Vehicle steering control method, controller, vehicle, medium and program product

Abstract

The embodiment of the invention provides a vehicle steering control method, a controller, a vehicle, a medium and a program product, and the method comprises the steps: determining a target steering parameter of the vehicle based on a steering working condition parameter when the vehicle steers; determining an anti-roll torque parameter of the vehicle based on the target steering parameter; and controlling a steering system of the vehicle based on the target steering parameter, and controlling a stabilizer bar system of the vehicle based on the anti-roll torque parameter. According to the embodiment of the invention, the control coordination between different systems during steering can be improved, and the driving performance of the whole vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle chassis control, and in particular to a vehicle steering control method, a vehicle controller, a vehicle, a computer-readable storage medium and a computer program product. Background Art

[0002] As a dynamic whole, the vehicle has coupled movements in all directions. However, when turning, each system (such as the steering system, stabilizer bar system, etc.) is controlled independently and has different control targets. The performance of decentralized control is limited and may aggravate the vehicle's adverse working conditions and increase driving risks. Summary of the invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a vehicle steering control method, a vehicle controller, a vehicle, a computer-readable storage medium and a computer program product that overcome the above problems or at least partially solve the above problems.

[0004] In order to solve the above problems, an embodiment of the present invention discloses a vehicle steering control method, comprising:

[0005] When the vehicle is turning, determining a target steering parameter of the vehicle based on the steering condition parameter;

[0006] determining an anti-roll moment parameter of the vehicle based on the target steering parameter;

[0007] A steering system of the vehicle is controlled based on the target steering parameter, and a stabilizer bar system of the vehicle is controlled based on the anti-roll moment parameter.

[0008] Optionally, after controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter, the method further comprises:

[0009] The steering condition parameters are updated.

[0010] Optionally, the steering condition parameters include a steering wheel angle and a vehicle speed, and determining a target steering parameter of the vehicle based on the steering condition parameters includes:

[0011] determining a degree of freedom reference model corresponding to the steering system;

[0012] In combination with the steering wheel angle, the vehicle speed and the degree of freedom reference model, target steering parameters are determined, wherein the target steering parameters include a target yaw rate and a target lateral acceleration.

[0013] Optionally, the method further comprises:

[0014] A roll moment distribution coefficient is determined according to the target yaw angular velocity.

[0015] Optionally, determining the roll moment distribution coefficient according to the target yaw angular velocity comprises:

[0016] The target yaw angular velocity is used as a fuzzy control target to determine the roll moment distribution coefficient.

[0017] Optionally, determining the anti-roll moment parameter of the vehicle based on the target steering parameter includes:

[0018] An anti-roll moment parameter is determined according to the target lateral acceleration and the roll moment distribution coefficient.

[0019] Optionally, determining the anti-roll moment parameter according to the target lateral acceleration and the roll moment distribution coefficient comprises:

[0020] Determining the anti-roll moment of the vehicle according to the target lateral acceleration;

[0021] The anti-roll moment parameter is determined according to the roll moment distribution coefficient and the whole vehicle anti-roll moment.

[0022] Optionally, determining the vehicle anti-roll moment according to the target lateral acceleration includes:

[0023] Get vehicle suspension parameters;

[0024] The anti-roll moment of the whole vehicle is determined according to the vehicle suspension parameters, the target lateral acceleration and its corresponding target roll angle.

[0025] Optionally, determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle comprises:

[0026] determining a basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle;

[0027] Get the current lateral acceleration and current roll angle;

[0028] determining a modified anti-roll moment according to the vehicle suspension parameters, the current lateral acceleration and the current roll angle;

[0029] The corrected anti-roll moment and the basic anti-roll moment are combined to determine the anti-roll moment of the entire vehicle.

[0030] Optionally, the vehicle suspension parameters include roll angle stiffness, vehicle center of mass height, vehicle roll center height and fully loaded sprung mass, and determining the basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle includes:

[0031] Substitute the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into the preset moment calculation formula to obtain the basic anti-roll moment; the preset moment calculation formula is:

[0032] M ARB =m spr (a yp cosθ+gsinθ)·(H g -H r )-K θ θ

[0033] Among them, M ARB is the basic anti-roll moment, a yp is the target lateral acceleration, θ is the target roll angle, g is the gravitational acceleration; H g is the height of the vehicle's center of mass, H r is the vehicle roll center height, m spr is the fully loaded sprung mass, K θ is the roll angle stiffness.

[0034] Optionally, determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle further includes:

[0035] Determining whether the target lateral acceleration is null;

[0036] In response to the target lateral acceleration being not empty, substituting the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into a preset moment calculation formula to obtain a basic anti-roll moment;

[0037] In response to the target lateral acceleration being null, a fitting lateral acceleration is determined according to the vehicle speed and a preset neutral turning radius, the fitting lateral acceleration is adopted as the standard lateral acceleration, and the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle are substituted into a preset moment calculation formula to obtain a basic anti-roll moment.

[0038] Optionally, determining the fitted lateral acceleration according to the vehicle speed and a preset neutral turning radius includes:

[0039] Calculating the square value of the vehicle speed;

[0040] The ratio of the square value to the preset neutral turning radius is determined as the fitted lateral acceleration.

[0041] Optionally, determining the anti-roll moment parameter according to the roll moment distribution coefficient and the anti-roll moment of the whole vehicle comprises:

[0042] Based on the roll moment distribution coefficient, determining a front axle distribution coefficient and a rear axle distribution coefficient;

[0043] Determine the front axle anti-roll moment by combining the whole vehicle anti-roll moment and the front axle distribution coefficient;

[0044] Determine the rear axle anti-roll moment by combining the vehicle anti-roll moment and the rear axle distribution coefficient;

[0045] The front axle anti-roll moment and the rear axle anti-roll moment are determined as anti-roll moment parameters.

[0046] Optionally, determining the front axle distribution coefficient and the rear axle distribution coefficient based on the roll moment distribution coefficient comprises:

[0047] Determining a front axle distribution coefficient to be equal to the roll moment distribution coefficient;

[0048] The rear axle distribution coefficient is determined as the difference between the roll moment distribution coefficient and one.

[0049] Optionally, controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter comprises:

[0050] controlling a front axle stabilizer bar of the stabilizer bar system based on the front axle anti-roll moment;

[0051] A rear axle stabilizer bar of the stabilizer bar system is controlled based on the rear axle anti-roll moment.

[0052] Optionally, controlling the steering system of the vehicle based on the target steering parameter comprises:

[0053] Get the actual yaw rate and actual lateral acceleration;

[0054] performing closed-loop control according to the target yaw rate, the actual yaw rate and the actual lateral acceleration to determine a target wheel angle;

[0055] A steering system of the vehicle is controlled based on the target wheel angle.

[0056] Optionally, performing closed-loop control according to the target yaw angular velocity, the actual yaw angular velocity and the actual lateral acceleration to determine the target wheel angle comprises:

[0057] Using the target yaw angular velocity to perform feedforward control to obtain a basic wheel angle;

[0058] Using the actual yaw angular velocity and the actual lateral acceleration to perform feedback control to obtain a corrected wheel steering angle;

[0059] The target wheel angle is determined by combining the basic wheel angle and the corrected wheel angle.

[0060] A vehicle controller comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the vehicle steering control method as described above when executed by the processor.

[0061] A vehicle comprises a steering system, a stabilizer bar system and the vehicle controller as described above.

[0062] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle steering control method described above are implemented.

[0063] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the steps of the vehicle steering control method described above are implemented.

[0064] The embodiments of the present invention include the following advantages:

[0065] The embodiment of the present invention determines the target steering parameter of the vehicle based on the steering condition parameter when the vehicle is turning; determines the anti-roll moment parameter of the vehicle based on the target steering parameter; controls the steering system of the vehicle based on the target steering parameter, and controls the stabilizer bar system of the vehicle based on the anti-roll moment parameter. When the vehicle is turning, the target steering parameter is determined based on the steering condition parameter, and the steering system is directly controlled by the target steering parameter, and the stabilizer bar system is controlled by the anti-roll moment parameter converted from the target steering parameter. With the target steering parameter as a common control target, coordinated control is achieved, the control coordination between different systems during steering is improved, and the driving performance of the whole vehicle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 is a flow chart of steps of an embodiment of a vehicle steering control method of the present invention;

[0067] Figure 2 is a flowchart of another vehicle steering control method embodiment of the present invention;

[0068] Figure 3 is a schematic diagram of a control example of a steering system of the present invention;

[0069] Figure 4 is a schematic diagram of a control example of a stabilizer bar system of the present invention;

[0070] Figure 5 is a schematic diagram of the hardware architecture of an example of a vehicle steering control method of the present invention;

[0071] Figure 6 It is a data flow diagram of an example of a vehicle steering control method of the present invention. DETAILED DESCRIPTION

[0072] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0073] Reference Figure 1 , shows a flow chart of steps of an embodiment of a vehicle steering control method of the present invention, and the vehicle steering control method may specifically include the following steps:

[0074] Step 101, when the vehicle is turning, determining a target steering parameter of the vehicle based on a steering condition parameter;

[0075] When the vehicle is turning, the steering condition parameters can be obtained. The steering condition parameters are various state parameters corresponding to the vehicle when turning.

[0076] The target steering parameter of the vehicle can be determined based on the current steering condition parameter. The target steering parameter is a control parameter corresponding to the vehicle steering reaching the target steering state, and is used to guide the state change of the steering system and the stabilizer bar system.

[0077] Step 102, determining an anti-roll moment parameter of the vehicle based on the target steering parameter;

[0078] The anti-roll moment parameter may also be determined based on the target steering parameter conversion, where the anti-roll moment parameter is a moment parameter required by the stabilizer bar system to resist the roll caused by the internal and external torque difference during steering.

[0079] Step 103: controlling the steering system of the vehicle based on the target steering parameter, and controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter

[0080] The target steering parameter can be used to control the vehicle's steering system to reach a corresponding state so that the vehicle can steer in a corresponding manner. The anti-roll moment parameter can also be used to control the stabilizer bar system so that it can resist the roll of the suspension during steering.

[0081] The embodiment of the present invention determines the target steering parameter based on the steering condition parameter when the vehicle is turning; converts the target steering parameter into the anti-roll moment parameter; controls the steering system of the vehicle based on the target steering parameter; and controls the stabilizer bar system of the vehicle based on the anti-roll moment parameter to update the steering condition parameter. When the vehicle is turning, the target steering parameter is determined based on the steering condition parameter and the steering system is directly controlled by the target steering parameter, the stabilizer bar system is controlled by the anti-roll moment parameter obtained by conversion of the target steering parameter, and coordinated control is achieved based on the target steering parameter as a common control target; the control coordination between different systems during steering is improved, and the driving performance of the whole vehicle is improved.

[0082] Reference Figure 2 , shows a flow chart of another vehicle steering control method embodiment of the present invention, the vehicle steering control method may specifically include the following steps:

[0083] Step 201, when the vehicle is turning, determining a target steering parameter of the vehicle based on a steering condition parameter;

[0084] When the vehicle is turning, the steering condition parameters can be obtained by obtaining the signals of the sensors on the vehicle. The target steering parameters of the vehicle are determined based on the steering condition parameters. The steering condition parameters may include the steering wheel angle and the vehicle speed. The target steering parameters can be determined based on the steering wheel angle and the vehicle speed.

[0085] In an optional embodiment of the present invention, determining the target steering parameter of the vehicle based on the steering condition parameter includes:

[0086] Sub-step S2011, determining a degree of freedom reference model corresponding to the steering system;

[0087] A degree of freedom reference model corresponding to the steering system can be determined based on the current vehicle model. For example, the degree of freedom reference model can be a 2-degree-of-freedom reference model. The 2-degree-of-freedom reference model is a simplified vehicle motion model used to analyze the lateral motion and yaw motion characteristics of the vehicle steering system. In the 2-degree-of-freedom model, the dynamic equation corresponding to the vehicle steering system can usually be expressed as:

[0088] m(v˙y+ux˙ψ)=Fyf+Fyr

[0089] Izψ¨=lfFyf-lrFyr

[0090] Where m is the vehicle mass, Iz is the moment of inertia of the vehicle around the vertical axis, u and y are the longitudinal velocity and lateral velocity of the vehicle, ψ is the yaw angle of the vehicle, ψ˙ and ψ¨ are the angular velocity and angular acceleration of the yaw angle, respectively. Fyf and Fyr are the lateral forces on the front and rear wheels of the vehicle, respectively. lf and lr are the distances from the center of mass of the vehicle to the front and rear axles, respectively.

[0091] Sub-step S2012, determining target steering parameters in combination with the steering wheel angle, the vehicle speed and the degree of freedom reference model, wherein the target steering parameters include a target yaw angular velocity and a target lateral acceleration.

[0092] The steering wheel angle and the vehicle speed are used as input data of the degree of freedom reference model, and the degree of freedom reference model, the steering wheel angle and the vehicle speed are combined to obtain the target steering parameters of the steering control. The target steering parameters may include a target yaw rate and a target lateral acceleration. The target yaw rate is the yaw rate expected to be achieved when the vehicle is turning. The target lateral acceleration is the lateral acceleration expected to be achieved when the vehicle is turning.

[0093] Taking the above 2-DOF reference model as an example, the vehicle mass, the moment of inertia of the vehicle around the vertical axis, the lateral force on the front and rear wheels of the vehicle, and the distance from the center of mass of the vehicle to the front and rear axles are all inherent parameters in the vehicle. The longitudinal speed and lateral speed of the vehicle can be detected in real time by the sensor. For other parameters, the vehicle body yaw angle that the vehicle should have at the speed and steering wheel angle can be calculated by using the table lookup method according to the steering wheel angle and vehicle speed. According to the following formula: (vehicle speed × tangent value of the sideslip angle corresponding to the steering wheel angle) / wheelbase, the vehicle speed and steering wheel angle are substituted to obtain the angular velocity of the yaw angle. Then, according to the change in angular velocity, the angular acceleration of the yaw angle is determined. In summary, all the input data of the 2-DOF reference model are determined, and the above parameters can be substituted into the 2-DOF reference model, and the calculated result is the target steering parameter.

[0094] In addition, in order to enable the steering system to be controlled in coordination with the stabilizer bar system, the method further includes:

[0095] Step S1, determining a roll moment distribution coefficient according to the target yaw angular velocity;

[0096] The target yaw rate can be used as a control target to determine the roll moment distribution coefficient. The roll moment distribution coefficient is a weight parameter for the distribution of the moment between the front and rear axles of the stabilizer bar system.

[0097] Specifically, determining the roll moment distribution coefficient according to the target yaw angular velocity includes: taking the target yaw angular velocity as a fuzzy control target, and determining the roll moment distribution coefficient.

[0098] The target yaw rate can be used as the fuzzy control target, and the current vehicle speed, steering wheel angle, etc. can be used as input to determine the roll moment distribution coefficient. The specific type of fuzzy control is not specifically limited. In one example of the present invention, the fuzzy control can be a fuzzy PID (proportional-integral-differential) control.

[0099] Step 202, determining an anti-roll moment parameter of the vehicle based on the target steering parameter;

[0100] The target steering parameters can also be converted into the anti-roll moment parameters of the vehicle to determine the control parameters of the stabilizer bar system.

[0101] In an optional embodiment of the present invention, determining the anti-roll moment parameter of the vehicle based on the target steering parameter includes: determining the anti-roll moment parameter according to the target lateral acceleration and the roll moment distribution coefficient.

[0102] The target lateral acceleration and the roll moment distribution coefficient can be combined to determine the anti-roll moment required under the corresponding lateral acceleration, and obtain the anti-roll moment parameter.

[0103] Specifically, determining the anti-roll moment parameter according to the target lateral acceleration and the roll moment distribution coefficient includes: determining the anti-roll moment of the whole vehicle according to the target lateral acceleration; determining the anti-roll moment parameter according to the roll moment distribution coefficient and the anti-roll moment of the whole vehicle.

[0104] In the embodiment of the present invention, the anti-roll moment of the whole vehicle can be determined based on the target lateral acceleration. The anti-roll moment of the whole vehicle is the anti-roll moment required to be provided by the suspension of the whole vehicle. Then, the moment distribution is performed according to the roll moment distribution coefficient and the anti-roll moment of the whole vehicle to determine the anti-roll moment parameter.

[0105] Furthermore, determining the anti-roll moment of the whole vehicle based on the target lateral acceleration includes: acquiring vehicle suspension parameters; and determining the anti-roll moment of the whole vehicle based on the vehicle suspension parameters, the target lateral acceleration and its corresponding target roll angle.

[0106] Various performance parameters or assembly parameters of the vehicle suspension can be obtained as vehicle suspension parameters. Based on the vehicle suspension parameters, the target lateral acceleration and the corresponding target roll angle, the anti-roll moment of the whole vehicle is determined by calculation.

[0107] Furthermore, determining the anti-roll moment of the whole vehicle based on the vehicle suspension parameters, the target lateral acceleration and its corresponding target roll angle includes: determining a basic anti-roll moment based on the vehicle suspension parameters, the target lateral acceleration and the target roll angle; obtaining a current lateral acceleration and a current roll angle; determining a corrected anti-roll moment based on the vehicle suspension parameters, the current lateral acceleration and the current roll angle; and determining the anti-roll moment of the whole vehicle by combining the corrected anti-roll moment and the basic anti-roll moment.

[0108] The anti-roll moment of the whole vehicle can be determined by closed-loop control. First, the vehicle suspension parameters, target lateral acceleration and target roll angle can be used for feedforward control to fit and determine the basic anti-roll moment. That is, the target of the feedforward control can be determined to calculate the basic anti-roll moment based on the vehicle suspension parameters, target lateral acceleration and target roll angle of the vehicle as the predicted dynamic behavior to compensate for the roll effect caused by lateral acceleration or roll angle. The dynamic equation of the vehicle can be established based on Newton's second law and the principle of moment balance. Then determine the source of the roll moment: the roll moment caused by the centrifugal force of the sprung mass. The roll moment caused by the gravity of the sprung mass (generated after the roll). Use the relevant equations in the vehicle dynamics model, substitute the target lateral acceleration, and calculate the roll moment caused by the centrifugal force. Calculate the roll moment caused by gravity according to the target roll angle: Calculate the roll moment caused by gravity using parameters such as the roll angle and the position of the center of mass of the vehicle. The total roll moment is obtained by adding the roll moment caused by centrifugal force and the roll moment caused by gravity. The required basic anti-roll moment is determined according to the vehicle stability and handling requirements and the characteristics of the suspension system. The basic anti-roll moment can offset or reduce the total roll moment to maintain the stability and handling of the vehicle.

[0109] Furthermore, the vehicle suspension parameters, current lateral acceleration and current roll angle can be used for feedback control to determine the modified anti-roll moment. That is, the goal of feedback control can be determined as calculating the modified anti-roll moment based on the vehicle suspension parameters, current lateral acceleration and current roll angle of the vehicle as the current dynamic behavior. First, the feedback control equation corresponding to the vehicle can be established based on Newton's second law and the principle of moment balance. Substitute the vehicle suspension parameters, current lateral acceleration and current roll angle into the feedback control equation, and the calculated result is the modified anti-roll moment.

[0110] Finally, the corrected anti-roll moment and the basic anti-roll moment are added to obtain the anti-roll moment of the whole vehicle.

[0111] In an example of the present invention, the vehicle suspension parameters include roll angle stiffness, vehicle center of mass height, vehicle roll center height and fully loaded sprung mass, and determining the basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle includes: substituting the roll angle stiffness, the vehicle center of mass height, the vehicle roll center height, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into a preset moment calculation formula to obtain the basic anti-roll moment; the preset moment calculation formula is:

[0112] M ARB =m spr (a yp cosθ+gsinθ)·(H g -H r )-K θ θ

[0113] Among them, M ARB is the basic anti-roll moment, a up is the target lateral acceleration, θ is the target roll angle, g is the gravitational acceleration; H g is the height of the vehicle's center of mass, H r is the vehicle roll center height, m spr is the fully loaded sprung mass, K θ is the roll angle stiffness.

[0114] The roll angle stiffness, vehicle center of mass height, vehicle roll center height, fully loaded sprung mass, target lateral acceleration and target roll angle can be substituted into the preset torque calculation formula to obtain the basic anti-roll torque.

[0115] Among them, the roll angle stiffness K θ It can be calculated as follows:

[0116] K F =(6.28*f F ) 2 *0.5*m spr *β mass

[0117] K R =(6.28*f R ) 2 *0.5*m spr *β mass

[0118] K θ =0.5*(0.0175*B F )*K F *B F +0.5*(0.0175*B R )*KR *B R

[0119] Where: K F , K R is the vertical stiffness of the front and rear wheel cores relative to the vehicle body; f F 、f R B is the front and rear suspension bias frequency; F , B R is the front and rear wheelbase; nass is the mass distribution ratio of the front and rear axles; m spr is the fully loaded sprung mass. The above parameters can be obtained through actual vehicle measurement and are inherent parameters of the vehicle.

[0120] In addition, since there may be a situation where the steering system may fail to communicate with the stabilizer bar system, the target lateral acceleration may be empty at this time. In order to coordinate the control of the two and control each other when the communication is abnormal, it can be determined whether the target lateral acceleration is empty; in response to the target lateral acceleration being not empty, the step of substituting the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the roll center of the vehicle, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into a preset torque calculation formula to obtain a basic anti-roll moment is executed; in response to the target lateral acceleration being empty, a fitting lateral acceleration is determined according to the vehicle speed and a preset neutral turning radius, the fitting lateral acceleration is used as the target lateral acceleration, and the step of substituting the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the roll center of the vehicle, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into a preset torque calculation formula to obtain a basic anti-roll moment is executed.

[0121] Determining the fitted lateral acceleration based on the vehicle speed and the preset neutral turning radius may include: calculating the square value of the vehicle speed; and determining a ratio of the square value to the preset neutral turning radius as the fitted lateral acceleration.

[0122] That is, if the target lateral acceleration cannot be obtained from the active steering controller, the lateral acceleration of the entire vehicle is estimated according to the following method.

[0123]

[0124] Where a yn is the lateral acceleration under neutral steering; R0 is the preset neutral steering radius; v x is the vehicle speed. R0 is calculated as follows:

[0125]

[0126] Where L is the wheelbase of the vehicle, which is measured; ±1 is the direction of the steering wheel rotation, left and right turns represent positive and negative; δ ave It is the average steering angle of the left and right front wheels. The steering angle of the left and right front wheels can be calibrated by rotating different steering wheel angles on a four-wheel alignment test bench to obtain a lookup table parameter with the steering wheel angle as input and the front wheel angle as output.

[0127] At the same time, the feedback control obtains a feedback output anti-roll torque based on the error between the actual roll angle of the vehicle and the target roll angle at the current moment fed back by the sensor through the PID link. Finally, the feedforward anti-roll torque is added to the feedback anti-roll torque to obtain the anti-roll torque required for the whole vehicle. Then, the distribution coefficient output by the active steering controller can be used to obtain the anti-roll torque required to be output by the active stabilizer bar of the front and rear axles. Like the feedforward control, the distribution coefficient is also divided into two cases:

[0128] 1. If the distribution coefficient can be obtained from the steering system, it can be used directly. The details are as follows:

[0129] e=γ a -γ t

[0130] Where γ a is the yaw rate of the actual vehicle; t is the target yaw rate; e is the error between the two, and e and its rate of change are After normalization, it is used as the input of fuzzy PID control. Construct fuzzy subsets, for example: the fuzzy subset of e is {NB, NM, NS, ZE, PS, PM, PB}; The fuzzy subsets of PID are {NB, NM, NS, ZE, PS, PM, PB}; NB is negative and large, NM is negative and medium, NS is negative and small, ZE is zero, PS is positive and small, PM is positive and medium, and PB is positive and large. The three parameters K of PID P , K I , K D The fuzzy subsets of are also divided into 7 levels: {NB, NM, NS, ZE, PS, PM, PB}; the correction coefficient k is divided into 5 levels {ZE, S, M, B, L}, from left to right, respectively, 0, small, small, medium, large, large, and very large. Construct fuzzy rules based on prior knowledge:

[0131]

[0132] The above table only lists the fuzzy rules of k, K P , K I , K D According to the input, the fuzzy output is obtained, and the accurate allocation coefficient can be obtained after defuzzification.

[0133] 2. If the distribution coefficient cannot be obtained from the active steering controller, the distribution coefficient can be preset in advance under the premise of ensuring that the high-speed turning vehicle tends to understeer. Similarly, the distribution coefficient can be calibrated.

[0134] Furthermore, determining the anti-roll moment parameters based on the roll moment distribution coefficient and the anti-roll moment of the whole vehicle includes: determining a front axle distribution coefficient and a rear axle distribution coefficient based on the roll moment distribution coefficient; determining the front axle anti-roll moment by combining the anti-roll moment of the whole vehicle with the front axle distribution coefficient; determining the rear axle anti-roll moment by combining the anti-roll moment of the whole vehicle with the rear axle distribution coefficient; and determining the front axle anti-roll moment and the rear axle anti-roll moment as anti-roll moment parameters.

[0135] According to the roll moment distribution coefficient, the front axle distribution coefficient and the rear axle distribution coefficient can be determined to distribute the torque to the front and rear axles accordingly. The front axle anti-roll moment can be determined by multiplying the vehicle anti-roll moment with the front axle distribution coefficient. The rear axle anti-roll moment can be determined by multiplying the vehicle anti-roll moment with the rear axle distribution coefficient. The front axle anti-roll moment and the rear axle anti-roll moment are used as anti-roll moment parameters.

[0136] For the roll moment distribution coefficient, determining the front axle distribution coefficient and the rear axle distribution coefficient includes: determining the front axle distribution coefficient to be equal to the roll moment distribution coefficient; and determining the rear axle distribution coefficient to be the difference between the roll moment distribution coefficient and one.

[0137] In summary, the calculation of the front axle anti-roll moment and the rear axle anti-roll moment can be expressed by the following formula:

[0138]

[0139] Where M f is the front axle anti-roll moment, M r is the rear axle anti-roll moment, M ARB is the anti-rolling moment of the whole vehicle, and k is the rolling moment distribution coefficient.

[0140] Step 203: Control the steering system of the vehicle based on the target steering parameter, and control the stabilizer bar system of the vehicle based on the anti-roll moment parameter.

[0141] In the embodiment of the present invention, the target steering parameter can be used as the control target, and the steering system of the vehicle can be controlled in a closed-loop control manner. Accordingly, the torque of the front and rear axles can also be controlled based on the anti-roll moment parameter, thereby controlling the stabilizer bar system of the vehicle.

[0142] In an optional embodiment of the present invention, the controlling the steering system of the vehicle based on the target steering parameter includes:

[0143] Sub-step S2031, obtaining actual yaw angular velocity and actual lateral acceleration;

[0144] The actual yaw angular velocity and actual lateral acceleration of the vehicle when turning can be obtained from the vehicle's sensors.

[0145] Sub-step S2032, performing closed-loop control according to the target yaw rate, the actual yaw rate and the actual lateral acceleration to determine a target wheel angle;

[0146] The target wheel angle can be determined by using the target yaw rate as the control target and the actual yaw rate and the actual lateral acceleration as inputs for closed-loop control.

[0147] Specifically, the step of performing closed-loop control based on the target yaw rate, the actual yaw rate and the actual lateral acceleration to determine the target wheel angle includes: performing feedforward control using the target yaw rate to obtain a basic wheel angle; performing feedback control using the actual yaw rate and the actual lateral acceleration to obtain a corrected wheel angle; and determining the target wheel angle by combining the basic wheel angle and the corrected wheel angle.

[0148] First, the target yaw rate can be used as the target for feedforward control to obtain the basic wheel angle. According to the vehicle's dynamic model, the feedforward control can reverse the target yaw rate to the wheel angle, that is, the basic wheel angle. The product of the target yaw rate and the wheelbase can be used as the length of the opposite side corresponding to the wheel angle, and the vehicle speed is the length of the adjacent side corresponding to the wheel angle. The inverse tangent function of the wheel angle is established with the length of the opposite side and the length of the adjacent side. The angle value obtained by solving the inverse tangent function is the basic wheel angle. For example, the target yaw rate is α, the vehicle speed is v, the wheelbase is L, and the basic wheel angle is β. The feedforward control equation is β=arctan(αv / L). When calculating, the target yaw rate can be substituted into the feedforward control equation to obtain the basic wheel angle.

[0149] Then, the actual yaw rate and actual lateral acceleration collected in real time are used as feedback input for feedback control to obtain the corrected wheel angle; that is, the difference between the actual yaw rate and the target yaw rate can be determined, and the difference and the actual lateral acceleration are set to zero as the control target, and the corresponding wheel angle is determined as the corrected wheel angle. The basic wheel angle and the corrected wheel angle are added to obtain the target wheel angle.

[0150] Sub-step S2033, controlling the steering system of the vehicle based on the target wheel angle.

[0151] The vehicle steering system is controlled by the target wheel angle.

[0152] For example, the control of the steering system can refer to Figure 3 , the driver inputs the steering wheel angle, and the 2-DOF reference model obtains the target yaw rate and target lateral acceleration of the vehicle according to the vehicle speed fed back by the sensor and the steering wheel angle input by the driver. The target yaw rate and target lateral acceleration of the vehicle are tracked by fuzzy PID control. Fuzzy PID control can output a distribution coefficient with the target yaw rate as the target to change the distribution of the anti-roll moment of the active stabilizer bar on the front and rear axles, thereby changing the roll angle stiffness of the front and rear axles of the vehicle to meet different target yaw rates without changing the overall anti-roll effect of the active stabilizer bar. The transmission ratio is changed by the additional steering wheel angle obtained, and the steering actuator motor and the target steering wheel angle are controlled, and the target steering wheel angle is sent to other controllers via CAN (local area network).

[0153] Further, controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter includes: controlling a front axle stabilizer bar of the stabilizer bar system based on the front axle anti-roll moment; and controlling a rear axle stabilizer bar of the stabilizer bar system based on the rear axle anti-roll moment.

[0154] The front axle stabilizer bar of the front axle anti-roll moment control stabilizer bar system can be used so that the front axle stabilizer bar of the stabilizer bar system can generate a front axle anti-roll moment to resist the roll of the front axle. The rear axle stabilizer bar of the rear axle anti-roll moment control stabilizer bar system can also be used so that the rear axle stabilizer bar of the stabilizer bar system can generate a rear axle anti-roll moment to resist the roll of the rear axle.

[0155] For example, see Figure 4 , the control process of the stabilizer bar system can include: feedforward control and feedback control. Feedforward control obtains the target lateral acceleration and target steering wheel angle through CAN communication, that is, the lateral acceleration and steering wheel angle expected to be achieved by the whole vehicle in the future time domain. According to the vehicle dynamics model, it can be calculated that in the future time domain, under the expected lateral acceleration and the expected steering wheel angle (the steering wheel angle can be used to calculate the vehicle turning radius), combined with the current vehicle speed, the estimated inertia force of the centrifugal motion of the vehicle body can be calculated, and then the estimated anti-roll torque required at a given roll angle can be calculated. The anti-roll torque is then distributed to the front and rear axles based on the roll torque distribution coefficient for corresponding control.

[0156] Step 204: Update the steering condition parameters.

[0157] After the torque of the front and rear axles is controlled based on the anti-roll moment parameters, the steering state of the vehicle changes accordingly, and the current steering condition can be collected to update the steering condition parameters.

[0158] In the embodiment of the present invention, under the steering condition, the stabilizer bar system controls the roll angle of the vehicle, and the steering system controls the steering performance of the vehicle. At the same time, the two control systems also control the vehicle with the yaw rate as a common target. The control coordination between different systems is improved, and the driving performance of the vehicle is improved. In addition, the control process between the stabilizer bar system and the steering system shares sensor information, reduces sensor redundancy, reduces costs, and can reduce driving risks under extreme conditions. The stabilizer bar control and the steering control are independent of each other. Even if the communication between the two fails, the independent control effect is still effective; and the coordinated control of the two can improve their respective control effects, thereby improving driving safety.

[0159] In order to make the embodiments of the present invention clear to those skilled in the art, reference can be made to Figure 5 and Figure 6 Let's take an example to illustrate:

[0160] First, you can refer to Figure 5 , the actual steering wheel angle, lateral acceleration, vehicle speed, roll angle and yaw rate information are obtained through sensors, and these sensor information is sent to the vehicle coordination control system through CAN communication; the coordination control system is divided into two subsystems, the stabilizer bar system and the steering system, and the stabilizer bar system and the steering system communicate with each other through the CAN protocol. The active stabilizer bar controller (used to control the stabilizer bar control system) is connected to the active stabilizer bar actuator motor in a two-way signal manner, and the active steering controller (used to control the steering system) is connected to the active steering mechanism actuator motor in a two-way signal manner. Under steering conditions, the active stabilizer bar controller can control the active stabilizer bar actuator motor to produce corresponding actions; the active steering controller also controls the active steering mechanism actuator motor to produce expected actions.

[0161] The specific processing process can be found in Figure 6 In the steering condition, the driver inputs the steering wheel angle, and the 2-DOF reference model in the active steering control receives the angle input and calculates the target yaw rate and target lateral acceleration of the vehicle. The vehicle CAN bus feeds back the vehicle speed, yaw rate and lateral acceleration in the sensor signal to the active steering controller. The active steering controller (used to control the steering system) controls according to the target yaw rate, target lateral acceleration and the parameters of vehicle speed, yaw rate and lateral acceleration fed back by the sensor, and obtains the front and rear distribution coefficients of the active stabilizer bar and the actual steering wheel angle through corresponding calculations, and sends the front and rear axle distribution coefficients, the target steering wheel angle and the target lateral acceleration to the active roll controller (used to control the stabilizer bar system) through CAN communication. The actual steering wheel angle is input to the vehicle through the actuator motor of the steering mechanism.

[0162] At the same time, the active roll controller communicates with the vehicle CAN bus to obtain the actual roll angle signal of the vehicle fed back by the sensor, and obtains the target lateral acceleration signal from the active steering controller through CAN communication. The vehicle working mode is determined according to the roll angle, steering wheel angle and lateral acceleration of the whole vehicle. The thresholds are set according to the roll angle, steering wheel angle and lateral acceleration of the whole vehicle respectively. When the roll angle, steering wheel angle and lateral acceleration of the whole vehicle are all lower than the set threshold, the active stabilizer bar is disconnected and does not provide roll stiffness; otherwise, it takes effect and provides a certain roll stiffness according to the control requirements. Active roll control is divided into feedback control and feedforward control. Feedback control outputs a feedback anti-roll torque through PID control according to the error between the target roll angle and the actual roll angle; feedforward control calculates a feedforward anti-roll torque through the target steering wheel angle and the target lateral acceleration; the two anti-roll torques are added to obtain the anti-roll torque of the whole vehicle, and multiplied by the distribution coefficient sent by the active steering controller to obtain the anti-roll torque of the front and rear axles of the active stabilizer bar respectively.

[0163] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0164] An embodiment of the present invention further discloses a vehicle controller, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the vehicle steering control method as described above when executed by the processor.

[0165] A vehicle steering control method, comprising:

[0166] When the vehicle is turning, determining a target steering parameter of the vehicle based on the steering condition parameter;

[0167] determining an anti-roll moment parameter of the vehicle based on the target steering parameter;

[0168] A steering system of the vehicle is controlled based on the target steering parameter, and a stabilizer bar system of the vehicle is controlled based on the anti-roll moment parameter.

[0169] Optionally, after controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter, the method further comprises:

[0170] The steering condition parameters are updated.

[0171] Optionally, the steering condition parameters include a steering wheel angle and a vehicle speed, and determining a target steering parameter of the vehicle based on the steering condition parameters includes:

[0172] determining a degree of freedom reference model corresponding to the steering system;

[0173] In combination with the steering wheel angle, the vehicle speed and the degree of freedom reference model, target steering parameters are determined, wherein the target steering parameters include a target yaw rate and a target lateral acceleration.

[0174] Optionally, the method further comprises:

[0175] A roll moment distribution coefficient is determined according to the target yaw angular velocity.

[0176] Optionally, determining the roll moment distribution coefficient according to the target yaw angular velocity comprises:

[0177] The target yaw angular velocity is used as a fuzzy control target to determine the roll moment distribution coefficient.

[0178] Optionally, determining the anti-roll moment parameter of the vehicle based on the target steering parameter includes:

[0179] An anti-roll moment parameter is determined according to the target lateral acceleration and the roll moment distribution coefficient.

[0180] Optionally, determining the anti-roll moment parameter according to the target lateral acceleration and the roll moment distribution coefficient comprises:

[0181] Determining the anti-roll moment of the vehicle according to the target lateral acceleration;

[0182] The anti-roll moment parameter is determined according to the roll moment distribution coefficient and the whole vehicle anti-roll moment.

[0183] Optionally, determining the vehicle anti-roll moment according to the target lateral acceleration includes:

[0184] Get vehicle suspension parameters;

[0185] The anti-roll moment of the whole vehicle is determined according to the vehicle suspension parameters, the target lateral acceleration and its corresponding target roll angle.

[0186] Optionally, determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle comprises:

[0187] determining a basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle;

[0188] Get the current lateral acceleration and current roll angle;

[0189] determining a modified anti-roll moment according to the vehicle suspension parameters, the current lateral acceleration and the current roll angle;

[0190] The corrected anti-roll moment and the basic anti-roll moment are combined to determine the anti-roll moment of the entire vehicle.

[0191] Optionally, the vehicle suspension parameters include roll angle stiffness, vehicle center of mass height, vehicle roll center height and fully loaded sprung mass, and determining the basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle includes:

[0192] Substitute the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into the preset moment calculation formula to obtain the basic anti-roll moment; the preset moment calculation formula is:

[0193] M ARB =m spr (a yp cosθ+gsinθ)·(H g -H r )-K θ θ

[0194] Among them, M ARB is the basic anti-roll moment, a yp is the target lateral acceleration, θ is the target roll angle, g is the gravitational acceleration; H g is the height of the vehicle's center of mass, H r is the vehicle roll center height, m spr is the fully loaded sprung mass, K θ is the roll angle stiffness.

[0195] Optionally, determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle further includes:

[0196] Determining whether the target lateral acceleration is null;

[0197] In response to the target lateral acceleration being not empty, substituting the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into a preset moment calculation formula to obtain a basic anti-roll moment;

[0198] In response to the target lateral acceleration being null, a fitting lateral acceleration is determined according to the vehicle speed and a preset neutral turning radius, the fitting lateral acceleration is adopted as the standard lateral acceleration, and the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle are substituted into a preset moment calculation formula to obtain a basic anti-roll moment.

[0199] Optionally, determining the fitted lateral acceleration according to the vehicle speed and a preset neutral turning radius includes:

[0200] Calculating the square value of the vehicle speed;

[0201] The ratio of the square value to the preset neutral turning radius is determined as the fitted lateral acceleration.

[0202] Optionally, determining the anti-roll moment parameter according to the roll moment distribution coefficient and the anti-roll moment of the whole vehicle comprises:

[0203] Based on the roll moment distribution coefficient, determining a front axle distribution coefficient and a rear axle distribution coefficient;

[0204] Determine the front axle anti-roll moment by combining the whole vehicle anti-roll moment and the front axle distribution coefficient;

[0205] Determine the rear axle anti-roll moment by combining the vehicle anti-roll moment and the rear axle distribution coefficient;

[0206] The front axle anti-roll moment and the rear axle anti-roll moment are determined as anti-roll moment parameters.

[0207] Optionally, determining the front axle distribution coefficient and the rear axle distribution coefficient based on the roll moment distribution coefficient comprises:

[0208] Determining a front axle distribution coefficient to be equal to the roll moment distribution coefficient;

[0209] The rear axle distribution coefficient is determined as the difference between the roll moment distribution coefficient and one.

[0210] Optionally, controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter comprises:

[0211] controlling a front axle stabilizer bar of the stabilizer bar system based on the front axle anti-roll moment;

[0212] A rear axle stabilizer bar of the stabilizer bar system is controlled based on the rear axle anti-roll moment.

[0213] Optionally, controlling the steering system of the vehicle based on the target steering parameter comprises:

[0214] Get the actual yaw rate and actual lateral acceleration;

[0215] performing closed-loop control according to the target yaw rate, the actual yaw rate and the actual lateral acceleration to determine a target wheel angle;

[0216] A steering system of the vehicle is controlled based on the target wheel angle.

[0217] Optionally, performing closed-loop control according to the target yaw angular velocity, the actual yaw angular velocity and the actual lateral acceleration to determine the target wheel angle comprises:

[0218] Using the target yaw angular velocity to perform feedforward control to obtain a basic wheel angle;

[0219] Using the actual yaw angular velocity and the actual lateral acceleration to perform feedback control to obtain a corrected wheel steering angle;

[0220] The target wheel angle is determined by combining the basic wheel angle and the corrected wheel angle.

[0221] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the processor.

[0222] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0223] An embodiment of the present invention further discloses a vehicle, including a steering system, a stabilizer bar system and the vehicle controller as described above.

[0224] The vehicle controller executes the steps of the above vehicle steering control method to control the steering system and the stabilizer bar system to ensure that the vehicle steers in a stable posture.

[0225] The embodiment of the present invention further discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle steering control method described above are implemented.

[0226] A vehicle steering control method, comprising:

[0227] When the vehicle is turning, determining a target steering parameter of the vehicle based on the steering condition parameter;

[0228] determining an anti-roll moment parameter of the vehicle based on the target steering parameter;

[0229] A steering system of the vehicle is controlled based on the target steering parameter, and a stabilizer bar system of the vehicle is controlled based on the anti-roll moment parameter.

[0230] Optionally, after controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter, the method further comprises:

[0231] The steering condition parameters are updated.

[0232] Optionally, the steering condition parameters include a steering wheel angle and a vehicle speed, and determining a target steering parameter of the vehicle based on the steering condition parameters includes:

[0233] determining a degree of freedom reference model corresponding to the steering system;

[0234] In combination with the steering wheel angle, the vehicle speed and the degree of freedom reference model, target steering parameters are determined, wherein the target steering parameters include a target yaw rate and a target lateral acceleration.

[0235] Optionally, the method further comprises:

[0236] A roll moment distribution coefficient is determined according to the target yaw angular velocity.

[0237] Optionally, determining the roll moment distribution coefficient according to the target yaw angular velocity comprises:

[0238] The target yaw angular velocity is used as a fuzzy control target to determine the roll moment distribution coefficient.

[0239] Optionally, determining the anti-roll moment parameter of the vehicle based on the target steering parameter includes:

[0240] An anti-roll moment parameter is determined according to the target lateral acceleration and the roll moment distribution coefficient.

[0241] Optionally, determining the anti-roll moment parameter according to the target lateral acceleration and the roll moment distribution coefficient comprises:

[0242] Determining the anti-roll moment of the vehicle according to the target lateral acceleration;

[0243] The anti-roll moment parameter is determined according to the roll moment distribution coefficient and the whole vehicle anti-roll moment.

[0244] Optionally, determining the vehicle anti-roll moment according to the target lateral acceleration includes:

[0245] Get vehicle suspension parameters;

[0246] The anti-roll moment of the whole vehicle is determined according to the vehicle suspension parameters, the target lateral acceleration and its corresponding target roll angle.

[0247] Optionally, determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle comprises:

[0248] determining a basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle;

[0249] Get the current lateral acceleration and current roll angle;

[0250] determining a modified anti-roll moment according to the vehicle suspension parameters, the current lateral acceleration and the current roll angle;

[0251] The corrected anti-roll moment and the basic anti-roll moment are combined to determine the anti-roll moment of the entire vehicle.

[0252] Optionally, the vehicle suspension parameters include roll angle stiffness, vehicle center of mass height, vehicle roll center height and fully loaded sprung mass, and determining the basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle includes:

[0253] Substitute the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into the preset moment calculation formula to obtain the basic anti-roll moment; the preset moment calculation formula is:

[0254] M ARB =M spr (a yp cosθ+gsinθ)·(H g -H r )-K θ θ

[0255] Among them, M ARB is the basic anti-roll moment, a ypis the target lateral acceleration, θ is the target roll angle, g is the gravitational acceleration; H g is the height of the vehicle's center of mass, H r is the vehicle roll center height, m spr is the fully loaded sprung mass, K θ is the roll angle stiffness.

[0256] Optionally, determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle further includes:

[0257] Determining whether the target lateral acceleration is null;

[0258] In response to the target lateral acceleration being not empty, substituting the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into a preset moment calculation formula to obtain a basic anti-roll moment;

[0259] In response to the target lateral acceleration being null, a fitting lateral acceleration is determined according to the vehicle speed and a preset neutral turning radius, the fitting lateral acceleration is adopted as the standard lateral acceleration, and the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle are substituted into a preset moment calculation formula to obtain a basic anti-roll moment.

[0260] Optionally, determining the fitted lateral acceleration according to the vehicle speed and a preset neutral turning radius includes:

[0261] Calculating the square value of the vehicle speed;

[0262] The ratio of the square value to the preset neutral turning radius is determined as the fitted lateral acceleration.

[0263] Optionally, determining the anti-roll moment parameter according to the roll moment distribution coefficient and the anti-roll moment of the whole vehicle comprises:

[0264] Based on the roll moment distribution coefficient, determining a front axle distribution coefficient and a rear axle distribution coefficient;

[0265] Determine the front axle anti-roll moment by combining the whole vehicle anti-roll moment and the front axle distribution coefficient;

[0266] Determine the rear axle anti-roll moment by combining the vehicle anti-roll moment and the rear axle distribution coefficient;

[0267] The front axle anti-roll moment and the rear axle anti-roll moment are determined as anti-roll moment parameters.

[0268] Optionally, determining the front axle distribution coefficient and the rear axle distribution coefficient based on the roll moment distribution coefficient comprises:

[0269] Determining a front axle distribution coefficient to be equal to the roll moment distribution coefficient;

[0270] The rear axle distribution coefficient is determined as the difference between the roll moment distribution coefficient and one.

[0271] Optionally, controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter comprises:

[0272] controlling a front axle stabilizer bar of the stabilizer bar system based on the front axle anti-roll moment;

[0273] A rear axle stabilizer bar of the stabilizer bar system is controlled based on the rear axle anti-roll moment.

[0274] Optionally, controlling the steering system of the vehicle based on the target steering parameter comprises:

[0275] Get the actual yaw rate and actual lateral acceleration;

[0276] performing closed-loop control according to the target yaw rate, the actual yaw rate and the actual lateral acceleration to determine a target wheel angle;

[0277] A steering system of the vehicle is controlled based on the target wheel angle.

[0278] Optionally, performing closed-loop control according to the target yaw angular velocity, the actual yaw angular velocity and the actual lateral acceleration to determine the target wheel angle comprises:

[0279] Using the target yaw angular velocity to perform feedforward control to obtain a basic wheel angle;

[0280] Using the actual yaw angular velocity and the actual lateral acceleration to perform feedback control to obtain a corrected wheel steering angle;

[0281] The target wheel angle is determined by combining the basic wheel angle and the corrected wheel angle.

[0282] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0283] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the steps of the vehicle steering control method described above are implemented.

[0284] A vehicle steering control method, comprising:

[0285] When the vehicle is turning, determining a target steering parameter of the vehicle based on the steering condition parameter;

[0286] determining an anti-roll moment parameter of the vehicle based on the target steering parameter;

[0287] A steering system of the vehicle is controlled based on the target steering parameter, and a stabilizer bar system of the vehicle is controlled based on the anti-roll moment parameter.

[0288] Optionally, after controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter, the method further comprises:

[0289] The steering condition parameters are updated.

[0290] Optionally, the steering condition parameters include a steering wheel angle and a vehicle speed, and determining a target steering parameter of the vehicle based on the steering condition parameters includes:

[0291] determining a degree of freedom reference model corresponding to the steering system;

[0292] In combination with the steering wheel angle, the vehicle speed and the degree of freedom reference model, target steering parameters are determined, wherein the target steering parameters include a target yaw rate and a target lateral acceleration.

[0293] Optionally, the method further comprises:

[0294] A roll moment distribution coefficient is determined according to the target yaw angular velocity.

[0295] Optionally, determining the roll moment distribution coefficient according to the target yaw angular velocity comprises:

[0296] The target yaw angular velocity is used as a fuzzy control target to determine the roll moment distribution coefficient.

[0297] Optionally, determining the anti-roll moment parameter of the vehicle based on the target steering parameter includes:

[0298] An anti-roll moment parameter is determined according to the target lateral acceleration and the roll moment distribution coefficient.

[0299] Optionally, determining the anti-roll moment parameter according to the target lateral acceleration and the roll moment distribution coefficient comprises:

[0300] Determining the anti-roll moment of the vehicle according to the target lateral acceleration;

[0301] The anti-roll moment parameter is determined according to the roll moment distribution coefficient and the whole vehicle anti-roll moment.

[0302] Optionally, determining the vehicle anti-roll moment according to the target lateral acceleration includes:

[0303] Get vehicle suspension parameters;

[0304] The anti-roll moment of the whole vehicle is determined according to the vehicle suspension parameters, the target lateral acceleration and its corresponding target roll angle.

[0305] Optionally, determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle comprises:

[0306] determining a basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle;

[0307] Get the current lateral acceleration and current roll angle;

[0308] determining a modified anti-roll moment according to the vehicle suspension parameters, the current lateral acceleration and the current roll angle;

[0309] The corrected anti-roll moment and the basic anti-roll moment are combined to determine the anti-roll moment of the entire vehicle.

[0310] Optionally, the vehicle suspension parameters include roll angle stiffness, vehicle center of mass height, vehicle roll center height and fully loaded sprung mass, and determining the basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle includes:

[0311] Substitute the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into the preset moment calculation formula to obtain the basic anti-roll moment; the preset moment calculation formula is:

[0312] M ARB =m spr (a yp cosθ+gsinθ)·(H g -H r )-K θ θ

[0313] Among them, M ARB is the basic anti-roll moment, a yp is the target lateral acceleration, θ is the target roll angle, g is the gravitational acceleration; H g is the height of the vehicle's center of mass, H r is the vehicle roll center height, m spr is the fully loaded sprung mass, K θ is the roll angle stiffness.

[0314] Optionally, determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle further includes:

[0315] Determining whether the target lateral acceleration is null;

[0316] In response to the target lateral acceleration being not empty, substituting the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into a preset moment calculation formula to obtain a basic anti-roll moment;

[0317] In response to the target lateral acceleration being null, a fitting lateral acceleration is determined according to the vehicle speed and a preset neutral turning radius, the fitting lateral acceleration is adopted as the standard lateral acceleration, and the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle are substituted into a preset moment calculation formula to obtain a basic anti-roll moment.

[0318] Optionally, determining the fitted lateral acceleration according to the vehicle speed and a preset neutral turning radius includes:

[0319] Calculating the square value of the vehicle speed;

[0320] The ratio of the square value to the preset neutral turning radius is determined as the fitted lateral acceleration.

[0321] Optionally, determining the anti-roll moment parameter according to the roll moment distribution coefficient and the anti-roll moment of the whole vehicle comprises:

[0322] Based on the roll moment distribution coefficient, determining a front axle distribution coefficient and a rear axle distribution coefficient;

[0323] Determine the front axle anti-roll moment by combining the whole vehicle anti-roll moment and the front axle distribution coefficient;

[0324] Determine the rear axle anti-roll moment by combining the vehicle anti-roll moment and the rear axle distribution coefficient;

[0325] The front axle anti-roll moment and the rear axle anti-roll moment are determined as anti-roll moment parameters.

[0326] Optionally, determining the front axle distribution coefficient and the rear axle distribution coefficient based on the roll moment distribution coefficient comprises:

[0327] Determining a front axle distribution coefficient to be equal to the roll moment distribution coefficient;

[0328] The rear axle distribution coefficient is determined as the difference between the roll moment distribution coefficient and one.

[0329] Optionally, controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter comprises:

[0330] controlling a front axle stabilizer bar of the stabilizer bar system based on the front axle anti-roll moment;

[0331] A rear axle stabilizer bar of the stabilizer bar system is controlled based on the rear axle anti-roll moment.

[0332] Optionally, controlling the steering system of the vehicle based on the target steering parameter comprises:

[0333] Get the actual yaw rate and actual lateral acceleration;

[0334] performing closed-loop control according to the target yaw rate, the actual yaw rate and the actual lateral acceleration to determine a target wheel angle;

[0335] A steering system of the vehicle is controlled based on the target wheel angle.

[0336] Optionally, performing closed-loop control according to the target yaw angular velocity, the actual yaw angular velocity and the actual lateral acceleration to determine the target wheel angle comprises:

[0337] Using the target yaw angular velocity to perform feedforward control to obtain a basic wheel angle;

[0338] Using the actual yaw angular velocity and the actual lateral acceleration to perform feedback control to obtain a corrected wheel steering angle;

[0339] The target wheel angle is determined by combining the basic wheel angle and the corrected wheel angle.

[0340] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0341] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0342] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0343] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0344] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0345] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0346] The vehicle steering control method, vehicle controller, vehicle, computer-readable storage medium and computer program product provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A vehicle steering control method, characterized in that: include: When the vehicle is turning, determining a target steering parameter of the vehicle based on the steering condition parameter; determining an anti-roll moment parameter of the vehicle based on the target steering parameter; A steering system of the vehicle is controlled based on the target steering parameter, and a stabilizer bar system of the vehicle is controlled based on the anti-roll moment parameter.

2. The method according to claim 1, characterized in that After controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter, the method further includes: The steering condition parameters are updated.

3. The method according to claim 1, characterized in that The steering condition parameters include a steering wheel angle and a vehicle speed, and determining the target steering parameters of the vehicle based on the steering condition parameters includes: determining a degree of freedom reference model corresponding to the steering system; In combination with the steering wheel angle, the vehicle speed and the degree of freedom reference model, target steering parameters are determined, wherein the target steering parameters include a target yaw rate and a target lateral acceleration.

4. The method according to claim 3, characterized in that: The method further comprises: A roll moment distribution coefficient is determined according to the target yaw angular velocity.

5. The method according to claim 4, characterized in that Determining the roll moment distribution coefficient according to the target yaw angular velocity comprises: The target yaw angular velocity is used as a fuzzy control target to determine the roll moment distribution coefficient.

6. The method according to claim 4, characterized in that The determining the anti-roll moment parameter of the vehicle based on the target steering parameter comprises: An anti-roll moment parameter is determined according to the target lateral acceleration and the roll moment distribution coefficient.

7. The method according to claim 6, characterized in that Determining the anti-roll moment parameter according to the target lateral acceleration and the roll moment distribution coefficient comprises: Determining the anti-roll moment of the vehicle according to the target lateral acceleration; The anti-roll moment parameter is determined according to the roll moment distribution coefficient and the whole vehicle anti-roll moment.

8. The method according to claim 7, characterized in that Determining the vehicle anti-roll moment according to the target lateral acceleration includes: Get vehicle suspension parameters; The anti-roll moment of the whole vehicle is determined according to the vehicle suspension parameters, the target lateral acceleration and its corresponding target roll angle.

9. The method according to claim 8, characterized in that Determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle comprises: determining a basic anti-roll moment according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle; Get the current lateral acceleration and current roll angle; determining a modified anti-roll moment according to the vehicle suspension parameters, the current lateral acceleration and the current roll angle; The corrected anti-roll moment and the basic anti-roll moment are combined to determine the anti-roll moment of the entire vehicle.

10. The method according to claim 9, characterized in that The vehicle suspension parameters include roll angle stiffness, vehicle center of mass height, vehicle roll center height and fully loaded sprung mass. The basic anti-roll moment is determined according to the vehicle suspension parameters, the target lateral acceleration and the target roll angle, including: Substitute the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into the preset moment calculation formula to obtain the basic anti-roll moment; the preset moment calculation formula is: M ARB =M spr (a yp cosθ+gsinθ)·(H g -H r )-K θ i Among them, M ARB is the basic anti-roll moment, a yp is the target lateral acceleration, θ is the target roll angle, g is the gravitational acceleration; H g is the height of the vehicle's center of mass, H r is the vehicle roll center height, m spr is the fully loaded sprung mass, K θ is the roll angle stiffness.

11. The method according to claim 10, characterized in that Determining the vehicle anti-roll moment according to the vehicle suspension parameter, the target lateral acceleration and its corresponding target roll angle further includes: Determining whether the target lateral acceleration is null; In response to the target lateral acceleration being not empty, substituting the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle into a preset moment calculation formula to obtain a basic anti-roll moment; In response to the target lateral acceleration being null, a fitting lateral acceleration is determined according to the vehicle speed and a preset neutral turning radius, the fitting lateral acceleration is adopted as the standard lateral acceleration, and the roll angle stiffness, the height of the center of mass of the whole vehicle, the height of the vehicle roll center, the fully loaded sprung mass, the target lateral acceleration and the target roll angle are substituted into a preset moment calculation formula to obtain a basic anti-roll moment.

12. The method according to claim 11, characterized in that Determining the fitted lateral acceleration according to the vehicle speed and the preset neutral turning radius includes: Calculating the square value of the vehicle speed; The ratio of the square value to the preset neutral turning radius is determined as the fitted lateral acceleration.

13. The method according to claim 7, characterized in that Determining the anti-roll moment parameter according to the roll moment distribution coefficient and the anti-roll moment of the whole vehicle comprises: Based on the roll moment distribution coefficient, determining a front axle distribution coefficient and a rear axle distribution coefficient; Determine the front axle anti-roll moment by combining the whole vehicle anti-roll moment and the front axle distribution coefficient; Determine the rear axle anti-roll moment by combining the vehicle anti-roll moment and the rear axle distribution coefficient; The front axle anti-roll moment and the rear axle anti-roll moment are determined as anti-roll moment parameters.

14. The method according to claim 13, characterized in that Determining the front axle distribution coefficient and the rear axle distribution coefficient based on the roll moment distribution coefficient comprises: Determining a front axle distribution coefficient to be equal to the roll moment distribution coefficient; The rear axle distribution coefficient is determined as the difference between the roll moment distribution coefficient and one.

15. The method according to claim 13, characterized in that The method of controlling the stabilizer bar system of the vehicle based on the anti-roll moment parameter comprises: controlling a front axle stabilizer bar of the stabilizer bar system based on the front axle anti-roll moment; A rear axle stabilizer bar of the stabilizer bar system is controlled based on the rear axle anti-roll moment.

16. The method according to claim 3, characterized in that The method of controlling the steering system of the vehicle based on the target steering parameter comprises: Get the actual yaw rate and actual lateral acceleration; performing closed-loop control according to the target yaw rate, the actual yaw rate and the actual lateral acceleration to determine a target wheel angle; A steering system of the vehicle is controlled based on the target wheel angle.

17. The method according to claim 16, characterized in that The performing closed-loop control according to the target yaw rate, the actual yaw rate and the actual lateral acceleration to determine the target wheel angle comprises: Using the target yaw angular velocity to perform feedforward control to obtain a basic wheel angle; Using the actual yaw angular velocity and the actual lateral acceleration to perform feedback control to obtain a corrected wheel steering angle; The target wheel angle is determined by combining the basic wheel angle and the corrected wheel angle.

18. A vehicle controller, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the vehicle steering control method according to any one of claims 1 to 17 are implemented.

19. A vehicle, characterized in that: The vehicle controller comprises a steering system, a stabilizer bar system and the vehicle controller as claimed in claim 18.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle steering control method according to any one of claims 1 to 17 are implemented.

21. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the steps of the vehicle steering control method according to any one of claims 1 to 17.

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