving mode, the steady-state target front wheel turning angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed, the steady-state target yaw angular velocity of the vehicle based on rear-wheel steering is calculated.

[0019] In a possible implementation, the target yaw rate of the vehicle includes a transient target yaw rate of the vehicle and a steady-state target yaw rate of the vehicle;

[0020] The calculating the target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and the target yaw rate of the vehicle based on the rear wheel steering comprises:

[0021] Calculating a transient target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and a transient target yaw rate of the vehicle based on the rear wheel steering;

[0022] Based on the yaw rate of the vehicle based on the front wheel steering and the steady-state target yaw rate of the vehicle based on the rear wheel steering, a steady-state target yaw rate of the vehicle is calculated.

[0023] In a possible implementation, the method further includes:

[0024] Acquire a relationship between a maximum lateral acceleration of the vehicle and a preset road adhesion coefficient, and calculate a maximum target yaw rate of the vehicle based on the relationship and the current speed;

[0025] determining whether a target yaw rate of the vehicle is greater than a maximum target yaw rate of the vehicle;

[0026] If the target yaw rate of the vehicle is greater than the maximum target yaw rate of the vehicle, the target yaw rate of the vehicle is updated to the maximum target yaw rate of the vehicle.

[0027] A second aspect of the present application provides a device for determining a target yaw rate of a vehicle, characterized by comprising:

[0028] an acquisition unit, used to acquire the vehicle mass, a first distance between the front wheel and the center of mass, a second distance between the rear wheel and the center of mass, a front wheel cornering stiffness, a rear wheel cornering stiffness, a current speed, and a current front wheel turning angle of the vehicle;

[0029] an input unit, configured to input the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed, and the current front wheel steering angle into a steady-state steering model to obtain a yaw angular velocity of the vehicle based on the front wheel steering;

[0030] a determination unit, configured to determine a target front wheel turning angle based on the current front wheel turning angle;

[0031] a first calculation unit, configured to calculate a target yaw rate of the vehicle based on rear wheel steering based on the acquired current driving mode, the target front wheel steering angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed;

[0032] The second calculation unit is used to calculate a target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and the target yaw rate of the vehicle based on the rear wheel steering.

[0033] In a possible implementation, the target front wheel turning angle includes a transient target front wheel turning angle and a steady-state target front wheel turning angle;

[0034] The determining unit comprises:

[0035] A first calculation subunit, configured to calculate the instantaneous target front wheel turning angle based on the acquired change rate of the current front wheel turning angle, a preset prediction time and the current front wheel turning angle;

[0036] A determination subunit is used to use the current front wheel turning angle as the steady-state target front wheel turning angle.

[0037] A third aspect of the present application provides a computer program product, comprising computer-readable instructions, which, when executed on an electronic device, enables the electronic device to implement the method for determining the target yaw angular velocity of the vehicle according to the first aspect or any implementation of the first aspect.

[0038] A fourth aspect of the present application provides an electronic device, comprising at least one processor and a memory connected to the processor, wherein:

[0039] The memory is used to store computer programs;

[0040] The processor is used to execute the computer program so that the electronic device can implement the method for determining the target yaw angular velocity of the vehicle according to the first aspect or any implementation of the first aspect.

[0041] A fifth aspect of the present application provides a computer storage medium, which carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can determine the target yaw angular velocity of the vehicle according to the first aspect or any implementation of the first aspect.

[0042] By means of the above technical scheme, the present application provides a method for determining a target yaw rate of a vehicle and a related device, the method comprising obtaining the vehicle's overall mass, a first distance between the front wheel and the center of mass, a second distance between the rear wheel and the center of mass, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel turning angle; inputting the overall mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel turning angle into a steady-state steering model to obtain the vehicle's yaw rate based on the front wheel steering; determining the target front wheel turning angle based on the current front wheel turning angle; calculating the vehicle's target yaw rate based on the rear wheel steering based on the acquired current driving mode, target front wheel turning angle, overall mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed; calculating the vehicle's target yaw rate based on the vehicle's yaw rate based on the front wheel steering and the vehicle's target yaw rate based on the rear wheel steering. This solution determines the target yaw rate of the vehicle by comprehensively considering the effects of front wheel steering and rear wheel steering on the yaw rate, thereby improving the accuracy of the determined target yaw rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the accompanying drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the originals and elements are not necessarily drawn to scale.

[0044] Figure 1 A schematic flow chart of a method for determining a target yaw rate of a vehicle provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of the dynamic relationship of a linear two-degree-of-freedom vehicle dynamics model with only front wheel turning angle provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of the structure of a device for determining a target yaw rate of a vehicle provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of the hardware structure of a device for determining a target yaw angular velocity of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following describes the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation method section of the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application.

[0049] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0050] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and need not be used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, which is only to describe the distinction mode adopted by the objects of the same attributes when describing in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0051] In order to improve the accuracy of the determined target yaw rate, the present application provides a method for determining a target yaw rate of a vehicle. The method for determining the target yaw rate of a vehicle provided in the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0052] Please see attached Figure 1 , Figure 1 A flow chart of a method for determining a target yaw rate of a vehicle provided in an embodiment of the present application. The method may include the following steps:

[0053] Step S101: Obtain the vehicle mass, the first distance between the front wheel and the center of mass, the second distance between the rear wheel and the center of mass, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel turning angle of the vehicle.

[0054] It should be noted that the vehicle mass refers to the total weight of the vehicle; the first distance between the front wheel and the center of mass refers to the horizontal distance from the center line of the front wheel of the vehicle to the center of mass of the vehicle; the second distance between the rear wheel and the center of mass refers to the horizontal distance from the center line of the rear wheel of the vehicle to the center of mass of the vehicle. The front wheel cornering stiffness refers to the lateral force required for the front wheel to produce a unit side slip angle when the front wheel is subjected to a lateral force; the rear wheel cornering stiffness refers to the lateral force required for the rear wheel to produce a unit side slip angle when the rear wheel is subjected to a lateral force. The current speed refers to the current driving speed of the vehicle. The current front wheel turning angle refers to the current rotation angle of the front wheel of the vehicle relative to the longitudinal axis of the vehicle.

[0055] In the present application, by obtaining these key parameters, necessary data support can be provided for the calculation of the steady-state steering model, the determination of the target front wheel steering angle, and the calculation of the target yaw rate based on the rear wheel steering in the subsequent steps.

[0056] Step S102: inputting the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel steering angle into a steady-state steering model to obtain the yaw angular velocity of the vehicle based on the front wheel steering.

[0057] In the present application, based on the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel turning angle, combined with a linear two-degree-of-freedom vehicle dynamics model with only the front wheel turning angle and steady-state steering conditions, the vehicle's yaw angular velocity based on front wheel steering can be obtained.

[0058] It should be noted that the linear two-degree-of-freedom vehicle dynamics model with only the front wheel steering angle simplifies the vehicle into a rigid body, ignoring its deformation, and assuming that the vehicle moves only in the xy plane, with a constant forward speed along the x-axis, ignoring the pitch angle around the y-axis and the roll angle around the x-axis, and only considering the lateral motion along the y-axis and the yaw motion around the z-axis. Ignoring the longitudinal force on the tire, the lateral acceleration of the vehicle is limited to a certain value, so the tire side slip characteristics are in the linear range. The left and right tires of the front and rear axles are equivalently concentrated at the intersection of the front and rear axles of the vehicle and the x-axis, and ignoring the effect of the tire self-aligning torque and air resistance.

[0059] For easier understanding, please refer to Figure 2 , Figure 2 A schematic diagram of the dynamic relationship of a linear two-degree-of-freedom vehicle dynamics model with only the front wheel steering angle provided in an embodiment of the present application. The differential equation corresponding to the linear two-degree-of-freedom vehicle dynamics model with only the front wheel steering angle can be specifically referred to the following formula:

[0060]

[0061]

[0062] in, Indicates the vehicle mass; Indicates the first distance between the front wheel and the center of mass; Indicates the second distance between the rear wheel and the center of mass; Indicates the front wheel cornering stiffness; Indicates the rear wheel cornering stiffness; represents the velocity of the center of mass; represents the sideslip angle of the center of mass; It represents the rate of change of the sideslip angle at the center of mass; Indicates the front wheel turning angle; Represents the moment of inertia of the vehicle around the Z axis of the vehicle coordinate system; represents the yaw rate based on the front wheel steering; Indicates the rate of change of yaw rate based on front wheel steering; Indicates the front wheel slip angle; Indicates the rear wheel slip angle; Indicates the front wheel cornering force; Indicates the rear wheel cornering force; represents the lateral speed; Indicates the longitudinal velocity.

[0063] Considering the computing power of the actual vehicle controller, in order to reduce the amount of calculation, the steady-state steering condition is combined: the rate of change of the center of mass velocity is zero; the rate of change of the sideslip angle at the center of mass is zero, the rate of change of yaw angular velocity is zero, and the current speed and the current front wheel angle are substituted to obtain the yaw rate of the vehicle based on the front wheel steering. For details, please refer to the following formula:

[0064]

[0065]

[0066] in, represents speed (lateral speed); Indicates the distance between the front wheel and the rear wheel; Indicates characteristic vehicle speed.

[0067] Step S103: Determine the target front wheel turning angle based on the current front wheel turning angle.

[0068] It should be noted that the target front wheel turning angle includes a transient target front wheel turning angle and a steady-state target front wheel turning angle.

[0069] The transient target front wheel steering angle focuses on quickly responding to the driver's steering intention and improving the vehicle's steering sensitivity and dynamic performance. The steady-state target front wheel steering angle considers the rationality of the target more comprehensively to ensure the stability of the final control effect.

[0070] In the present application, the instantaneous target front wheel angle can be calculated based on the acquired rate of change of the current front wheel angle, the preset prediction time and the current front wheel angle. For details, refer to the following formula:

[0071]

[0072] in, represents the target front wheel turning angle; Indicates the preset forecast time.

[0073] When the driver stabilizes the steering wheel at the end of the steering phase, the rate of change of the steering wheel angle is close to zero, and the rate of change of the current front wheel angle is zero. Therefore, the current front wheel angle can be used as the steady-state target front wheel angle. For details, refer to the following formula:

[0074]

[0075] In order to make the target front wheel angle smoother, the transient target front wheel angle and the steady-state target front wheel angle need to be filtered differently. The transient target uses light filtering to retain its fast response characteristics; the steady-state target uses heavy filtering to ensure the stability of the control effect. The filtering effect needs to be calibrated according to the response delay caused by the body inertia of the actual vehicle. When the steering is stable (the steering wheel angle remains basically unchanged), since the rate of change is close to zero, the gap between the transient target and the steady-state target should decay to zero to achieve a smooth transition.

[0076] Step S104: Calculate the target yaw rate of the vehicle based on rear wheel steering based on the acquired current driving mode, target front wheel steering angle, vehicle mass, first distance, second distance, front wheel cornering stiffness, rear wheel cornering stiffness and current speed.

[0077] In this application, the rear-wheel steering control requires the target yaw rate of the vehicle based on the rear-wheel steering, that is, the offset of the rear wheel steering angle to the target yaw rate, and the offset of the rear wheel steering angle to the target yaw rate has a calibration relationship with the driving mode, the target front wheel steering angle and the vehicle speed. Among them, the driving mode refers to the current driving state of the vehicle, which can include flexible mode and robust mode, which will affect the vehicle's control response.

[0078] The instantaneous target yaw rate of the vehicle based on rear-wheel steering can be calculated based on the current driving mode, instantaneous target front wheel steering angle, vehicle mass, first distance, second distance, front wheel cornering stiffness, rear wheel cornering stiffness and current speed. The steady-state target yaw rate of the vehicle based on rear-wheel steering can be calculated based on the current driving mode, steady-state target front wheel steering angle, vehicle mass, first distance, second distance, front wheel cornering stiffness, rear wheel cornering stiffness and current speed. For details, refer to the following formula:

[0079]

[0080] in, represents the target yaw rate based on rear wheel steering; represents the target rear wheel turning angle; Indicates driving mode.

[0081] Step S105: Calculate the target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and the target yaw rate of the vehicle based on the rear wheel steering.

[0082] It should be noted that the target yaw rate of the vehicle includes the transient target yaw rate of the vehicle and the steady-state target yaw rate of the vehicle.

[0083] In the present application, the transient target yaw rate of the vehicle is calculated based on the yaw rate of the vehicle based on the front wheel steering and the transient target yaw rate of the vehicle based on the rear wheel steering. The steady-state target yaw rate of the vehicle is calculated based on the yaw rate of the vehicle based on the front wheel steering and the steady-state target yaw rate of the vehicle based on the rear wheel steering. For details, refer to the following formula:

[0084]

[0085] in, Indicates the target yaw rate.

[0086] In summary, the present application provides a method for determining a target yaw rate of a vehicle, the method comprising obtaining the vehicle's overall mass, a first distance between the front wheel and the center of mass, a second distance between the rear wheel and the center of mass, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel turning angle; inputting the overall mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel turning angle into a steady-state steering model to obtain the vehicle's yaw rate based on front wheel steering; determining the target front wheel turning angle based on the current front wheel turning angle; calculating the vehicle's target yaw rate based on rear wheel steering based on the acquired current driving mode, target front wheel turning angle, overall mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed; calculating the vehicle's target yaw rate based on the vehicle's yaw rate based on the front wheel steering and the vehicle's target yaw rate based on the rear wheel steering. This solution determines the target yaw rate of the vehicle by comprehensively considering the effects of front wheel steering and rear wheel steering on the yaw rate, thereby improving the accuracy of the determined target yaw rate.

[0087] Based on the above embodiment, the following steps may also be included:

[0088] Step S106: Obtain the relationship between the maximum lateral acceleration of the vehicle and the preset road adhesion coefficient, and calculate the maximum target yaw rate of the vehicle based on the relationship and the current speed.

[0089] Considering that the driver's operation may not be able to achieve stable steering of the vehicle in some extreme scenarios, such as turning the steering wheel at a large angle at a slightly high speed on a low-adhesion road, if a large rear wheel turning angle is strictly controlled according to the above target value, the vehicle stability may be affected. Therefore, it is necessary to impose necessary restrictions on the target yaw angular velocity.

[0090] It should be noted that the maximum lateral acceleration that the ground can provide is determined based on the estimated road adhesion coefficient by looking up a pre-set calibration table: the vehicle is subjected to steady-state steering tests at a certain speed and on different road surfaces (ice, snow, wet asphalt, dry asphalt, etc.) with different steering wheel angles to obtain the maximum lateral acceleration without losing stability, and the relationship between the vehicle's maximum lateral acceleration and the preset road adhesion coefficient is obtained.

[0091] In this application, the maximum lateral acceleration of the vehicle determined by the current road adhesion coefficient and the relationship, combined with the current lateral vehicle speed, can be calibrated based on the centripetal force relationship to determine the maximum target yaw rate of the vehicle. For details, please refer to the following formula:

[0092]

[0093] in, represents the maximum target yaw rate; Indicates the maximum lateral acceleration; Represents the road adhesion coefficient.

[0094] Step S107: Determine whether the target yaw rate of the vehicle is greater than the maximum target yaw rate of the vehicle.

[0095] When the target yaw rate of the vehicle is greater than the maximum target yaw rate of the vehicle, step S108 is executed.

[0096] Step S108: Update the target yaw rate of the vehicle to the maximum target yaw rate of the vehicle.

[0097] In summary, this process intelligently determines and limits the target yaw rate by comprehensively considering the vehicle's current state, road adhesion conditions, and the driver's steering intention, so as to avoid calculating an excessively large target yaw rate by completely following the driver's operation in low-adhesion scenarios, thereby improving the vehicle's stability and adaptability and helping to enhance the driving experience.

[0098] A method for determining a target yaw rate of a vehicle provided in an embodiment of the present application is introduced above. A device for executing the method for determining a target yaw rate of a vehicle will be introduced below.

[0099] See also Figure 3 , Figure 3 The following is a schematic diagram of a device for determining a target yaw rate of a vehicle provided in an embodiment of the present application. Figure 3 As shown, the device for determining the target yaw rate of the vehicle comprises:

[0100] The acquisition unit 11 is used to acquire the vehicle mass, the first distance between the front wheel and the center of mass, the second distance between the rear wheel and the center of mass, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed, and the current front wheel steering angle of the vehicle.

[0101] The input unit 12 is used to input the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed, and the current front wheel steering angle into a steady-state steering model to obtain the yaw angular velocity of the vehicle based on the front wheel steering.

[0102] The determination unit 13 is configured to determine a target front wheel turning angle based on the current front wheel turning angle.

[0103] The first calculation unit 14 is used to calculate the target yaw rate of the vehicle based on the rear wheel steering based on the acquired current driving mode, the target front wheel steering angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed.

[0104] The second calculation unit 15 is used to calculate a target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and the target yaw rate of the vehicle based on the rear wheel steering.

[0105] In a possible implementation, the target front wheel turning angle includes a transient target front wheel turning angle and a steady-state target front wheel turning angle.

[0106] The determining unit 13 includes:

[0107] The first calculation subunit is used to calculate the transient target front wheel turning angle based on the acquired change rate of the current front wheel turning angle, the preset prediction time and the current front wheel turning angle.

[0108] A determination subunit is used to use the current front wheel turning angle as the steady-state target front wheel turning angle.

[0109] In a possible implementation, the first computing unit 14 includes:

[0110] The second calculation subunit is used to calculate the transient target yaw angular velocity of the vehicle based on the rear-wheel steering based on the acquired current driving mode, the transient target front wheel turning angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed.

[0111] The third calculation subunit is used to calculate the steady-state target yaw rate of the vehicle based on the rear-wheel steering based on the acquired current driving mode, the steady-state target front wheel turning angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed.

[0112] In a possible implementation, the target yaw rate of the vehicle includes a transient target yaw rate of the vehicle and a steady-state target yaw rate of the vehicle.

[0113] The second calculation unit 15 includes:

[0114] The fourth calculation subunit is used to calculate the transient target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and the transient target yaw rate of the vehicle based on the rear wheel steering.

[0115] The fifth calculation subunit is used to calculate the steady-state target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and the steady-state target yaw rate of the vehicle based on the rear wheel steering.

[0116] In a possible implementation, the method further includes:

[0117] The third calculation unit is used to obtain the relationship between the maximum lateral acceleration of the vehicle and a preset road adhesion coefficient, and calculate the maximum target yaw rate of the vehicle based on the relationship and the current speed.

[0118] The judging unit is configured to judge whether the target yaw rate of the vehicle is greater than the maximum target yaw rate of the vehicle.

[0119] An updating unit is configured to update the target yaw rate of the vehicle to the maximum target yaw rate of the vehicle if the target yaw rate of the vehicle is greater than the maximum target yaw rate of the vehicle.

[0120] The present application also provides an electronic device in an embodiment. Figure 4 As shown, it shows a schematic diagram of the structure of an electronic device suitable for implementing the embodiment of the present application. The electronic device in the embodiment of the present application may include but is not limited to fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 4 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0121] like Figure 4 As shown, the electronic device may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 to a random access memory (RAM) 403. When the electronic device is powered on, various programs and data required for the operation of the electronic device are also stored in the RAM 403. The processing device 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0122] Typically, the following devices may be connected to the I / O interface 405: an input device 406 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 408 including, for example, a memory card, a hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 An electronic device having various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0123] Also provided in an embodiment of the present application is a computer program product including computer-readable instructions. When the computer-readable instructions are executed on an electronic device, the electronic device implements a method for determining a target yaw angular velocity of any vehicle provided in an embodiment of the present application.

[0124] A computer-readable storage medium is also provided in an embodiment of the present application. The storage medium carries one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement a method for determining a target yaw angular velocity of any vehicle provided in an embodiment of the present application.

[0125] It should also be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the drawings of the device embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines.

[0126] Through the description of the above implementation mode, the technicians in the field can clearly understand that the present application can be implemented by means of software plus necessary general hardware, and of course, it can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. In general, all functions completed by computer programs can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be various, such as analog circuits, digital circuits or special circuits. However, for the present application, software program implementation is a better implementation mode in more cases. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer floppy disk, a U disk, a mobile hard disk, a ROM, a RAM, a disk or an optical disk, etc., including a number of instructions to enable a computer device (which can be a personal computer, a training device, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0127] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0128] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a training device, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, training device, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

Claims

1. A method for determining a target yaw rate of a vehicle, characterized in that: include: Obtain the vehicle mass, the first distance between the front wheel and the center of mass, the second distance between the rear wheel and the center of mass, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel steering angle of the vehicle; Inputting the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed and the current front wheel steering angle into a steady-state steering model to obtain the yaw angular velocity of the vehicle based on the front wheel steering; Determining a target front wheel turning angle based on the current front wheel turning angle; Calculate a target yaw rate of the vehicle based on rear wheel steering based on the acquired current driving mode, the target front wheel steering angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed; A target yaw rate of the vehicle is calculated based on the yaw rate of the vehicle based on the front wheel steering and the target yaw rate of the vehicle based on the rear wheel steering.

2. The method for determining a target yaw rate of a vehicle according to claim 1, characterized in that: The target front wheel turning angle includes a transient target front wheel turning angle and a steady-state target front wheel turning angle; The step of determining a target front wheel turning angle based on the current front wheel turning angle comprises: Calculating the instantaneous target front wheel turning angle based on the acquired rate of change of the current front wheel turning angle, the preset prediction time and the current front wheel turning angle; The current front wheel turning angle is used as the steady-state target front wheel turning angle.

3. The method for determining the target yaw rate of a vehicle according to claim 2, characterized in that: The method of calculating the target yaw rate of the vehicle based on rear wheel steering based on the acquired current driving mode, the target front wheel steering angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed comprises: Calculate the instantaneous target yaw rate of the vehicle based on rear-wheel steering based on the acquired current driving mode, the instantaneous target front wheel turning angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed; Based on the acquired current driving mode, the steady-state target front wheel turning angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed, the steady-state target yaw angular velocity of the vehicle based on rear-wheel steering is calculated.

4. The method for determining a target yaw rate of a vehicle according to claim 3, characterized in that: The target yaw rate of the vehicle includes a transient target yaw rate of the vehicle and a steady-state target yaw rate of the vehicle; The calculating the target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and the target yaw rate of the vehicle based on the rear wheel steering comprises: Calculating a transient target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and a transient target yaw rate of the vehicle based on the rear wheel steering; Based on the yaw rate of the vehicle based on the front wheel steering and the steady-state target yaw rate of the vehicle based on the rear wheel steering, a steady-state target yaw rate of the vehicle is calculated.

5. The method for determining a target yaw rate of a vehicle according to claim 1, characterized in that: The method further comprises: Acquire a relationship between a maximum lateral acceleration of the vehicle and a preset road adhesion coefficient, and calculate a maximum target yaw rate of the vehicle based on the relationship and the current speed; determining whether a target yaw rate of the vehicle is greater than a maximum target yaw rate of the vehicle; If the target yaw rate of the vehicle is greater than the maximum target yaw rate of the vehicle, the target yaw rate of the vehicle is updated to the maximum target yaw rate of the vehicle.

6. A device for determining a target yaw rate of a vehicle, characterized in that: include: an acquisition unit, used to acquire the vehicle mass, a first distance between the front wheel and the center of mass, a second distance between the rear wheel and the center of mass, a front wheel cornering stiffness, a rear wheel cornering stiffness, a current speed, and a current front wheel turning angle of the vehicle; an input unit, configured to input the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, the current speed, and the current front wheel steering angle into a steady-state steering model to obtain a yaw angular velocity of the vehicle based on the front wheel steering; a determination unit, configured to determine a target front wheel turning angle based on the current front wheel turning angle; a first calculation unit, configured to calculate a target yaw rate of the vehicle based on rear wheel steering based on the acquired current driving mode, the target front wheel steering angle, the vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed; The second calculation unit is used to calculate a target yaw rate of the vehicle based on the yaw rate of the vehicle based on the front wheel steering and the target yaw rate of the vehicle based on the rear wheel steering.

7. The device for determining a target yaw rate of a vehicle according to claim 6, characterized in that: The target front wheel turning angle includes a transient target front wheel turning angle and a steady-state target front wheel turning angle; The determining unit comprises: A first calculation subunit, configured to calculate the instantaneous target front wheel turning angle based on the acquired change rate of the current front wheel turning angle, a preset prediction time and the current front wheel turning angle; A determination subunit is used to use the current front wheel turning angle as the steady-state target front wheel turning angle.

8. A computer program product, characterized in that The method comprises computer-readable instructions, and when the computer-readable instructions are executed on an electronic device, the electronic device implements the method for determining a target yaw rate of a vehicle as claimed in any one of claims 1 to 5.

9. An electronic device, characterized in that: The method comprises at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is configured to execute the computer program so that the electronic device can implement the method for determining a target yaw rate of a vehicle as claimed in any one of claims 1 to 5.

10. A computer storage medium, characterized in that: The storage medium carries one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the method for determining a target yaw angular velocity of a vehicle as described in any one of claims 1 to 5.

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