Control method and device for high-speed turning insufficient steering, medium and equipment

Abstract

The invention provides a high-speed turning insufficient steering control method and device, a medium and equipment. The method comprises the steps that state parameters of a target vehicle are obtained when the target vehicle steers at a high speed; wherein the state parameters comprise dynamic parameters of the target vehicle in the running process and inherent static parameters of the target vehicle; determining a steering state of the target vehicle based on the state parameter; if the steering state shows that the steering of the target vehicle is insufficient, calculating a target slip rate of the target vehicle; calculating the target torque of the target vehicle based on the target slip rate and the longitudinal adhesive force provided for the target vehicle by the road surface; controlling the target vehicle to run based on the target torque; namely, the state parameters of the target vehicle are collected when the target vehicle turns at a high speed, whether steering is insufficient or not is judged based on the state parameters, if steering is insufficient, the target slip rate is calculated, the target torque is calculated by combining the longitudinal adhesive force provided for the target vehicle by the road surface to control the target vehicle to run stably, and therefore stability and safety are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, device, medium and equipment for controlling understeer during high-speed cornering. Background Art

[0002] The car steering system is a system used by the driver to control the direction of the car's movement. It is a basic and important system in the car. The quality of its performance is directly related to the car's handling stability, and plays a key role in ensuring the safe driving of the car and improving the driver's working conditions. When the car is turning, especially when turning at high speed, the vehicle's yaw and lateral acceleration increase. In order to balance the impact of the lateral acceleration, each tire will also generate lateral force and a sideslip angle, which may cause understeer. In addition, when turning on a road with low adhesion, understeer may also occur. If the car understeers when turning at high speed, it is likely to deviate from the expected trajectory, thereby causing a series of driving feel and safety problems. Therefore, there is an urgent need for a solution to the problem of understeer when turning at high speed. Summary of the invention

[0003] In order to solve the above technical problems, the present invention is proposed. The embodiments of the present invention provide a method, device, medium and equipment for controlling understeer in high-speed cornering.

[0004] According to one aspect of the present invention, a method for controlling understeer in high-speed cornering is provided, comprising: obtaining state parameters of a target vehicle when the target vehicle is turning at high speed; wherein the state parameters include dynamic parameters of the target vehicle during operation and static parameters inherent to the target vehicle; determining a steering state of the target vehicle based on the state parameters; if the steering state indicates understeer of the target vehicle, calculating a target slip ratio of the target vehicle; calculating a target torque of the target vehicle based on the target slip ratio and the longitudinal adhesion provided by a road surface to the target vehicle; and controlling the operation of the target vehicle based on the target torque.

[0005] In one embodiment, determining the steering state of the target vehicle based on the state parameters includes: calculating a predicted yaw velocity of the target vehicle based on the state parameters; calculating a yaw state index of the target vehicle based on the predicted yaw velocity and the measured yaw velocity of the target vehicle; calculating a steering demand index of the target vehicle based on the state parameters and the predicted yaw velocity; calculating a ground adhesion index of the target vehicle based on the state parameters; and determining the steering state based on the yaw state index, the steering demand index and the ground adhesion index.

[0006] In one embodiment, the yaw state index includes a ratio of the predicted yaw velocity to the measured yaw velocity, the steering demand index includes a product of the predicted yaw velocity and a reference vehicle speed, and the ground adhesion index includes a static target torque of the target vehicle; wherein, determining the steering state based on the yaw state index, the steering demand index and the ground adhesion index includes: if the ratio of the predicted yaw velocity to the measured yaw velocity is greater than 1, the product of the predicted yaw velocity and the reference vehicle speed is greater than the product of the road adhesion coefficient of the target vehicle and the acceleration of gravity, and the static target torque of the target vehicle is less than the target torque of the target vehicle, then determining that the steering state is understeering.

[0007] In one embodiment, the calculating the target slip rate of the target vehicle includes: calculating the target slip rate based on the yaw state index and the longitudinal reference slip rate; wherein the longitudinal reference slip rate is obtained by looking up a table according to the road adhesion coefficient and the vehicle speed of the target vehicle.

[0008] In one embodiment, calculating the target torque of the target vehicle based on the target slip rate and the longitudinal adhesion provided by the road surface to the target vehicle includes: calculating the initial torque of the target vehicle based on the target slip rate; calculating the attenuation step based on the initial torque and the longitudinal adhesion; calculating the target torque based on the initial torque and the attenuation step.

[0009] In one embodiment, the calculating of the attenuation step length based on the initial torque and the longitudinal adhesion includes: calculating the attenuation step length based on the difference between the initial torque and the longitudinal adhesion and the duration for which the target vehicle enters the understeering state; wherein the duration for which the target vehicle enters the understeering state is related to the yaw angular acceleration and the road adhesion coefficient of the target vehicle.

[0010] In one embodiment, controlling the operation of the target vehicle based on the target torque includes: calculating the main shaft torque and the secondary shaft torque of the target vehicle based on the target torque; and controlling the operation of the target vehicle based on the main shaft torque and the secondary shaft torque of the target vehicle.

[0011] According to another aspect of the present invention, a control device for high-speed cornering understeer is provided, comprising: a state parameter acquisition module, used to acquire the state parameters of the target vehicle when the target vehicle is turning at high speed; wherein the state parameters include dynamic parameters of the target vehicle during operation and static parameters inherent to the target vehicle; a steering state determination module, used to determine the steering state of the target vehicle based on the state parameters; a slip ratio calculation module, used to calculate a target slip ratio of the target vehicle if the steering state indicates understeer of the target vehicle; a target torque calculation module, used to calculate the target torque of the target vehicle based on the target slip ratio and the longitudinal adhesion provided to the target vehicle by the road surface; and a target vehicle control module, used to control the operation of the target vehicle based on the target torque.

[0012] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute any of the above methods.

[0013] According to another aspect of the present invention, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor is configured to execute any one of the methods described above.

[0014] The present invention provides a control method, device, medium and equipment for understeer during high-speed cornering, which obtains state parameters of a target vehicle when the target vehicle is turning at high speed; wherein the state parameters include dynamic parameters of the target vehicle during operation and static parameters inherent to the target vehicle; based on the state parameters, the steering state of the target vehicle is determined; if the steering state indicates understeer of the target vehicle, the target slip rate of the target vehicle is calculated; based on the target slip rate and the longitudinal adhesion provided by the road surface to the target vehicle, the target torque of the target vehicle is calculated; based on the target torque, the operation of the target vehicle is controlled; that is, when the target vehicle is cornering at high speed, its state parameters are collected, and based on its state parameters, it is determined whether it is understeer, if understeer exists, the target slip rate is calculated, and the target torque is calculated in combination with the longitudinal adhesion provided by the road surface to the target vehicle to control the stable operation of the target vehicle, thereby improving stability and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0016] Figure 1It is a flow chart of a method for controlling understeer during high-speed cornering provided by an exemplary embodiment of the present invention.

[0017] Figure 2 It is a schematic diagram of high-speed cornering steering force analysis provided by an exemplary embodiment of the present invention.

[0018] Figure 3 It is a logical diagram of calculating the yaw state index during a high-speed left turn provided by an exemplary embodiment of the present invention.

[0019] Figure 4 It is a schematic diagram of calculation logic of controlling torque during understeering in high-speed cornering provided by an exemplary embodiment of the present invention.

[0020] Figure 5 It is a schematic structural diagram of a high-speed cornering understeer control device provided by an exemplary embodiment of the present invention.

[0021] Figure 6 is a structural diagram of an electronic device provided by an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0022] Below, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described here.

[0023] Figure 1 FIG. 1 is a flow chart of a method for controlling understeer during high-speed cornering provided by an exemplary embodiment of the present invention. Figure 1 As shown, the high-speed cornering understeer control method comprises the following steps: Step 110: Acquire state parameters of the target vehicle when the target vehicle turns at high speed.

[0024] The state parameters include dynamic parameters of the target vehicle during operation and static parameters inherent to the target vehicle. The present invention collects the dynamic parameters (operation parameters) and static parameters inherent to the target vehicle (i.e., vehicle state parameters) of the target vehicle during operation in real time, wherein the motion parameters may include the speed and measured yaw rate of the target vehicle, and the state parameters may include the steering wheel steering angle and wheelbase of the target vehicle, so as to obtain the state parameters of the target vehicle during operation, especially during high-speed steering, so as to provide basic data reference for subsequent judgment of whether there is understeering and control strategy for understeering.

[0025] Step 120: Determine the steering state of the target vehicle based on the state parameter.

[0026] After obtaining the state parameters of the target vehicle, the present invention determines the steering state of the target vehicle based on the current state parameters if the target vehicle is in a high-speed steering state, that is, determines whether the target vehicle has an understeering condition. Figure 2 As shown in the figure, the force analysis of the target vehicle shows that the friction force provided by the ground to the target vehicle includes two parts: the longitudinal force provides driving force and the lateral force provides centripetal force. When turning at high speed, the turning radius is much larger than the wheelbase of the vehicle. If F 离心 Greater than F 侧向 , the target vehicle has understeer and the vehicle will slip sideways. At this time, changing the target slip rate to improve understeer can no longer improve the stability of the vehicle in time, and a quick response to torque is required.

[0027] Step 130 : If the steering state indicates that the target vehicle is understeering, then calculate a target slip ratio of the target vehicle.

[0028] If it is determined that the target vehicle has understeer based on the state parameters of the target vehicle, the target slip rate of the target vehicle is further calculated to determine the target slip rate of the target vehicle under the current state parameters, that is, to obtain the maximum slip rate of the target vehicle to ensure stability under the current state parameters.

[0029] Step 140: Calculate the target torque of the target vehicle based on the target slip ratio and the longitudinal adhesion provided by the road surface to the target vehicle.

[0030] After determining the target slip rate of the target vehicle, the present invention combines the longitudinal adhesion force (i.e., the above-mentioned F 纵向 ), calculate the target torque of the target vehicle, that is, the target torque to maintain the target vehicle without lateral slip.

[0031] Step 150: Control the target vehicle operation based on the target torque.

[0032] After the target torque of the target vehicle is calculated, the operation of the target vehicle is controlled based on the target torque to ensure stable operation of the target vehicle.

[0033] The present invention provides a method for controlling understeer during high-speed cornering, which obtains state parameters of a target vehicle when the target vehicle is turning at high speed; wherein the state parameters include dynamic parameters of the target vehicle during operation and static parameters inherent to the target vehicle; based on the state parameters, the steering state of the target vehicle is determined; if the steering state indicates understeer of the target vehicle, the target slip rate of the target vehicle is calculated; based on the target slip rate and the longitudinal adhesion provided by the road surface to the target vehicle, the target torque of the target vehicle is calculated; based on the target torque, the operation of the target vehicle is controlled; that is, when the target vehicle is cornering at high speed, its state parameters are collected, and based on its state parameters, it is determined whether it is understeer, if understeer exists, the target slip rate is calculated, and the target torque is calculated in combination with the longitudinal adhesion provided by the road surface to the target vehicle to control the stable operation of the target vehicle, thereby improving stability and safety.

[0034] In one embodiment, the specific implementation method of the above step 120 can be: based on the state parameters, calculating the predicted yaw angular velocity of the target vehicle; based on the predicted yaw angular velocity and the measured yaw angular velocity of the target vehicle, calculating the yaw state index of the target vehicle; based on the state parameters and the predicted yaw angular velocity, calculating the steering demand index of the target vehicle; based on the state parameters, calculating the ground adhesion index of the target vehicle; based on the yaw state index, the steering demand index and the ground adhesion index, determining the steering state.

[0035] The present invention collects state parameters of a target vehicle during high-speed steering of the target vehicle, calculates a yaw state index, a steering demand index and a ground adhesion index of the target vehicle based on the state parameters, and determines the steering state of the target vehicle in combination with the yaw state index, the steering demand index and the ground adhesion index. The steering state of the target vehicle is comprehensively judged based on the indicators of the three dimensions of the yaw state index, the steering demand index and the ground adhesion index to determine whether the target vehicle has understeering.

[0036] In one embodiment, the yaw state index includes a ratio of a predicted yaw velocity to a measured yaw velocity, the steering demand index includes a product of a predicted yaw velocity and a reference vehicle speed, and the ground adhesion index includes a static target torque of the target vehicle; wherein, a specific implementation manner of the above step 120 may be: if the ratio of the predicted yaw velocity to the measured yaw velocity is greater than 1, the product of the predicted yaw velocity and the reference vehicle speed is greater than the product of the road adhesion coefficient of the target vehicle and the acceleration of gravity, and the static target torque of the target vehicle is less than the target torque of the target vehicle, then the steering state is determined to be understeering.

[0037] The present invention obtains the yaw state index by calculating the ratio between the predicted yaw angular velocity and the measured yaw angular velocity, wherein the calculation formula of the predicted yaw angular velocity is as follows: ; in, To predict the yaw rate, is the vehicle speed, is the wheelbase, is the steering wheel angle, is the stability factor, is the characteristic speed, A parameter that characterizes the amount of understeer (i.e., the maximum value of the yaw rate gain of the target vehicle in steady state).

[0038] The present invention can use inertial sensors and other equipment to collect the actual measured yaw angular velocity of the target vehicle in real time (such as Figure 3 shown ), and multiply the measured yaw rate by the scaling factor fac (related to steering demand coefficient, road adhesion coefficient and driver mode, and greater than 1) to obtain After the predicted yaw rate is calculated, and The ratio between them is used to obtain the yaw state index.

[0039] The present invention can calculate the product of the predicted yaw rate and the reference vehicle speed to obtain a steering demand index, wherein the calculation formula of the steering demand index is as follows: Co TurningDemand =YrACK×Vx / (mue×g) ; in, Vx is the reference speed, Co TurningDemand To turn to demand indicators, mue is the road adhesion coefficient, g is the acceleration due to gravity.

[0040] The present invention can calculate the ground adhesion index according to the static target torque of the target vehicle, wherein the calculation formula of the ground adhesion index is as follows: MTar StaticVeh = mue × m × g × r × fac; in, MTar StaticVeh is the ground adhesion index, m is the mass of the target vehicle, r is the tire radius of the target vehicle.

[0041] After calculating the yaw state index, the steering demand index and the ground adhesion index, the present invention comprehensively determines whether the target vehicle is understeering by combining the yaw state index, the steering demand index and the ground adhesion index. For example, if the yaw state index is greater than 1, the steering demand index is greater than 1, and the ground adhesion index is less than the target torque of the target vehicle, the steering state is determined to be understeering.

[0042] In one embodiment, the specific implementation of the above step 130 may be: based on the yaw state index and the longitudinal reference slip rate, the target slip rate is calculated; wherein the longitudinal reference slip rate is obtained by looking up the table according to the road adhesion coefficient and the vehicle speed of the target vehicle.

[0043] After calculating the yaw state index, the present invention calculates the target slip rate in combination with the longitudinal reference slip rate, wherein the longitudinal reference slip rate represents the target slip rate of the target vehicle when it is traveling in a straight line (not turning), and the longitudinal reference slip rate is obtained by looking up the table according to the road adhesion coefficient and the vehicle speed of the target vehicle. When the target vehicle is understeering, the slip rate of the target vehicle when it is understeering is adjusted by calculating the target slip rate of the target vehicle when it is traveling in a straight line as a reference, so as to improve the stability of the target vehicle.

[0044] Specifically, when the target vehicle is understeering, the present invention defines a proportional term coefficient and an integral term coefficient to compensate for the slip rate of the target vehicle to obtain a target slip rate of the target vehicle, and adjusts the driving torque or braking torque of the target vehicle based on the target slip rate to improve the steering stability of the target vehicle. The calculation formula of the target slip rate of the target vehicle is as follows: US_vslip=vslip_base+Kp × (-1) × ( ) +Ki × t ×(-1)×( ); in, US_vslip is the target slip rate, vslip_base is the longitudinal reference slip rate, is the target yaw rate ratio, Kp is the proportional term coefficient, Ki is the integral term coefficient, Kp、Ki Related to the road adhesion coefficient, t It is the duration from the moment when the target vehicle is determined to be understeering.

[0045] In one embodiment, the specific implementation of the above step 140 may be: based on the target slip rate, calculating the initial torque of the target vehicle; based on the initial torque and the longitudinal adhesion, calculating the attenuation step; based on the initial torque and the attenuation step, calculating the target torque.

[0046] After calculating the target slip rate of the target vehicle, the present invention calculates the initial torque of the target vehicle based on the target slip rate, calculates the attenuation step length based on the initial torque and the longitudinal adhesion, and adjusts the torque of the target vehicle with the attenuation step length as the iterative step length to ensure the stability of the target vehicle during high-speed steering.

[0047] In one embodiment, the specific implementation method of the above step 140 can be: based on the difference between the initial torque and the longitudinal adhesion and the time when the target vehicle enters the understeering state, the attenuation step is calculated; wherein the time when the target vehicle enters the understeering state is related to the yaw angular acceleration and the road adhesion coefficient of the target vehicle.

[0048] The present invention calculates the attenuation step length according to the initial torque, the longitudinal adhesion, and the duration of the target vehicle entering the understeering state, wherein the calculation formula of the attenuation step length is as follows: M_Step=(dT / t)×(M_PID−M_Static) ; in, M_Step is the decay step length, dT For the software operation cycle, t is the duration of the target vehicle entering the understeering state, which is related to the yaw angular acceleration and the road adhesion coefficient. M_PID is the initial torque (e.g. Figure 4 upper curve shown), M_ Static The longitudinal adhesion provided to the road surface (such as Figure 4 lower curve shown).

[0049] After the attenuation step length is calculated, the target torque of the target vehicle is calculated based on the attenuation step length and the initial torque, that is, the target torque M_US = M_PID - M_Step (like Figure 4 middle curve shown).

[0050] In one embodiment, the specific implementation of the above step 150 may be: based on the target torque, calculating the main shaft torque and the secondary shaft torque of the target vehicle; based on the main shaft torque and the secondary shaft torque of the target vehicle, controlling the operation of the target vehicle.

[0051] After calculating the target torque of the target vehicle, the present invention further calculates the main shaft torque and the secondary shaft torque in combination with the power source structure of the target vehicle, so as to perform torque control on each drive shaft and each wheel to improve control accuracy.

[0052] If the target vehicle has a single power source (front or rear drive), the secondary shaft torque M_ Countershaft =M_US×K , spindle torque M_ Spindle =M_US-M_ Auxiliary shaft; wherein, K is the distribution coefficient.

[0053] If the target vehicle has multiple power sources, the secondary shaft attenuation step length M_Step_ Secondary axis = M_Step × Attenuation step coefficient, spindle attenuation step M_Step_ Spindle = M_Step-M_Step_Auxiliary shaft, wherein the attenuation step coefficient is related to the distribution coefficient of the auxiliary shaft and the reference vehicle speed; auxiliary shaft torque M_ Countershaft =M_PID - M_Step_ Countershaft, main shaft torque M_ Spindle =M_PID - M_Step_ Spindle.

[0054] Figure 5 Schematic diagram of the structure of a high-speed cornering understeer control device provided by an exemplary embodiment of the present invention. Figure 5 As shown, the high-speed cornering understeer control device 50 includes: a state parameter acquisition module 51, used to obtain the state parameters of the target vehicle when the target vehicle is turning at high speed; wherein the state parameters include the dynamic parameters of the target vehicle during operation and the static parameters inherent to the target vehicle; a steering state determination module 52, used to determine the steering state of the target vehicle based on the state parameters; a slip ratio calculation module 53, used to calculate the target slip ratio of the target vehicle if the steering state indicates understeer of the target vehicle; a target torque calculation module 54, used to calculate the target torque of the target vehicle based on the target slip ratio and the longitudinal adhesion provided by the road surface to the target vehicle; a target vehicle control module 55, used to control the operation of the target vehicle based on the target torque.

[0055] The present invention provides a control device for understeering during high-speed cornering, which obtains the state parameters of a target vehicle when the target vehicle is turning at high speed through a state parameter acquisition module 51; wherein the state parameters include dynamic parameters of the target vehicle during operation and static parameters inherent to the target vehicle; a steering state determination module 52 determines the steering state of the target vehicle based on the state parameters; if the steering state indicates understeering of the target vehicle, a slip ratio calculation module 53 calculates the target slip ratio of the target vehicle; a target torque calculation module 54 calculates the target torque of the target vehicle based on the target slip ratio and the longitudinal adhesion provided by the road surface to the target vehicle; a target vehicle control module 55 controls the operation of the target vehicle based on the target torque; that is, when the target vehicle is cornering at high speed, its state parameters are collected, and based on its state parameters, it is determined whether it is understeering, if understeering exists, the target slip ratio is calculated, and the target torque is calculated in combination with the longitudinal adhesion provided by the road surface to control the stable operation of the target vehicle, thereby improving stability and safety.

[0056] In one embodiment, the steering state determination module 52 may be further configured as follows: based on the state parameters, calculating the predicted yaw velocity of the target vehicle; based on the predicted yaw velocity and the measured yaw velocity of the target vehicle, calculating the yaw state index of the target vehicle; based on the state parameters and the predicted yaw velocity, calculating the steering demand index of the target vehicle; based on the state parameters, calculating the ground adhesion index of the target vehicle; and determining the steering state based on the yaw state index, the steering demand index and the ground adhesion index.

[0057] In one embodiment, the yaw state index includes the ratio of the predicted yaw velocity to the measured yaw velocity, the steering demand index includes the product of the predicted yaw velocity and the reference vehicle speed, and the ground adhesion index includes the static target torque of the target vehicle; wherein, the above-mentioned steering state determination module 52 can be further configured as: if the ratio of the predicted yaw velocity to the measured yaw velocity is greater than 1, the product of the predicted yaw velocity and the reference vehicle speed is greater than the product of the road adhesion coefficient of the target vehicle and the acceleration of gravity, and the static target torque of the target vehicle is less than the target torque of the target vehicle, then the steering state is determined to be understeering.

[0058] In one embodiment, the slip rate calculation module 53 may be further configured to calculate a target slip rate based on a yaw state index and a longitudinal reference slip rate; wherein the longitudinal reference slip rate is obtained by looking up a table according to the road adhesion coefficient and the vehicle speed of the target vehicle.

[0059] In one embodiment, the target torque calculation module 54 may be further configured to: calculate the initial torque of the target vehicle based on the target slip ratio; calculate the attenuation step length based on the initial torque and the longitudinal adhesion; and calculate the target torque based on the initial torque and the attenuation step length.

[0060] In one embodiment, the target torque calculation module 54 may be further configured to calculate the attenuation step length based on the difference between the initial torque and the longitudinal adhesion and the duration for the target vehicle to enter the understeering state; wherein the duration for the target vehicle to enter the understeering state is related to the yaw angular acceleration and the road adhesion coefficient of the target vehicle.

[0061] In one embodiment, the target vehicle control module 55 may be further configured to: calculate the main shaft torque and the secondary shaft torque of the target vehicle based on the target torque; and control the operation of the target vehicle based on the main shaft torque and the secondary shaft torque of the target vehicle.

[0062] Below, reference Figure 6 The electronic device according to the embodiment of the present invention is described. The electronic device may be any one or both of the first device and the second device, or a stand-alone device independent of them, and the stand-alone device may communicate with the first device and the second device to receive the collected input signals from them.

[0063] Figure 6 A block diagram of an electronic device according to an embodiment of the present invention is illustrated.

[0064] like Figure 6 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0065] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0066] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the methods of the various embodiments of the present invention described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0067] In one example, the electronic device 10 may further include: an input device 13 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0068] When the electronic device is a stand-alone device, the input device 13 may be a communication network connector, which is used to receive the collected input signals from the first device and the second device.

[0069] In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.

[0070] The output device 14 can output various information to the outside, including the determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0071] Of course, to simplify, Figure 6 Only some of the components related to the present invention in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 10 may also include any other appropriate components.

[0072] In addition to the above-mentioned methods and devices, an embodiment of the present invention may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present invention described in the above-mentioned "Exemplary Method" section of this specification.

[0073] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the embodiments of the present invention, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0074] In addition, an embodiment of the present invention may also be a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, enable the processor to execute the steps of the method according to various embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0075] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0076] The basic principle of the present invention is described above in conjunction with specific embodiments. However, it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present invention are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. must be possessed by each embodiment of the present invention. In addition, the specific details disclosed above are only for the purpose of illustration and facilitation of understanding, rather than limitation, and the above details do not limit the present invention to being implemented by adopting the above specific details.

[0077] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present invention are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to", and can be used interchangeably with it.

[0078] It should also be noted that in the device, apparatus and method of the present invention, each component or each step can be decomposed and / or reassembled, and such decomposition and / or reassembly should be regarded as an equivalent solution of the present invention.

[0079] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present invention. Therefore, the present invention is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0080] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present invention to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for controlling understeer during high-speed cornering, characterized in that: include: Acquiring state parameters of the target vehicle when the target vehicle turns at high speed; wherein the state parameters include dynamic parameters of the target vehicle during operation and static parameters inherent to the target vehicle; Based on the state parameter, determining a steering state of the target vehicle; If the steering state indicates understeering of the target vehicle, calculating a target slip ratio of the target vehicle; Calculating a target torque of the target vehicle based on the target slip ratio and the longitudinal adhesion provided by the road surface to the target vehicle; Based on the target torque, the target vehicle operation is controlled.

2. The high-speed cornering understeer control method according to claim 1, characterized in that: Determining the steering state of the target vehicle based on the state parameter includes: Based on the state parameter, calculating a predicted yaw rate of the target vehicle; Calculating a yaw state index of the target vehicle based on the predicted yaw rate and the measured yaw rate of the target vehicle; Calculating a steering demand index of the target vehicle based on the state parameter and the predicted yaw rate; Based on the state parameter, calculating a ground adhesion index of the target vehicle; The steering state is determined based on the yaw state indicator, the steering demand indicator, and the ground adhesion indicator.

3. The high-speed cornering understeer control method according to claim 2, characterized in that: The yaw state index includes a ratio of the predicted yaw angular velocity to the measured yaw angular velocity, the steering demand index includes a product of the predicted yaw angular velocity and a reference vehicle speed, and the ground adhesion index includes a static target torque of the target vehicle; wherein, determining the steering state based on the yaw state index, the steering demand index and the ground adhesion index includes: If the ratio of the predicted yaw velocity to the measured yaw velocity is greater than 1, the product of the predicted yaw velocity and the reference vehicle speed is greater than the product of the road adhesion coefficient and the gravitational acceleration of the target vehicle, and the static target torque of the target vehicle is less than the target torque of the target vehicle, then the steering state is determined to be understeering.

4. The high-speed cornering understeer control method according to claim 2, characterized in that: The calculating the target slip ratio of the target vehicle comprises: The target slip rate is calculated based on the yaw state index and the longitudinal reference slip rate; wherein the longitudinal reference slip rate is obtained by looking up a table according to the road adhesion coefficient and the vehicle speed of the target vehicle.

5. The high-speed cornering understeer control method according to claim 1, characterized in that: The calculating the target torque of the target vehicle based on the target slip ratio and the longitudinal adhesion provided by the road surface to the target vehicle comprises: calculating an initial torque of the target vehicle based on the target slip ratio; Calculating a decay step length based on the initial torque and the longitudinal adhesion; The target torque is calculated based on the initial torque and the decay step length.

6. The high-speed cornering understeer control method according to claim 5, characterized in that: The calculating the attenuation step length based on the initial torque and the longitudinal adhesion comprises: The attenuation step is calculated based on the difference between the initial torque and the longitudinal adhesion and the duration of the target vehicle entering the understeering state; wherein the duration of the target vehicle entering the understeering state is related to the yaw angular acceleration and the road adhesion coefficient of the target vehicle.

7. The high-speed cornering understeer control method according to claim 1, characterized in that: The controlling the target vehicle to run based on the target torque includes: Based on the target torque, calculating the primary shaft torque and the secondary shaft torque of the target vehicle; The target vehicle is controlled to operate based on the primary shaft torque and the secondary shaft torque of the target vehicle.

8. A high-speed cornering understeer control device, characterized in that: include: A state parameter acquisition module, used to acquire the state parameters of the target vehicle when the target vehicle turns at high speed; wherein the state parameters include the dynamic parameters of the target vehicle during operation and the inherent static parameters of the target vehicle; A steering state determination module, used for determining the steering state of the target vehicle based on the state parameter; a slip ratio calculation module, configured to calculate a target slip ratio of the target vehicle if the steering state indicates understeering of the target vehicle; a target torque calculation module, configured to calculate a target torque of the target vehicle based on the target slip ratio and the longitudinal adhesion provided by the road surface to the target vehicle; The target vehicle control module is used to control the operation of the target vehicle based on the target torque.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and the computer program is used to execute the method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is used to execute the method described in any one of claims 1 to 7.

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