Method for determining a target yaw rate of a vehicle and related device

Abstract

The application provides a method for determining a target yaw rate of a vehicle and a related device, and relates to the field of automobile motion. The method comprises the following steps: acquiring the total 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 acquired data into a steady-state steering model to obtain the yaw rate of the vehicle based on the front wheel steering; determining the target front wheel steering angle based on the current front wheel steering angle; and calculating the target yaw rate of the vehicle based on the rear wheel steering based on the current driving mode, the target front wheel steering angle, the total vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed. The target yaw rate of the vehicle can be calculated according to 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. The influence of the front wheel steering and the rear wheel steering on the yaw rate 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 particularly relates to a method for determining a target yaw angular velocity of a vehicle and a related device. BACKGROUND

[0002] In vehicle dynamics research, the yaw angular velocity is a crucial parameter, which describes the rate of rotation of a vehicle 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 the stability, handling and steering feel of the vehicle.

[0003] At present, the target yaw angular velocity of a vehicle is usually determined based on front-wheel steering and a steady-state steering model.

[0004] However, with the gradual application of rear-wheel steering in vehicle models, rear-wheel steering will also directly affect the target yaw angular velocity of the vehicle, and the steady-state steering model only determines the target yaw angular velocity of the vehicle for front-wheel steering, which is likely to result in poor accuracy of the determined target yaw angular velocity. SUMMARY

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

[0006] The first aspect of the present application provides a method for determining a target yaw angular velocity of a vehicle, characterized in that the method comprises:

[0007] obtaining a vehicle mass, a first distance between a front wheel and a center of mass, a second distance between a 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 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 a yaw angular velocity of the vehicle based on front-wheel steering;

[0009] determining a target front-wheel steering angle based on the current front-wheel steering angle;

[0010] calculating a target yaw angular velocity of the vehicle based on rear-wheel steering based on the obtained 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] calculating the target yaw angular velocity of the vehicle based on the yaw angular velocity of the vehicle based on front-wheel steering and the target yaw angular velocity of the vehicle based on rear-wheel steering.

[0012] In a possible implementation, the target front wheel steering angle includes a transient target front wheel steering angle and a steady target front wheel steering angle.

[0013] The determining the target front wheel steering angle based on the current front wheel steering angle includes:

[0014] The transient target front wheel steering angle is calculated based on a change rate of the obtained current front wheel steering angle, a preset prediction time and the current front wheel steering angle.

[0015] The current front wheel steering angle is taken as the steady target front wheel steering angle.

[0016] In a possible implementation, the calculating the target yaw rate of the vehicle based on rear wheel steering based on the obtained 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] The transient target yaw rate of the vehicle based on rear wheel steering is calculated based on the obtained current driving mode, the transient 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.

[0018] The steady target yaw rate of the vehicle based on rear wheel steering is calculated based on the obtained current driving mode, the steady 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.

[0019] In a possible implementation, the target yaw rate of the vehicle includes a transient target yaw rate of the vehicle and a steady 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 front wheel steering and the target yaw rate of the vehicle based on rear wheel steering includes:

[0021] The transient target yaw rate of the vehicle is calculated based on the yaw rate of the vehicle based on front wheel steering and the transient target yaw rate of the vehicle based on rear wheel steering.

[0022] The steady target yaw rate of the vehicle is calculated based on the yaw rate of the vehicle based on front wheel steering and the steady target yaw rate of the vehicle based on rear wheel steering.

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

[0024] obtain 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] determine whether the target yaw rate of the vehicle is greater than the 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, update the target yaw rate of the vehicle to the maximum target yaw rate of the vehicle.

[0027] The second aspect of the present application provides a determination device for a target yaw rate of a vehicle, characterized in that the device comprises:

[0028] an obtaining unit configured to obtain a total vehicle mass, a first distance between a front wheel and a center of mass, a second distance between a 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 steering angle of the vehicle;

[0029] an input unit configured to input the total 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 to a steady-state steering model to obtain a yaw rate of the vehicle based on front wheel steering;

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

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

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

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

[0034] the determination unit comprises:

[0035] a first calculation subunit configured to calculate the transient target front wheel steering angle based on an obtained rate of change of the current front wheel steering angle, a preset prediction time, and the current front wheel steering angle;

[0036] a determination subunit configured to take the current front wheel steering angle as the steady-state target front wheel steering angle.

[0037] The third aspect of the present application provides a computer program product, comprising computer readable instructions, which, when executed on an electronic device, cause the electronic device to implement the determination method of the target yaw rate of the vehicle of the first aspect or any implementation manner of the first aspect.

[0038] The 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 configured to store a computer program;

[0040] The processor is configured to execute the computer program, so that the electronic device can implement the determination method of the target yaw rate of the vehicle of the first aspect or any implementation manner of the first aspect.

[0041] The 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 implement the determination method of the target yaw rate of the vehicle of the first aspect or any implementation manner of the first aspect.

[0042] By the above technical solution, the present application provides a determination method of a target yaw rate of a vehicle and related devices, the method comprising: obtaining a total vehicle mass, a first distance between a front wheel and a center of mass, a second distance between a 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 steering angle of the vehicle; inputting the total 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 rate of the vehicle based on front wheel steering; determining a target front wheel steering angle based on the current front wheel steering angle; based on the obtained current driving mode, the target front wheel steering angle, the total vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness and the current speed, calculating a target yaw rate of the vehicle based on rear wheel steering; and based on the yaw rate of the vehicle based on front wheel steering and the target yaw rate of the vehicle based on rear wheel steering, calculating a target yaw rate of the vehicle. The present solution determines the target yaw rate of the vehicle by comprehensively considering the influence 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 DRAWINGS

[0043] The above and other features, advantages, and aspects of the present disclosure will become more apparent by describing in detail the following specific embodiments with reference to the attached drawings. Throughout the drawings, the same or similar reference numerals refer to the same or similar elements. It should be understood that the drawings are schematic, and the shapes and elements are not necessarily drawn to scale.

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

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

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

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

[0048] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application. The terms used in the implementation part 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 drawings. It is known to those skilled in the art that as technology develops and new scenarios appear, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0050] The terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, and this is only a way of distinguishing the objects with the same attributes in the description of the embodiments of the present application. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, so that the processes, methods, systems, products or devices containing a series of units do not have to be limited to those units, but can include other units not clearly listed or inherent to these processes, methods, products or devices.

[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 a target yaw rate of a vehicle provided by the present application is described in further detail below in conjunction with the drawings and the specific embodiments.

[0052] Please refer to the accompanying Figure 1 , Figure 1 A flowchart of a method for determining a target yaw rate of a vehicle is provided in an embodiment of the present application. The method can include the following steps:

[0053] Step S101: Obtain the total 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.

[0054] It should be noted that the total 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 to generate 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 to generate 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 steering angle refers to the rotation angle of the current front wheel of the vehicle relative to the longitudinal axis of the vehicle.

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

[0056] Step S102: Input the total 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 the steady-state steering model to obtain the yaw rate of the vehicle based on front wheel steering.

[0057] In this application, based on the total 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, combined with the linear two-degree-of-freedom vehicle dynamics model with only front wheel steering angle and the steady-state steering condition, the yaw rate of the vehicle 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 front wheel steering angle simplifies the vehicle to a rigid body without considering its deformation, and assumes that the vehicle only moves in the xy plane, the forward speed along the x-axis direction is constant, the pitch angle around the y-axis and the roll angle around the X-axis are ignored, and only the lateral motion along the y-axis and the yaw motion around the z-axis are considered. Ignoring the longitudinal force of the tire, the lateral acceleration of the vehicle is limited below a certain value, so the tire cornering characteristics are in the linear range. The left and right tires of the front and rear axles are respectively equivalent to the intersection of the front and rear axles of the vehicle with the x-axis, and the effect of the tire aligning torque is ignored, and the air resistance is ignored.

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

[0060]

[0061]

[0062] wherein, denotes the whole vehicle mass; denotes the first distance between the front wheel and the center of mass; denotes the second distance between the rear wheel and the center of mass; denotes the front wheel cornering stiffness; denotes the rear wheel cornering stiffness; denotes the center of mass velocity; denotes the center of mass cornering angle; denotes the rate of change of the center of mass cornering angle; denotes the front wheel steering angle; denotes the moment of inertia of the vehicle around the Z axis of the vehicle coordinate system; denotes the yaw rate based on the front wheel steering; denotes the rate of change of the yaw rate based on the front wheel steering; denotes the front wheel cornering angle; denotes the rear wheel cornering angle; denotes the front wheel cornering force; denotes the rear wheel cornering force; denotes the lateral velocity; denotes the longitudinal velocity.

[0063] In view of the computing power of the real 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 center of mass cornering angle is zero, the rate of change of the yaw rate is zero, and the current speed and the current front wheel steering angle are substituted to obtain the yaw rate of the vehicle based on the front wheel steering, which can be specifically referred to the following formula:

[0064]

[0065]

[0066] wherein, denotes the speed (lateral velocity); denotes the distance between the front wheel and the rear wheel; denotes the characteristic vehicle speed.

[0067] Step S103: determining a target front wheel steering angle based on the current front wheel steering angle.

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

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

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

[0071]

[0072] wherein, represents the target front wheel steering angle; represents the preset prediction time.

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

[0074]

[0075] In order to make the target front wheel steering angle more smooth, the transient target front wheel steering angle and the steady-state target front wheel steering angle need to be respectively subjected to different filtering processes. 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 actual vehicle response delay due to the vehicle body inertia. When the steering is stable (the steering wheel angle is basically unchanged), since the rate of change is close to zero, the difference between the transient target and the steady-state target should decay to zero, realizing smooth transition.

[0076] Step S104: Based on the obtained 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, the target yaw angular velocity of the vehicle based on rear wheel steering is calculated.

[0077] In the present application, for rear wheel steering control, the target yaw angular velocity of the vehicle based on rear wheel steering, i.e. the offset of the rear wheel steering angle to the target yaw angular velocity, needs to be considered. The offset of the rear wheel steering angle to the target yaw angular velocity has a calibration relationship with the driving mode, the target front wheel steering angle and the vehicle speed. The driving mode refers to the driving state of the vehicle, which can include a flexible mode and a robust mode, and these modes will affect the handling response of the vehicle.

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

[0079]

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

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

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

[0084]

[0085] wherein, represents the target yaw rate.

[0086] In summary, this application provides a method for determining the target yaw rate of a vehicle. The method includes acquiring the vehicle's total mass, a first distance between the front wheel and the center of gravity, a second distance between the rear wheel and the center of gravity, front wheel lateral stiffness, rear wheel lateral stiffness, current speed, and current front wheel steering angle; inputting the vehicle's total mass, first distance, second distance, front wheel lateral stiffness, rear wheel lateral stiffness, current speed, and current front wheel steering angle into a steady-state steering model to obtain the vehicle's yaw rate based on front wheel steering; determining the target front wheel steering angle based on the current front wheel steering angle; calculating the vehicle's target yaw rate based on rear wheel steering based on the acquired current driving mode, target front wheel steering angle, total mass, first distance, second distance, front wheel lateral stiffness, rear wheel lateral stiffness, and current speed; and calculating the vehicle's target yaw rate based on the vehicle's yaw rate based on front wheel steering and the vehicle's target yaw rate based on rear wheel steering. This solution improves the accuracy of determining the target yaw rate by comprehensively considering the effects of front wheel steering and rear wheel steering on the yaw rate.

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

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

[0089] Considering that the driver's operation may not be able to achieve stable vehicle steering in some extreme scenarios, such as turning the steering wheel at a slightly higher speed on a low-friction surface, strictly controlling the large rear wheel turning angle according to the above target value may affect vehicle stability. Therefore, it is necessary to limit the target yaw rate.

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

[0091] In this application, the maximum target yaw rate of the vehicle can be calibrated based on the current road surface adhesion coefficient and the relationship between the maximum lateral acceleration and the current lateral speed, according to the centripetal force relationship. The following formula can be used as a reference:

[0092]

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

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

[0095] In the case where the target yaw rate of the vehicle is greater than the maximum target yaw rate of the vehicle, step S108 is performed.

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

[0097] In summary, the process intelligently determines and limits the target yaw rate by comprehensively considering the current state of the vehicle, the road adhesion condition, and the steering intention of the driver, to avoid calculating an excessively large target yaw rate by completely following the driver's operation in a low adhesion scenario, thereby improving the stability and adaptability of the vehicle and helping to improve the driving experience.

[0098] The above introduces a method for determining a target yaw rate of a vehicle provided by an embodiment of the application, and the following introduces a device for executing the above method for determining a target yaw rate of a vehicle.

[0099] Please refer to Figure 3 , Figure 3 Fig. 1 is a structural schematic diagram of a device for determining a target yaw rate of a vehicle provided by an embodiment of the application. As shown in the figure, the device for determining a target yaw rate of a vehicle includes: Figure 3 An obtaining unit 11 is configured to 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.

[0100] An input unit 12 is 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 to a steady-state steering model to obtain the yaw rate of the vehicle based on front wheel steering.

[0101] A determining unit 13 is configured to determine a target front wheel steering angle based on the current front wheel steering angle.

[0102] A first calculating unit 14 is configured to calculate the target yaw rate of the vehicle based on rear wheel steering based on the obtained 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.

[0103]

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

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

[0106] The determination unit 13 includes:

[0107] The first calculation sub-unit is configured to calculate the transient target front wheel steering angle based on a change rate of the current front wheel steering angle, a preset prediction time and the current front wheel steering angle.

[0108] The determination sub-unit is configured to take the current front wheel steering angle as the steady target front wheel steering angle.

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

[0110] The second calculation sub-unit is configured to calculate a transient target yaw rate of the vehicle based on the current driving mode, the transient target front wheel steering angle, the total 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 sub-unit is configured to calculate a steady target yaw rate of the vehicle based on the current driving mode, the steady target front wheel steering angle, the total 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 target yaw rate of the vehicle.

[0113] The second calculation unit 15 includes:

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

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

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

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

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

[0119] The 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] An electronic device is also provided in the embodiments of the present application. Referring to Figure 4 FIG. 1 shows a structural schematic diagram of an electronic device suitable for implementing the electronic device in the embodiments of the present application. The electronic device in the embodiments of the present application can include, but is not limited to, a fixed terminal such as a mobile phone, a notebook computer, a PDA (Personal Digital Assistant), a PAD (Tablet Personal Computer), a desktop computer, and the like. Figure 4 The electronic device shown is merely an example and should not bring any limitation to the functions and use range of the embodiments of the present application.

[0121] As shown in Figure 4 The electronic device can include a processing device (for example, a central processing unit, a graphics processing unit, or the like) 401, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 402 or loaded from a storage device 408 into a random access memory (RAM) 403. In a state where the electronic device is powered on, various programs and data required for 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 through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0122] Generally, the following devices can 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, and the like; an output device 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, and the like; a storage device 408 including, for example, a memory card, a hard disk, and the like; and a communication device 409. The communication device 409 can allow the electronic device to communicate with other devices wirelessly or through wires to exchange data. Although Figure 4 The electronic device with various devices is shown, but it should be understood that it is not required to implement or have all the shown devices. More or fewer devices can be alternatively implemented or possessed.

[0123] The embodiment of the present application further provides a computer program product comprising computer readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the methods for determining a target yaw rate of a vehicle provided by the embodiments of the present application.

[0124] The embodiment of the present application further provides a computer readable storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement any of the methods for determining a target yaw rate of a vehicle provided by the embodiments of the present application.

[0125] In addition, it should be noted that the apparatus embodiments described above are merely illustrative, and the units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiments according to actual needs. In addition, in the apparatus embodiments provided by the present application, the connection relationship between the modules indicates that there is a communication connection between them, which can be implemented as one or more communication buses or signal lines.

[0126] From the above description of the embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software and necessary general hardware, and of course can also be implemented by special hardware including special integrated circuits, special CPUs, special memories, special components, etc. Generally, functions completed by computer programs can be easily implemented by corresponding hardware, and specific hardware structures for implementing 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 embodiment. Based on this understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a readable storage medium, such as a computer's floppy disk, U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk, etc., including a plurality of instructions to make a computer device (which can be a personal computer, training device, or network device, etc.) execute the methods described in various embodiments of the present application.

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

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

Claims

1. A method of determining a target yaw rate of a vehicle, characterized in that The method comprises: obtaining a vehicle mass, a first distance between a front wheel and a center of mass, a second distance between a 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 steering angle of a 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 a yaw rate of the vehicle based on front wheel steering; determining a target front wheel steering angle based on the current front wheel steering angle, the target front wheel steering angle comprising a transient target front wheel steering angle and a steady-state target front wheel steering angle; calculating a target yaw rate of the vehicle based on rear wheel steering based on the obtained 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; calculating a target yaw rate of the vehicle based on the yaw rate of the vehicle based on front wheel steering and the target yaw rate of the vehicle based on rear wheel steering; the determining of the target front wheel steering angle based on the current front wheel steering angle comprises: calculating the transient target front wheel steering angle based on an obtained rate of change of the current front wheel steering angle, a preset prediction time, and the current front wheel steering angle; taking the current front wheel steering angle as the steady-state target front wheel steering angle.

2. The method of determining a target yaw rate of a vehicle according to claim 1, characterized in that the calculating of the target yaw rate of the vehicle based on rear wheel steering based on the obtained 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: calculating a transient target yaw rate of the vehicle based on rear wheel steering based on the obtained current driving mode, the transient 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; calculating a steady-state target yaw rate of the vehicle based on rear wheel steering based on the obtained current driving mode, the steady-state 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.

3. The method of determining a target yaw rate of a vehicle according to claim 2, characterized in that the target yaw rate of the vehicle comprises a transient target yaw rate of the vehicle and a steady-state target yaw rate of the vehicle; the calculating of the target yaw rate of the vehicle based on the yaw rate of the vehicle based on front wheel steering and the target yaw rate of the vehicle based on rear wheel steering comprises: calculating the transient target yaw rate of the vehicle based on the yaw rate of the vehicle based on front wheel steering and the transient target yaw rate of the vehicle based on rear wheel steering; calculating the steady-state target yaw rate of the vehicle based on the yaw rate of the vehicle based on front wheel steering and the steady-state target yaw rate of the vehicle based on rear wheel steering.

4. The method of determining a target yaw rate of a vehicle according to claim 1, characterized in that The method further comprises: Obtaining a relationship between a maximum lateral acceleration of a vehicle and a preset road adhesion coefficient, and calculating a maximum target yaw rate of the vehicle based on the relationship and a current speed; Determining whether the target yaw rate of the vehicle is greater than 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, updating the target yaw rate of the vehicle to the maximum target yaw rate of the vehicle.

5. A device for determining a target yaw rate of a vehicle, characterized in that Comprise: An acquisition unit configured to acquire a total vehicle mass, a first distance between a front wheel and a center of mass, a second distance between a 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 steering angle of a vehicle; An input unit configured to input the total 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 to a steady-state steering model to obtain a yaw rate of the vehicle based on front wheel steering; A determination unit configured to determine a target front wheel steering angle based on the current front wheel steering angle, the target front wheel steering angle comprising a transient target front wheel steering angle and a steady-state target front wheel steering angle; A first calculation unit configured to calculate a target yaw rate of the vehicle based on rear wheel steering based on an acquired current driving mode, the target front wheel steering angle, the total vehicle mass, the first distance, the second distance, the front wheel cornering stiffness, the rear wheel cornering stiffness, and the current speed; A second calculation unit configured to calculate a target yaw rate of the vehicle based on the yaw rate of the vehicle based on front wheel steering and the target yaw rate of the vehicle based on rear wheel steering; The determination unit comprises: A first calculation subunit configured to calculate the transient target front wheel steering angle based on an acquired rate of change of the current front wheel steering angle, a preset prediction time, and the current front wheel steering angle; A determination subunit configured to take the current front wheel steering angle as the steady-state target front wheel steering angle.

6. A computer program product, characterised in that, An electronic device comprising computer readable instructions, when the computer readable instructions run on the electronic device, the electronic device is enabled to implement the determination method of the target yaw rate of the vehicle according to any one of claims 1 to 4.

7. An electronic device, comprising: An electronic device comprising at least one processor and a memory connected to the processor, wherein: The memory is configured to store a computer program; The processor is configured to execute the computer program, so that the electronic device is enabled to implement the determination method of the target yaw rate of the vehicle according to any one of claims 1 to 4.

8. A computer storage medium, characterized in that, 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 is enabled to implement the determination method of the target yaw rate of the vehicle according to any one of claims 1 to 4.

Images