Yaw velocity calculation method, electronic equipment, vehicle and storage medium

Abstract

The invention discloses a yaw velocity calculation method, electronic equipment, a vehicle and a storage medium. Belongs to the technical field of vehicles. The method comprises the following steps: calculating a theoretical yaw velocity based on a two-degree-of-freedom vehicle model; determining steering system delay, tire relaxation delay and vehicle body inertia delay; calculating an equivalent total delay according to the steering system delay, the tire relaxation delay and the vehicle body inertia delay; and performing prediction compensation on the theoretical yaw velocity according to the equivalent total delay by adopting a phase lead correction algorithm to obtain the compensated yaw velocity. According to the method, through multi-source delay separation modeling, the calculation precision of the target yaw velocity of the four-wheel steering vehicle is remarkably improved. Different vehicle speeds, loads and road conditions are adapted through a dynamic compensation algorithm, and the stability control false triggering probability is reduced. Moreover, the method does not need to add hardware, is realized only through software optimization, is low in cost, and can be easily integrated to an existing system.

Description

Technical Field

[0001] The present invention belongs to the field of vehicle technology, and in particular relates to a yaw angular velocity calculation method, electronic equipment, a vehicle, and a storage medium. Background Art

[0002] In the stability control of four-wheel steering vehicles, accurate calculation of the target yaw rate is crucial for achieving vehicle dynamic control. Traditional methods, typically based on a two-degree-of-freedom vehicle model, directly calculate the theoretical yaw rate using the front and rear wheel angles and vehicle speed as input.

[0003] However, actual vehicle systems contain multiple sources of delay, including steering system delay, tire dynamic hysteresis, and vehicle inertia delay. Existing technologies often ignore these delays or compensate with fixed time constants, resulting in significant deviations between the target yaw rate and the actual value, leading to false triggering of the stability control system. This is particularly true in four-wheel steering vehicles, where coordinated control of the front and rear wheels further amplifies the impact of these delays. Summary of the Invention

[0004] An object of the present invention is to provide a yaw rate calculation method, electronic equipment, vehicle and storage medium, which can solve the technical problem of low yaw rate calculation accuracy in the prior art.

[0005] According to a first aspect of the present invention, a method for calculating a yaw angular velocity is provided, comprising:

[0006] Calculate the theoretical yaw rate based on the two-degree-of-freedom vehicle model;

[0007] Determine steering system delay, tire relaxation delay, and vehicle body inertia delay;

[0008] calculating an equivalent total delay according to the steering system delay, the tire relaxation delay, and the vehicle body inertia delay;

[0009] A phase advance correction algorithm is adopted to predict and compensate the theoretical yaw angular velocity according to the equivalent total delay to obtain a compensated yaw angular velocity.

[0010] Optionally, the calculating the theoretical yaw rate based on the two-degree-of-freedom vehicle model includes:

[0011] The theoretical yaw rate is calculated according to the following formula:

[0012] ;

[0013] in, is the theoretical yaw angular velocity, is the wheelbase, is the stability factor, is the vehicle speed, is the front wheel turning angle, is the rear wheel turning angle, is the rear wheel steering proportional coefficient.

[0014] Optionally, the steering system delay includes a response time of a front steering mechanism and a response time of a rear steering mechanism, and the response time of the front steering mechanism and the response time of the rear steering mechanism are obtained by fitting a real vehicle step steering experiment.

[0015] Optionally, the tire relaxation delay includes a front tire relaxation time and a rear tire relaxation time;

[0016] The front tire relaxation time is calculated according to the following formula:

[0017] ;

[0018] in, is the front tire relaxation time, is the relaxed length of the front tire, is the vehicle speed;

[0019] The rear tire relaxation time is calculated according to the following formula:

[0020] ;

[0021] in, The relaxation time of the rear tire, The relaxed length of the rear tire.

[0022] Optionally, the vehicle body inertia delay is calculated according to the following formula:

[0023] ;

[0024] in, is the vehicle body inertia delay, is the moment of inertia, is the total cornering stiffness, is the distance from the vehicle's center of mass to the front axle, is the distance from the vehicle's center of mass to the rear axle.

[0025] Optionally, the calculating the equivalent total delay according to the steering system delay, the tire relaxation delay, and the vehicle body inertia delay includes:

[0026] The equivalent total delay is calculated according to the following formula:

[0027] ;

[0028] in, is the equivalent total delay, is the response time of the front steering mechanism, is the response time of the rear steering mechanism, is the front tire relaxation time, The relaxation time of the rear tire, This is the vehicle body inertia delay.

[0029] Optionally, the adopting a phase advance correction algorithm to predict and compensate the theoretical yaw angular velocity according to the equivalent total delay to obtain the compensated yaw angular velocity includes:

[0030] The compensated yaw rate is calculated using the following formula:

[0031] ;

[0032] in, is the yaw rate after compensation, is the theoretical yaw angular velocity at the current moment, is the theoretical yaw angular velocity at the previous moment, is the equivalent total delay, For the control cycle.

[0033] According to a second aspect of the present invention, an electronic device is provided, comprising a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of a yaw angular velocity calculation method as described in the first aspect of the present invention are implemented.

[0034] According to a third aspect of the present invention, a vehicle is provided, comprising the electronic device according to the second aspect of the present invention.

[0035] According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the yaw angular velocity calculation method as described in the first aspect of the present invention are implemented.

[0036] The present invention significantly improves the calculation accuracy of the target yaw rate for four-wheel-steering vehicles through multi-source delay separation modeling. A dynamic compensation algorithm adapts to varying vehicle speeds, loads, and road conditions, reducing the probability of false triggering of stability control. Furthermore, the present invention requires no additional hardware and is implemented solely through software optimization, resulting in low cost and easy integration into existing systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of a method for calculating yaw angular velocity in an embodiment of the present invention.

[0038] Figure 2 Schematic diagram of calibrating delay parameters of a real vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0040] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0041] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0042] It should be noted that like reference numerals and letters refer to like items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] In the present description, references to features referred to as "first" or "second" may explicitly or implicitly include one or more of these features. In the present description, unless otherwise specified, "plurality" means two or more. Furthermore, the term "and / or" in this specification refers to at least one of the connected entities, and the character " / " generally indicates an "or" relationship between the connected entities.

[0044] like Figure 1 As shown, this embodiment introduces a yaw angular velocity calculation method, including steps 1100-1400.

[0045] Step 1100: Calculate the theoretical yaw rate based on the two-degree-of-freedom vehicle model.

[0046] In a two-degree-of-freedom vehicle model, the effects of the steering system and suspension are neglected, and the vehicle body moves only parallel to the ground. This means vertical motion along the Z axis, pitch motion about the Y axis, and roll motion about the X axis are ignored. Changes in tire properties due to load variations on the left and right wheels, as well as the effects of tire aligning torque, are also ignored. The effect of ground tangential forces on tire cornering characteristics is not considered, and aerodynamic forces are eliminated. The actual car model is simplified to a two-wheeled bicycle model, a two-degree-of-freedom vehicle model with lateral and yaw motion, supported on the ground by two laterally elastic front and rear tires.

[0047] Specifically, the theoretical yaw rate is calculated according to the following formula:

[0048] ;

[0049] in, is the theoretical yaw angular velocity, is the wheelbase, is the stability factor, is the vehicle speed, is the front wheel turning angle, is the rear wheel turning angle, is the rear wheel steering proportional coefficient.

[0050] Step 1200: Determine steering system delay, tire relaxation delay, and vehicle body inertia delay.

[0051] Steering system delay is primarily determined by the vehicle's steering mechanism. The vehicle in this invention is a four-wheel-steering vehicle, and its steering mechanism includes a front steering mechanism and a rear steering mechanism. The front steering mechanism controls the steering of the vehicle's front wheels, while the rear steering mechanism controls the steering of the vehicle's rear wheels.

[0052] Tire relaxation delay describes the dynamic response lag of the tire cornering force from zero to the steady-state value, which directly affects the steering transient characteristics of the vehicle. The tire relaxation delay in the present invention includes the front tire relaxation time and the rear tire relaxation time.

[0053] The front tire relaxation time is calculated according to the following formula:

[0054] ;

[0055] in, is the front tire relaxation time, is the relaxed length of the front tire, For vehicle speed.

[0056] The rear tire relaxation time is calculated according to the following formula:

[0057] ;

[0058] in, The relaxation time of the rear tire, The relaxed length of the rear tire.

[0059] Body inertia delay is a parameter in vehicle dynamics that describes the lag in body motion response to steering input or external excitation.

[0060] The vehicle body inertia delay is calculated according to the following formula:

[0061] ;

[0062] in, is the vehicle body inertia delay, is the moment of inertia, is the total cornering stiffness, is the distance from the vehicle's center of mass to the front axle, is the distance from the vehicle's center of mass to the rear axle.

[0063] Step 1300: Calculate an equivalent total delay based on the steering system delay, the tire relaxation delay, and the vehicle body inertia delay.

[0064] The equivalent total delay includes the three delays mentioned above. The equivalent total delay reflects the comprehensive time lag from driver input to the vehicle's actual stable dynamic response.

[0065] Step 1400: using a phase advance correction algorithm to predict and compensate the theoretical yaw rate according to the equivalent total delay to obtain a compensated yaw rate.

[0066] This invention significantly improves the calculation accuracy of the target yaw rate for four-wheel-steering vehicles through multi-source delay separation modeling. A dynamic compensation algorithm adapts to varying vehicle speeds, loads, and road conditions, reducing the probability of false triggering of stability control. Furthermore, this invention requires no additional hardware and is implemented solely through software optimization, resulting in low cost and easy integration into existing systems.

[0067] In this embodiment, the steering system delay includes the response time of the front steering mechanism and the response time of the rear steering mechanism. The response time of the front steering mechanism and the response time of the rear steering mechanism are obtained by fitting a real vehicle step steering experiment.

[0068] like Figure 2 The figure below describes the process of calibrating steering system delay on a real vehicle. First, a step steering signal is input to the steering motor, which controls the coordinated movement of the front and rear wheels. Real-time vehicle speed and yaw rate are collected via sensors, and a response curve is fitted. Finally, the response time is calculated and the delay parameters are calibrated.

[0069] In this embodiment, the equivalent total delay is calculated according to the following formula:

[0070] ;

[0071] in, is the equivalent total delay, is the response time of the front steering mechanism, is the response time of the rear steering mechanism, is the front tire relaxation time, The relaxation time of the rear tire, This is the vehicle body inertia delay.

[0072] The equivalent total delay is the sum of steering system delay, tire relaxation delay, and vehicle inertia delay. Steering system delay includes the response time of the front and rear steering mechanisms. These two response times are added together when calculating the equivalent total delay. For tire relaxation delay, the maximum of the front and rear tire relaxation times is added to the equivalent total delay.

[0073] In this embodiment, the compensated yaw rate is calculated according to the following formula:

[0074] ;

[0075] in, is the yaw rate after compensation, is the theoretical yaw angular velocity at the current moment, is the theoretical yaw angular velocity at the previous moment, is the equivalent total delay, For the control cycle.

[0076] The compensated yaw rate is calculated by adding the compensation amount to the current theoretical yaw rate. The compensation amount is related to the equivalent total delay and the rate of change of the theoretical yaw rate. The greater the total delay, the greater the compensation amount. The rate of change of the theoretical yaw rate is the ratio of the difference between the theoretical yaw rates at the previous and next moments to the control period. Compensating the yaw rate in this way effectively improves yaw rate accuracy.

[0077] This embodiment introduces an electronic device, including a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of a yaw angular velocity calculation method as described in any embodiment of the present invention are implemented.

[0078] This embodiment introduces a vehicle, which includes the electronic device described in the above embodiments of the present invention.

[0079] This embodiment introduces a readable storage medium, which stores a program or instruction. When the program or instruction is executed by a processor, the steps of a yaw angular velocity calculation method as described in any embodiment of the present invention are implemented.

[0080] Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present invention.

[0081] Those skilled in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0082] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0083] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0084] The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of these modules may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.

[0085] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0086] If the functions are implemented in the form of software modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage medium includes various media that can store program code, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0087] The above description is merely a preferred embodiment of the present application and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention herein is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the inventive concept. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features having similar functions disclosed in this application.

[0088] It should be understood that the size of the serial numbers of the steps in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention. The foregoing description of the implementation of the present disclosure has been given for the purpose of example and description. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various variations and modifications may exist based on the above teachings, or various variations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described in order to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can utilize the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A method for calculating yaw angular velocity, characterized in that: include: Calculate the theoretical yaw rate based on the two-degree-of-freedom vehicle model; Determine steering system delay, tire relaxation delay, and vehicle body inertia delay; calculating an equivalent total delay according to the steering system delay, the tire relaxation delay, and the vehicle body inertia delay; A phase advance correction algorithm is adopted to predict and compensate the theoretical yaw angular velocity according to the equivalent total delay to obtain a compensated yaw angular velocity.

2. The method according to claim 1, characterized in that The calculation of the theoretical yaw rate based on the two-degree-of-freedom vehicle model includes: The theoretical yaw rate is calculated according to the following formula: ； in, is the theoretical yaw angular velocity, is the wheelbase, is the stability factor, is the vehicle speed, is the front wheel turning angle, is the rear wheel turning angle, is the rear wheel steering proportional coefficient.

3. The method according to claim 1, characterized in that The steering system delay includes the response time of the front steering mechanism and the response time of the rear steering mechanism. The response time of the front steering mechanism and the response time of the rear steering mechanism are obtained by fitting an actual vehicle step steering experiment.

4. The method according to claim 1, wherein The tire relaxation delay includes the front tire relaxation time and the rear tire relaxation time; The front tire relaxation time is calculated according to the following formula: ； in, is the front tire relaxation time, is the relaxed length of the front tire, is the vehicle speed; The rear tire relaxation time is calculated according to the following formula: ； in, The relaxation time of the rear tire, The relaxed length of the rear tire.

5. The method according to claim 1, wherein The vehicle body inertia delay is calculated according to the following formula: ； in, is the vehicle body inertia delay, is the moment of inertia, is the total cornering stiffness, is the distance from the vehicle's center of mass to the front axle, is the distance from the vehicle's center of mass to the rear axle.

6. The method according to claim 1, characterized in that The calculating the equivalent total delay according to the steering system delay, the tire relaxation delay, and the vehicle body inertia delay comprises: The equivalent total delay is calculated according to the following formula: ； in, is the equivalent total delay, is the response time of the front steering mechanism, is the response time of the rear steering mechanism, is the front tire relaxation time, The relaxation time of the rear tire, This is the vehicle body inertia delay.

7. The method according to claim 1, characterized in that The method of using a phase advance correction algorithm to predict and compensate the theoretical yaw angular velocity according to the equivalent total delay to obtain the compensated yaw angular velocity includes: The compensated yaw rate is calculated using the following formula: ； in, is the yaw rate after compensation, is the theoretical yaw angular velocity at the current moment, is the theoretical yaw angular velocity at the previous moment, is the equivalent total delay, For the control cycle.

8. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the yaw angular velocity calculation method according to any one of claims 1 to 7 are implemented.

9. A vehicle, characterized in that: The electronic device comprising the electronic device according to claim 8.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the yaw angular velocity calculation method according to any one of claims 1 to 7 are implemented.

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