Method and device for determining yaw moment, electronic equipment and storage medium

Abstract

The application discloses a yaw moment determination method and device, electronic equipment and storage medium, relates to the vehicle control technical field, and the method constructs the numerical relation between the virtual steering transmission ratio, the steering wheel rotation angle and the additional yaw moment in advance, utilizes the virtual steering transmission ratio to closely correlate the steering wheel rotation angle and the additional yaw moment, so that the current required steering wheel flexibility of the vehicle is introduced into the determination of the yaw moment, that is, the numerical relation among the virtual steering transmission ratio, the steering wheel rotation angle and the additional yaw moment is utilized to determine the additional yaw moment that needs to be actively applied when the vehicle responds to a certain steering wheel rotation angle in the target steering mode. In this way, the actual yaw motion of the vehicle under the action of the additional yaw moment is corresponded to the steering wheel flexibility, and the maneuverability and stability of the whole vehicle are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, apparatus, electronic device, and storage medium for determining yaw moment. Background Technology

[0002] Currently, the common method for calculating yaw moment is to construct a target yaw rate and then use this target yaw rate and the constructed control model to calculate the required yaw moment, i.e., the additional yaw moment applied to the vehicle. However, there is a non-linear relationship between yaw rate and steering wheel angle, and it is even affected by many other variables. Therefore, when adjusting yaw moment by analyzing yaw rate, the change in yaw moment can only be roughly reflected in the steering wheel sensitivity, resulting in lower overall vehicle handling and stability. Summary of the Invention

[0003] This invention provides a method, apparatus, electronic device, and storage medium for determining yaw moment, in order to solve the problem that changes in yaw moment can only be roughly reflected in the steering wheel sensitivity, resulting in low overall vehicle handling and stability.

[0004] A method for determining yaw moment, the method comprising:

[0005] Obtain the vehicle's steering wheel angle and the virtual steering ratio required by the vehicle in the target steering mode;

[0006] Using a preset conversion relationship, determine the additional yaw moment that corresponds to both the virtual steering gear ratio and the steering wheel angle;

[0007] The additional yaw moment is used as the yaw moment compensated when the vehicle performs steering in response to the steering wheel angle in the target steering mode;

[0008] The preset conversion relationship includes the numerical relationship between the virtual steering gear ratio, steering wheel angle, and additional yaw moment.

[0009] In one embodiment, the target steering mode includes an adaptive mode, and obtaining the virtual steering ratio required by the vehicle in the target steering mode includes:

[0010] Get vehicle status;

[0011] Based on the vehicle's state, the actual steering ratio of the vehicle is adaptively adjusted to determine the virtual steering ratio required by the vehicle in the adaptive mode.

[0012] In one embodiment, the target steering mode includes a custom mode, and obtaining the virtual steering ratio required by the vehicle in the target steering mode includes:

[0013] Obtain the steering sensitivity selected by the user in the custom mode;

[0014] The virtual steering ratio corresponding to the steering sensitivity is used as the virtual steering ratio required by the vehicle in the custom mode.

[0015] In one embodiment, the target steering mode includes a custom mode, and obtaining the virtual steering ratio required by the vehicle in the target steering mode includes:

[0016] Obtain the steering sensitivity selected by the user in the custom mode;

[0017] Get vehicle status;

[0018] Based on the vehicle status, the virtual steering ratio corresponding to the steering sensitivity is adaptively adjusted to determine the virtual steering ratio required by the vehicle in the custom mode.

[0019] In one embodiment, a preset state quantity is used to characterize the vehicle state;

[0020] The preset state quantities include at least one of the following: vehicle speed, yaw rate, lateral acceleration, and maximum adhesion coefficient.

[0021] In one embodiment, after determining the additional yaw moment corresponding to both the virtual steering gear ratio and the steering wheel angle using a preset conversion relationship, the method further includes:

[0022] The determined additional yaw moment is corrected by using a pre-calibrated additional yaw moment implementation error to obtain the final additional yaw moment. The additional yaw moment implementation error is the difference between the theoretical value and the measured value of the additional yaw moment.

[0023] In one embodiment, the numerical relationship is determined in the following manner:

[0024] Determine the equation between the change in wheel angle and the simulated additional yaw moment applied to the vehicle model, wherein the change in wheel angle is the change in wheel angle of the wheel corresponding to the steering wheel before and after the application of the simulated additional yaw moment when the vehicle model reaches a fixed yaw rate.

[0025] The virtual steering gear ratio is characterized by the ratio between the target steering angle and the steering wheel angle. The numerical relationship between the virtual steering gear ratio, the steering wheel angle, and the simulated additional yaw moment is extracted from the equation. The target steering angle is the angle of the wheel corresponding to the steering wheel before the simulated additional yaw moment is applied.

[0026] A device for determining yaw moment, the device comprising: an acquisition module for acquiring the steering wheel angle of a vehicle and acquiring the virtual steering gear ratio required by the vehicle in a target steering mode; and a determination module for determining, using a preset conversion relationship, an additional yaw moment corresponding to both the virtual steering gear ratio and the steering wheel angle; and using the additional yaw moment as the yaw moment compensated when the vehicle performs steering in response to the steering wheel angle in the target steering mode; wherein the preset conversion relationship includes the numerical relationship between the virtual steering gear ratio, the steering wheel angle, and the additional yaw moment.

[0027] In one embodiment, the target steering mode includes an adaptive mode, and the acquisition module is configured to: acquire the vehicle state; and adaptively adjust the actual steering ratio of the vehicle according to the vehicle state to determine the virtual steering ratio required by the vehicle in the adaptive mode.

[0028] In one embodiment, the target steering mode includes a custom mode, and the acquisition module is configured to: acquire the steering sensitivity selected by the user in the custom mode; and use the virtual steering ratio corresponding to the steering sensitivity as the virtual steering ratio required by the vehicle in the custom mode.

[0029] In one embodiment, the target steering mode includes a custom mode, and the acquisition module is configured to: acquire the steering sensitivity selected by the user in the custom mode; acquire the vehicle status; and adaptively adjust the virtual steering ratio corresponding to the steering sensitivity according to the vehicle status to determine the virtual steering ratio required by the vehicle in the custom mode.

[0030] In one embodiment, the vehicle state is characterized by a preset state quantity; the preset state quantity includes at least one of the following: vehicle speed, yaw rate, lateral acceleration, and maximum adhesion coefficient.

[0031] In one embodiment, the determining module is further configured to: correct the determined additional yaw moment by using a pre-calibrated additional yaw moment implementation error to obtain the final additional yaw moment, wherein the additional yaw moment implementation error is the difference between the theoretical value and the measured value of the additional yaw moment.

[0032] In one embodiment, the device is further configured to determine the numerical relationship by: determining an equation between the wheel angle change and the simulated additional yaw moment applied to the vehicle model, wherein the wheel angle change is the change in wheel angle of the wheel corresponding to the steering wheel before and after the application of the simulated additional yaw moment when the vehicle model reaches a fixed yaw rate; and using the ratio between the target angle and the steering wheel angle to characterize the virtual steering ratio, so as to extract the numerical relationship between the virtual steering ratio, the steering wheel angle, and the simulated additional yaw moment from the equation, wherein the target angle is the angle of the wheel corresponding to the steering wheel before the application of the simulated additional yaw moment.

[0033] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method for determining the yaw moment as described in any of the above embodiments.

[0034] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for determining the yaw moment as described in any of the above embodiments.

[0035] The aforementioned methods, devices, electronic equipment, and storage media for determining yaw moment address the fact that changes in the vehicle's steering gear ratio directly affect the steering wheel's sensitivity. This invention proposes a virtual steering gear ratio, which incorporates the required steering wheel dexterity into the determination of yaw moment. Specifically, by utilizing the numerical relationship between the virtual steering gear ratio, steering wheel angle, and additional yaw moment, the active additional yaw moment required to respond to a specific steering wheel angle in a target steering mode is determined. This closely links the vehicle's actual yaw motion under the additional yaw moment with the steering wheel dexterity, improving the overall vehicle handling and stability. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart of a method for determining yaw moment in one embodiment of the present invention;

[0038] Figure 2 This is another flowchart of the method for determining the yaw moment in one embodiment of the present invention;

[0039] Figure 3 This is another flowchart of the method for determining the yaw moment in one embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of a slider bar used by a user to select steering sensitivity in a custom mode according to one embodiment of the present invention;

[0041] Figure 5 This is another flowchart of the method for determining the yaw moment in one embodiment of the present invention;

[0042] Figure 6 This is another flowchart of the method for determining the yaw moment in one embodiment of the present invention;

[0043] Figure 7 This is a comparative schematic diagram of the yaw rate variation curve in one embodiment of the present invention;

[0044] Figure 8 This is a schematic block diagram of a device for determining yaw moment in one embodiment of the present invention;

[0045] Figure 9 This is a schematic block diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] It should be understood that, when used in the specification and appended claims of this invention, the term "comprising" indicates the presence of the described feature, integral, step, or operation, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, and / or a collection thereof.

[0048] It should also be understood that the term “and / or” as used in this specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0049] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of the invention include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0050] It's important to understand that during vehicle operation, especially when turning or encountering external disturbances such as crosswinds, the vehicle generates lateral forces and moments, causing the body to tilt and thus producing the original yaw moment. However, in certain situations, such as understeer or oversteer, driving on slippery or low-traction surfaces, high-speed driving, or emergency obstacle avoidance, it is necessary to actively apply an additional yaw moment to maintain vehicle stability and safety.

[0051] This additional yaw moment is achieved by adjusting the driving or braking force of the wheels. It adds an extra torque to the vehicle's original yaw moment to change the vehicle's yaw rate and trajectory. For example, when a vehicle understeers, braking force is applied to the inner wheels or driving force is applied to the outer wheels to generate an additional yaw moment in the same direction as the vehicle's original yaw; conversely, when a vehicle oversteers, the opposite is taken to generate an additional yaw moment in the opposite direction.

[0052] It should be noted that the method for determining yaw moment provided in this embodiment of the invention can be applied to intelligent driving vehicles, such as vehicles with single-axle distributed drive or four-wheel independent drive, to determine the value of the additional yaw moment that needs to be actively applied to the vehicle. By applying the additional yaw moment, the yaw response characteristics of the vehicle are altered. When the vehicle is turning, the additional yaw moment actively applied to the vehicle is adjusted to a value that matches the current steering mode, closely linking the steering wheel angle and the additional yaw moment, and closely linking changes in steering wheel sensitivity and changes in yaw trajectory, thereby improving the overall handling and stability of the vehicle.

[0053] Figure 1 This is a flowchart of a method for determining the yaw moment in one embodiment of the present invention.

[0054] like Figure 1 As shown, the method for determining the yaw moment provided by the present invention may include the following steps:

[0055] S101, obtain the steering wheel angle of the vehicle, and obtain the virtual steering ratio required by the vehicle in the target steering mode.

[0056] The steering wheel angle of a vehicle can be understood as the angle at which the steering wheel rotates in real time while the vehicle is in motion.

[0057] In this embodiment, each steering mode can correspond to multiple steering styles. This can be understood as having multiple selectable steering styles for each steering mode, and each steering style can correspond to a virtual steering ratio. For example, steering styles can include stable, sensitive, etc.

[0058] When the vehicle achieves the same yaw motion, the virtual steering ratio corresponding to the sensitive steering style is greater than that corresponding to the stable steering style; correspondingly, the steering wheel angle under the sensitive steering style is smaller than that under the stable steering style.

[0059] Steering modes can be understood as the selection / switching method of steering style. For example, steering modes may include custom mode and / or adaptive mode, which can be customized by the user or adaptively selected by the vehicle to adjust the vehicle's steering mode or steering sensitivity.

[0060] In practice, a vehicle's steering system has an actual steering ratio. The steering ratio refers to the proportional relationship between the steering wheel's turning angle and the wheel's turning angle. Specifically, when the steering wheel turns a certain angle, the wheel will also turn a corresponding angle, and the ratio between these two angles is the steering ratio.

[0061] This embodiment proposes a virtual steering gear ratio, which incorporates the steering wheel angle into the determination of the yaw moment, thus closely linking the steering wheel angle and the yaw moment.

[0062] For a given steering wheel angle, the actual steering gear ratio converts the steering wheel angle into a front wheel angle A, and the virtual steering gear ratio converts the steering wheel angle into a front wheel angle B. When the virtual steering gear ratio and the actual steering gear ratio are different, the front wheel angles corresponding to the same steering wheel angle are not the same. Therefore, in order to compensate for the difference in front wheel angles, an additional yaw moment needs to be applied to the vehicle to improve the understeer problem caused by the front wheel angle A not reaching the front wheel angle B, or to improve the oversteer problem caused by the front wheel angle A being greater than the front wheel angle B.

[0063] Thus, when the user turns the steering wheel by the same angle, in the sensitive steering style, the virtual steering ratio is large, which can compensate for the understeer that occurs in the actual steering ratio by applying an additional yaw torque to the vehicle in the same direction as the vehicle's original yaw. In the stable steering style, the virtual steering ratio is small, which can improve the oversteer that occurs in the actual steering ratio by applying an additional yaw torque to the vehicle in the opposite direction to the vehicle's original yaw.

[0064] S102, using a preset conversion relationship, determine the additional yaw moment corresponding to the virtual steering gear ratio and the steering wheel angle; use the additional yaw moment as the yaw moment compensated when the vehicle responds to the steering wheel angle to perform steering in the target steering mode; the preset conversion relationship includes the numerical relationship between the virtual steering gear ratio, the steering wheel angle and the additional yaw moment.

[0065] This embodiment pre-constructs the conversion relationships between various parameters, which may include, but are not limited to, the numerical relationships between the virtual steering gear ratio, steering wheel angle, and additional yaw moment. These numerical relationships can be expressed by equations with the virtual steering gear ratio, steering wheel angle, and additional yaw moment as variables.

[0066] Alternatively, the numerical relationship can be directly represented in the form of a numerical table. For example, the correspondence between different virtual steering gear ratios, different steering wheel angles, and different additional yaw moments can be pre-calibrated and stored.

[0067] In this embodiment, the numerical relationship between the virtual steering gear ratio, steering wheel angle, and additional yaw moment is used to determine the additional yaw moment corresponding to both the required virtual steering gear ratio and the vehicle's steering wheel angle. When the vehicle responds to this steering wheel angle and controls the body to steer in the target steering mode, the value of this additional yaw moment is used as the actively compensated yaw moment, or it can be understood as the additional yaw moment actively applied by the vehicle.

[0068] The method for determining yaw moment proposed in this embodiment pre-constructs a numerical relationship between a virtual steering gear ratio, steering wheel angle, and additional yaw moment. By using the virtual steering gear ratio to closely correlate the steering wheel angle and additional yaw moment, the required steering wheel dexterity is incorporated into the determination of the yaw moment. Specifically, by utilizing the numerical relationship between the virtual steering gear ratio, steering wheel angle, and additional yaw moment, the additional yaw moment that needs to be actively applied when the vehicle responds to a certain steering wheel angle in a target steering mode is determined. In this way, the actual yaw motion of the vehicle under the action of additional yaw moment is correlated with the steering wheel dexterity, improving the overall handling and stability of the vehicle.

[0069] Based on the above embodiments, users can select a target steering mode from multiple steering modes as needed. If the target steering mode includes an adaptive mode, then... Figure 2 As shown, step S101 above, "obtaining the virtual steering ratio required by the vehicle in the target steering mode," may include the following steps:

[0070] S201, Obtain vehicle status;

[0071] S202, based on the vehicle state, adaptively adjust the actual steering ratio of the vehicle to determine the virtual steering ratio required by the vehicle in the adaptive mode.

[0072] In this embodiment, the vehicle status may include the vehicle driving status, the road conditions on which the vehicle is driving, etc., and this application does not impose any restrictions.

[0073] For example, the states of various vehicle subsystems / operating conditions that need to be monitored during vehicle steering can be preset as the vehicle states of interest in this embodiment. By monitoring the vehicle states, it can be determined whether steering stability needs to be ensured when the vehicle is steering in the current state, or whether steering sensitivity can be appropriately increased.

[0074] For example, to ensure stability, the gear ratio can be adjusted to be lower, meaning the determined virtual steering gear ratio is less than the vehicle's actual steering gear ratio; to improve sensitivity, the gear ratio can be adjusted to be higher, meaning the determined virtual steering gear ratio is greater than the vehicle's actual steering gear ratio.

[0075] After determining the adjustment direction based on the vehicle status, the virtual steering ratio can be obtained by reducing or adding the value based on the actual steering ratio according to the preset step size; or the vehicle status can be quantified into a value, and the adjustment coefficient corresponding to the current vehicle status can be determined by using the pre-built correspondence between the vehicle status and the adjustment coefficient.

[0076] It should be noted that there are other ways to adaptively adjust the actual steering ratio of a vehicle based on its condition, and this application does not impose any restrictions on such methods.

[0077] In this embodiment, based on the actual steering ratio, the value of the actual steering ratio is adaptively adjusted according to changes in vehicle status. The adjusted value is used as the virtual steering ratio, thereby enabling the vehicle to adaptively determine the virtual steering ratio required by the vehicle during driving, and adaptively adjust the steering style to fit the current vehicle status for the driver, that is, adaptively adjust the steering sensitivity of the steering wheel.

[0078] For example, at high speeds, reducing steering sensitivity ensures driving safety; in narrow streets, parking lots, or road conditions requiring frequent turns, increasing steering sensitivity makes the vehicle more agile, easier for the driver to control, and reduces the risk of collision.

[0079] Therefore, this embodiment can apply adaptive switching of steering style to various scenarios by changing the content included in the vehicle status, thereby improving the overall performance of the vehicle and enhancing the user experience.

[0080] Based on the above embodiments, in addition to the above... Figure 2 The method for obtaining the virtual steering ratio shown can also be used to obtain the virtual steering ratio in the following ways.

[0081] like Figure 3 As shown, if the target steering mode includes a custom mode, then step S101 above, "obtaining the virtual steering ratio required by the vehicle in the target steering mode," may include the following steps:

[0082] S301, Obtain the steering sensitivity selected by the user in the custom mode;

[0083] S302, the virtual steering ratio corresponding to the steering sensitivity is used as the virtual steering ratio required by the vehicle in the custom mode.

[0084] Drivers or passengers can choose the steering sensitivity of the steering wheel in custom mode. This steering sensitivity is equivalent to the steering style mentioned above, and different steering styles correspond to different steering sensitivities.

[0085] For example, displayed on the vehicle's infotainment system. Figure 4 The slider shown has one end corresponding to the minimum virtual steering ratio, resulting in the lowest steering sensitivity and the most stable steering style; while the other end corresponds to the maximum virtual steering ratio, resulting in the highest steering sensitivity and the most agile steering style. Drivers can manually move the slider on the vehicle's infotainment system to select the desired steering sensitivity between the highest and lowest levels.

[0086] It should be noted that users can select steering sensitivity in various ways, including voice input and selection on the terminal, and this application does not impose any restrictions.

[0087] In this embodiment, a mapping relationship can be pre-established between steering sensitivity and virtual steering ratio. After determining the steering sensitivity selected by the user, the virtual steering ratio corresponding to the steering sensitivity selected by the user is used as the virtual steering ratio required by the vehicle in step S101 above.

[0088] This implementation provides users with a way to customize steering sensitivity. The virtual steering ratio corresponding to the user-selected steering sensitivity is used as the virtual steering ratio referenced when the vehicle determines the additional yaw moment, so that the yaw response characteristics of the vehicle during steering can accurately match the steering style desired by the user.

[0089] Based on the above embodiments, except Figure 2 and Figure 3 In addition to the method shown for obtaining the virtual steering ratio, the virtual steering ratio can also be obtained through the following methods.

[0090] like Figure 5 As shown, step S101 above, "obtaining the virtual steering ratio required by the vehicle in the target steering mode," may include the following steps:

[0091] S501, Obtain the steering sensitivity selected by the user in the custom mode;

[0092] S502, Get vehicle status;

[0093] S503, based on the vehicle status, adaptively adjust the virtual steering ratio corresponding to the steering sensitivity to determine the virtual steering ratio required by the vehicle in the custom mode.

[0094] In this embodiment, the specific implementation of step S501 can be referred to the description of step S301, and the specific implementation of step S502 can be referred to the description of step S201, which will not be repeated here.

[0095] After determining the steering sensitivity selected by the user, this embodiment can further adaptively adjust the virtual steering ratio corresponding to the steering sensitivity. The method for adjusting the virtual steering ratio can be referred to the description of the method for adjusting the actual steering ratio in step S202 above, and will not be repeated here.

[0096] In this embodiment, the virtual steering ratio required by the user is modified according to the actual vehicle condition to prevent the referenced virtual steering ratio from being mismatched with the vehicle condition when the additional yaw moment is determined, thus affecting driving safety.

[0097] For example, based on the vehicle's status, the maximum virtual steering ratio that the vehicle can provide can be determined. If the virtual steering ratio required by the user is greater than this maximum virtual steering ratio, then this virtual steering ratio is used as the virtual steering ratio required by the vehicle in custom mode. Alternatively, the virtual steering ratio required by the user can be adjusted to be smaller or larger based on the vehicle's status.

[0098] In this embodiment, based on the virtual steering ratio required by the user, further adaptive adjustments are made according to the vehicle status, so that the final determined virtual steering ratio can take into account both the steering sensitivity desired by the user and the vehicle status.

[0099] Based on the above embodiments, the "vehicle state" in each of the above steps can be characterized using preset state quantities. The preset state quantities may include, but are not limited to, at least one of the following: vehicle speed, yaw rate, lateral acceleration, maximum adhesion coefficient, etc.

[0100] For example, when adaptively adjusting the virtual steering ratio corresponding to the actual steering ratio / steering sensitivity based on vehicle conditions, if the vehicle speed is too high, the adjustment direction is determined to be decreasing; if the vehicle speed is below a certain limit, the adjustment direction is determined to be increasing. Alternatively, if the maximum adhesion coefficient is greater than a certain limit, the adjustment direction is determined to be increasing; if the maximum adhesion coefficient is less than a certain limit, the adjustment direction is determined to be decreasing.

[0101] For example, when the vehicle speed is too high, the lateral acceleration is too large, or the maximum adhesion coefficient is low, it is not suitable to set the virtual steering ratio too small. If the virtual steering ratio is set too small by the user or calculated adaptively, it is necessary to increase the virtual steering ratio appropriately to ensure that the vehicle has sufficient stability.

[0102] Vehicle speed, yaw rate, lateral acceleration, and maximum adhesion coefficient are important parameters affecting steering safety when a vehicle is turning. This embodiment uses these preset state quantities to characterize the vehicle state, which facilitates the quantification of the relationship between the vehicle state and the virtual steering ratio, so as to more accurately and meticulously determine the appropriate virtual steering ratio for the vehicle state.

[0103] Based on the above embodiments, after step S102, which involves "determining the additional yaw moment corresponding to the virtual steering gear ratio and the steering wheel angle using a preset conversion relationship," the following steps may also be included:

[0104] The determined additional yaw moment is corrected by using a pre-calibrated additional yaw moment implementation error to obtain the final additional yaw moment. The additional yaw moment implementation error is the difference between the theoretical value and the measured value of the additional yaw moment.

[0105] In practice, there will be a certain error between the theoretical value of the additional yaw moment determined by the processing unit and the actual additional yaw moment applied to the vehicle. The magnitude of the error will vary depending on the vehicle model.

[0106] In this embodiment, for a certain vehicle model, the difference between the theoretical value and the measured value of the additional yaw moment can be pre-calibrated as the implementation error of the additional yaw moment.

[0107] After determining the additional yaw moment in the above embodiments, the additional yaw moment is used to correct for errors, resulting in the final additional yaw moment, which is then applied to the vehicle. This ensures that the actual additional yaw moment applied to the vehicle reaches the vehicle's required additional yaw moment.

[0108] When applying the final additional yaw moment, the final additional yaw moment is converted into the change in output torque of each motor, and then superimposed with the motor drive torque calculated based on the accelerator pedal position to obtain the target torque that each motor needs to execute.

[0109] Based on the above embodiments, such as Figure 6 As shown, the present invention can determine the numerical relationship in the following ways:

[0110] S601, Determine the equation between the wheel angle change and the simulated additional yaw moment applied to the vehicle model, wherein the wheel angle change is the change in wheel angle of the wheel corresponding to the steering wheel before and after the application of the simulated additional yaw moment when the vehicle model reaches a fixed yaw rate.

[0111] S602, using the ratio between the target steering angle and the steering wheel angle to characterize the virtual steering transmission ratio, in order to extract the numerical relationship between the virtual steering transmission ratio, the steering wheel angle, and the simulated additional yaw moment from the equation, wherein the target steering angle is the steering angle of the wheel corresponding to the steering wheel before the simulated additional yaw moment is applied.

[0112] The steering wheel angle in step S602 can be: the steering wheel angle after applying an additional yaw moment simulation to the vehicle model and the vehicle model reaching a fixed yaw rate.

[0113] Based on a single-track, two-degree-of-freedom vehicle model, the following analysis can be performed:

[0114] When the vehicle model reaches the same yaw rate, the change in front wheel steering angle is observed before and after applying an additional simulated yaw moment to the vehicle model. The front wheels can be considered as the wheels corresponding to the steering wheel, rotating as the steering wheel rotates.

[0115] Analysis reveals the following equations:

[0116]

[0117] in, It is the front wheel angle when the vehicle model reaches a fixed yaw rate after an additional yaw moment simulation is applied to the vehicle model. This refers to the front wheel angle required to make the vehicle model reach the above-mentioned fixed yaw rate before applying the additional yaw moment simulation to the vehicle model. It is the wheelbase of the vehicle model; It is an analog quantity of the additional yaw moment; , These are the side slip angle stiffness of the front and rear axles of the vehicle model, respectively.

[0118] by This indicates the actual steering ratio of the vehicle model; This indicates that the vehicle model has a front wheel steering angle of... The steering wheel angle at that time. Then, when the steering wheel angle is... At that time, the front wheel angle reached Required virtual steering ratio ;

[0119] The above equation can then be written as:

[0120]

[0121] Therefore, for a given virtual steering gear ratio, the yaw moment that needs to be added to the original vehicle can be calculated using this equation:

[0122]

[0123] This invention starts from the operation of the steering wheel. Based on the derivation of the vehicle dynamics equation, it determines the difference in the front wheel angle required to achieve a certain yaw rate when there is no additional yaw moment. By using the definition of virtual steering gear ratio, the different front wheel angles corresponding to the presence or absence of additional yaw moment are converted into the same steering wheel input, thus obtaining a method for calculating the additional yaw moment required for a given virtual steering gear ratio.

[0124] Figure 7 It is a simulation effect based on a multi-body model of the whole vehicle, among which Figure 7 These are simulation results obtained when the virtual steering gear ratio is fixed.

[0125] By setting a virtual steering ratio, the yaw motion of the original vehicle can be made to approximate the yaw motion effect brought about by the desired steering ratio by adding a yaw moment. It is even possible to simulate the effect of changing the original vehicle's steering ratio by dynamically changing the virtual steering ratio.

[0126] For example, Figure 7In the image, the solid line at the bottom represents the yaw rate of the original vehicle with a steering ratio of 15.6, while the solid line at the top represents the yaw rate of the original vehicle with a desired steering ratio of 13. The dashed line at the top represents the yaw rate of the original vehicle with a virtual steering ratio of 13, determined by the yaw moment determination method according to the present invention, and the curve showing the yaw rate of the original vehicle with an additional yaw moment applied.

[0127] This invention, by utilizing a virtual steering ratio, provides users with a continuously adjustable steering style experience without altering the actual steering ratio of the existing steering system. By employing the relationship between the additional yaw moment and the virtual steering ratio provided by this invention, the required additional yaw moment value can be directly calculated based on the virtual steering ratio, simplifying the calculation process and establishing a correlation between the effect of the additional yaw moment and the overall vehicle steering style through the steering ratio. Through adaptive calculation and correction of the virtual steering ratio, the compatibility of the steering control system with different scenarios can be improved, enhancing vehicle handling and stability.

[0128] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0129] In one embodiment, a device for determining yaw moment is provided, such as... Figure 8 As shown, the device 800 includes an acquisition module 801 and a determination module 802.

[0130] The acquisition module 801 is used to acquire the steering wheel angle of the vehicle and the virtual steering ratio required by the vehicle in the target steering mode;

[0131] The determining module 802 is used to determine the additional yaw moment corresponding to the virtual steering gear ratio and the steering wheel angle using a preset conversion relationship; and to use the additional yaw moment as the yaw moment compensated when the vehicle responds to the steering wheel angle to perform steering in the target steering mode; the preset conversion relationship includes the numerical relationship between the virtual steering gear ratio, the steering wheel angle and the additional yaw moment.

[0132] In one embodiment, the target steering mode includes an adaptive mode, and the acquisition module is configured to:

[0133] Get vehicle status;

[0134] Based on the vehicle's state, the actual steering ratio of the vehicle is adaptively adjusted to determine the virtual steering ratio required by the vehicle in the adaptive mode.

[0135] In one embodiment, the target steering mode includes a custom mode, and the acquisition module is configured to:

[0136] Obtain the steering sensitivity selected by the user in the custom mode;

[0137] The virtual steering ratio corresponding to the steering sensitivity is used as the virtual steering ratio required by the vehicle in the custom mode.

[0138] In one embodiment, the target steering mode includes a custom mode, and the acquisition module is configured to:

[0139] Obtain the steering sensitivity selected by the user in the custom mode;

[0140] Get vehicle status;

[0141] Based on the vehicle status, the virtual steering ratio corresponding to the steering sensitivity is adaptively adjusted to determine the virtual steering ratio required by the vehicle in the custom mode.

[0142] In one embodiment, a preset state quantity is used to characterize the vehicle state;

[0143] The preset state quantities include at least one of the following: vehicle speed, yaw rate, lateral acceleration, and maximum adhesion coefficient.

[0144] In one embodiment, the determining module is further configured to:

[0145] The determined additional yaw moment is corrected by using a pre-calibrated additional yaw moment implementation error to obtain the final additional yaw moment. The additional yaw moment implementation error is the difference between the theoretical value and the measured value of the additional yaw moment.

[0146] In one embodiment, the device is further configured to determine the numerical relationship by:

[0147] Determine the equation between the change in wheel angle and the simulated additional yaw moment applied to the vehicle model, wherein the change in wheel angle is the change in wheel angle of the wheel corresponding to the steering wheel before and after the application of the simulated additional yaw moment when the vehicle model reaches a fixed yaw rate.

[0148] The virtual steering gear ratio is characterized by the ratio between the target steering angle and the steering wheel angle. The numerical relationship between the virtual steering gear ratio, the steering wheel angle, and the simulated additional yaw moment is extracted from the equation. The target steering angle is the angle of the wheel corresponding to the steering wheel before the simulated additional yaw moment is applied.

[0149] In summary, this device pre-establishes a numerical relationship between a virtual steering gear ratio, steering wheel angle, and additional yaw moment. By using the virtual steering gear ratio to closely link the steering wheel angle and additional yaw moment, it incorporates the vehicle's current required steering wheel dexterity into the determination of the yaw moment. Specifically, by utilizing the numerical relationship between the virtual steering gear ratio, steering wheel angle, and additional yaw moment, it determines the additional yaw moment that needs to be actively applied when the vehicle responds to a certain steering wheel angle in a target steering mode. In this way, the actual yaw motion of the vehicle under the action of the additional yaw moment is correlated with the steering wheel dexterity, improving the overall handling and stability of the vehicle.

[0150] In one embodiment, an electronic device is provided, such as Figure 9 As shown, the electronic device 900 includes a memory 901, a processor 902, and a computer program stored in the memory 901 and executable on the processor 902. When the processor 902 executes the computer program, it implements the method for determining the yaw moment in any of the above embodiments. Alternatively, when the processor executes the computer program, it implements the functions of each module / unit in this embodiment of the device for determining the yaw moment. To avoid repetition, these will not be described again here.

[0151] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When executed by a processor, the computer program implements the method for determining the yaw moment in any of the above embodiments. Alternatively, when executed by a processor, the computer program implements the functions of each module / unit in the embodiment of the device for determining the yaw moment; to avoid repetition, these will not be described again here.

[0152] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0153] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is used as an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0154] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A method for determining yaw moment, characterized in that, The method includes: Obtain the vehicle's steering wheel angle and the virtual steering ratio required by the vehicle in the target steering mode; Using a preset conversion relationship, determine the additional yaw moment that corresponds to both the virtual steering gear ratio and the steering wheel angle; The additional yaw moment is used as the yaw moment compensated when the vehicle performs steering in response to the steering wheel angle in the target steering mode; The preset conversion relationship includes the numerical relationship between the virtual steering gear ratio, steering wheel angle, and additional yaw moment; The numerical relationship is determined as follows: An equation is established between the change in wheel angle and the simulated additional yaw moment applied to the vehicle model. The change in wheel angle is the change in wheel angle of the wheel corresponding to the steering wheel before and after the application of the simulated additional yaw moment, given that the vehicle model reaches a fixed yaw rate. The virtual steering ratio is characterized by the ratio between the target angle and the steering wheel angle. The numerical relationship between the virtual steering ratio, the steering wheel angle, and the simulated additional yaw moment is extracted from the equation. The target angle is the angle of the wheel corresponding to the steering wheel before the application of the simulated additional yaw moment.

2. The method as described in claim 1, characterized in that, The target steering mode includes an adaptive mode, and obtaining the virtual steering ratio required by the vehicle in the target steering mode includes: Get vehicle status; Based on the vehicle's state, the actual steering ratio of the vehicle is adaptively adjusted to determine the virtual steering ratio required by the vehicle in the adaptive mode.

3. The method as described in claim 1, characterized in that, The target steering mode includes a custom mode, and obtaining the virtual steering ratio required by the vehicle in the target steering mode includes: Obtain the steering sensitivity selected by the user in the custom mode; The virtual steering ratio corresponding to the steering sensitivity is used as the virtual steering ratio required by the vehicle in the custom mode.

4. The method as described in claim 1, characterized in that, The target steering mode includes a custom mode, and obtaining the virtual steering ratio required by the vehicle in the target steering mode includes: Obtain the steering sensitivity selected by the user in the custom mode; Get vehicle status; Based on the vehicle status, the virtual steering ratio corresponding to the steering sensitivity is adaptively adjusted to determine the virtual steering ratio required by the vehicle in the custom mode.

5. The method as described in claim 2 or 4, characterized in that, The vehicle state is characterized using preset state variables; The preset state quantities include at least one of the following: vehicle speed, yaw rate, lateral acceleration, and maximum adhesion coefficient.

6. The method according to any one of claims 1-4, characterized in that, After determining the additional yaw moment corresponding to the virtual steering gear ratio and the steering wheel angle using a preset conversion relationship, the method further includes: The determined additional yaw moment is corrected by using a pre-calibrated additional yaw moment implementation error to obtain the final additional yaw moment. The additional yaw moment implementation error is the difference between the theoretical value and the measured value of the additional yaw moment.

7. A device for determining yaw moment, characterized in that, For implementing the method of claim 1, the apparatus comprises: The acquisition module is used to acquire the steering wheel angle of the vehicle and the virtual steering ratio required by the vehicle in the target steering mode; The determination module is used to determine the additional yaw torque corresponding to the virtual steering gear ratio and the steering wheel angle using a preset conversion relationship; The additional yaw moment is used as the yaw moment compensated when the vehicle performs steering in response to the steering wheel angle in the target steering mode; The preset conversion relationship includes the numerical relationship between the virtual steering gear ratio, steering wheel angle, and additional yaw moment.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method for determining the yaw moment as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the method for determining the yaw moment as described in any one of claims 1 to 6.

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