A method for calculating yaw rate, electronic equipment, vehicle and storage medium

Abstract

This invention discloses a method for calculating yaw rate, an electronic device, a vehicle, and a storage medium. It belongs to the field of vehicle technology. The method includes: calculating the theoretical yaw rate based on a two-degree-of-freedom vehicle model; determining steering system delay, tire relaxation delay, and vehicle body inertia delay; calculating the equivalent total delay based on the steering system delay, tire relaxation delay, and vehicle body inertia delay; and using a phase lead correction algorithm to predict and compensate the theoretical yaw rate based on the equivalent total delay, obtaining the compensated yaw rate. This invention significantly improves the calculation accuracy of the target yaw rate of a four-wheel steering vehicle through multi-source delay separation modeling. It reduces the probability of false triggering of stability control by adapting to different vehicle speeds, loads, and road conditions through a dynamic compensation algorithm. Furthermore, this invention requires no additional hardware, is implemented only through software optimization, is low-cost, and easily integrated into existing systems.

Description

Technical Field

[0001] This invention belongs to the field of vehicle technology, specifically relating to a method for calculating yaw rate, electronic equipment, vehicle, and storage medium. Background Technology

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

[0003] However, real-world vehicle systems exhibit multi-source delays, including steering system delay, tire dynamic hysteresis, and vehicle inertia delay. Existing technologies typically ignore these delays or use fixed time constants for compensation, leading to significant deviations between the target yaw rate and the actual value, causing false triggering of the stability control system. This effect is particularly amplified in four-wheel steering vehicles, where the coordinated control of front and rear wheel steering further amplifies the delay impact. Summary of the Invention

[0004] One object of the present invention is to provide a method for calculating yaw rate, an electronic device, a vehicle, and a storage medium that can solve the technical problem of low accuracy in yaw rate calculation in the prior art.

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

[0006] The theoretical yaw rate is calculated based on a two-degree-of-freedom vehicle model.

[0007] Identify steering system delay, tire slack delay, and vehicle body inertia delay;

[0008] The equivalent total delay is calculated based on the steering system delay, the tire relaxation delay, and the vehicle body inertia delay;

[0009] A phase lead correction algorithm is used to predict and compensate the theoretical yaw rate based on the equivalent total delay, thereby obtaining the compensated yaw rate.

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

[0011] Calculate the theoretical yaw rate using the following formula:

[0012] ;

[0013] in, The theoretical yaw rate, Wheelbase As a stability factor, For vehicle speed, For the front wheel steering angle, For the rear wheel steering angle, This is the rear wheel steering ratio coefficient.

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

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

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

[0017] ;

[0018] in, This is the period of relaxation for the front tire. This refers to the slack length of the front tire. For vehicle speed;

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

[0020] ;

[0021] in, This is the time for the rear tires to relax. This refers to the length of the rear tire laxity.

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

[0023] ;

[0024] in, For vehicle body inertia delay, For rotational inertia, For total lateral stiffness, This is the distance from the vehicle's center of gravity to the front axle. This is the distance from the vehicle's center of gravity to the rear axle.

[0025] Optionally, the step of calculating the equivalent total delay based on the steering system delay, the tire relaxation delay, and the vehicle body inertia delay includes:

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

[0027] ;

[0028] in, For the equivalent total delay, The response time of the front steering mechanism. For the response time of the rear steering mechanism, This is the period of relaxation for the front tire. This is the time for the rear tires to relax. This is due to vehicle inertia delay.

[0029] Optionally, the step of employing a phase lead correction algorithm to predict and compensate the theoretical yaw rate based on the equivalent total delay, to obtain the compensated yaw rate, includes:

[0030] Calculate the compensated yaw rate using the following formula:

[0031] ;

[0032] in, The compensated yaw rate, The theoretical yaw rate at the current moment. The theoretical yaw rate at the previous moment. For the equivalent total delay, To control the cycle.

[0033] According to a second aspect of the present invention, an electronic device is provided, including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of a yaw rate calculation method as described in the first aspect of the present invention.

[0034] According to a third aspect of the present invention, a vehicle is provided, including the electronic equipment described in 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 instructions are stored, which, when executed by a processor, implement the steps of a yaw rate calculation method as described in the first aspect of the present invention.

[0036] The beneficial effects of this invention are as follows: By employing multi-source delay separation modeling, this invention significantly improves the calculation accuracy of the target yaw rate for four-wheel steering vehicles. Through a dynamic compensation algorithm, it adapts to different vehicle speeds, loads, and road conditions, reducing the probability of false triggering of stability control. Furthermore, this invention requires no additional hardware, being implemented solely through software optimization, resulting in low cost and easy integration into existing systems. Attached Figure Description

[0037] Figure 1 This is a flowchart of a method for calculating yaw rate in an embodiment of the present invention.

[0038] Figure 2 This is a schematic diagram of the actual vehicle calibration delay parameters in an embodiment of the present invention. Detailed Implementation

[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, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

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

[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 as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0042] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0043] In the specification of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of the same feature. In the description of this invention, unless otherwise stated, "multiple" means two or more. Furthermore, in the specification, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0044] like Figure 1 As shown in the figure, this embodiment introduces a method for calculating yaw rate, including steps 1100-1400.

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

[0046] In the two-degree-of-freedom vehicle model, the effects of the steering system and suspension are ignored. The vehicle body only undergoes parallel motion parallel to the ground, i.e., vertical motion along the Z-axis, pitch motion around the Y-axis, and roll motion around the X-axis are ignored. Changes in tire characteristics due to load variations and the effect of tire self-centering torque are also ignored. The influence of ground tangential force on tire lateral slip characteristics is not considered, and there are no aerodynamic effects. The actual car model is simplified to a two-wheeled bicycle model, which is a two-degree-of-freedom vehicle model supported by two laterally elastic tires at the front and rear, exhibiting lateral and yaw motions.

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

[0048] ;

[0049] in, The theoretical yaw rate, Wheelbase As a stability factor, For vehicle speed, For the front wheel steering angle, For the rear wheel steering angle, This is the rear wheel steering ratio coefficient.

[0050] Step 1200: Determine steering system delay, tire slack delay, and vehicle 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, and the rear steering mechanism controls the steering of the vehicle's rear wheels.

[0052] Tire relaxation delay describes the dynamic response lag of tire lateral force from zero to a steady-state value, directly affecting the vehicle's steering transient characteristics. In this invention, tire relaxation delay includes front tire relaxation time and rear tire relaxation time.

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

[0054] ;

[0055] in, This is the period of relaxation for the front tire. This refers to the slack length of the front tire. The speed is the vehicle speed.

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

[0057] ;

[0058] in, This is the time for the rear tires to relax. This refers to the length of the rear tire laxity.

[0059] Vehicle body inertial delay is a parameter in vehicle dynamics that describes the lag of the vehicle body's motion response behind steering input or external excitation.

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

[0061] ;

[0062] in, For vehicle body inertia delay, For rotational inertia, For total lateral stiffness, This is the distance from the vehicle's center of gravity to the front axle. This is the distance from the vehicle's center of gravity to the rear axle.

[0063] Step 1300: Calculate the 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 types of delays mentioned above. The equivalent total delay reflects the overall time lag from driver input to the vehicle actually producing a stable dynamic response.

[0065] Step 1400: Using a phase lead correction algorithm, the theoretical yaw rate is predicted and compensated based on the equivalent total delay to obtain the compensated yaw rate.

[0066] This invention significantly improves the accuracy of calculating the target yaw rate of four-wheel steering vehicles through multi-source delay separation modeling. A dynamic compensation algorithm adapts to different vehicle speeds, loads, and road conditions, reducing the probability of false triggering of stability control. Furthermore, this invention requires no new hardware, is implemented solely through software optimization, and is low-cost and easily integrated 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, which are obtained by fitting through a real vehicle step steering experiment.

[0068] like Figure 2 The diagram illustrates the process of calibrating the steering system delay on a real vehicle. First, a step steering signal is input to the steering motor, which then controls the coordinated movement of the front and rear wheels. Vehicle speed and yaw rate are collected in real time using sensors, and the 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, For the equivalent total delay, The response time of the front steering mechanism. For the response time of the rear steering mechanism, This is the period of relaxation for the front tire. This is the time for the rear tires to relax. This is due to vehicle inertia delay.

[0072] The equivalent total delay is the sum of steering system delay, tire slack delay, and vehicle inertia delay. For steering system delay, it includes the response times of the front and rear steering mechanisms; these response times are summed when calculating the equivalent total delay. For tire slack delay, the maximum value between the front and rear tire slack 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, The compensated yaw rate, The theoretical yaw rate at the current moment. The theoretical yaw rate at the previous moment. For the equivalent total delay, To control the cycle.

[0076] The compensated yaw rate is calculated by adding a compensation amount to the theoretical yaw rate at the current moment. The compensation amount is related to the equivalent total delay and the rate of change of the theoretical yaw rate. The larger the total delay, the larger the compensation amount. The rate of change of the theoretical yaw rate is the ratio of the difference between the theoretical yaw rates at consecutive time points to the control period. Compensating for the yaw rate in this way effectively improves its accuracy.

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

[0078] This embodiment describes a vehicle that includes the electronic equipment described in the above embodiments of the present invention.

[0079] This embodiment introduces a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of a yaw rate calculation method as described in any embodiment of the present invention.

[0080] While specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention.

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

[0082] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and equipment can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0083] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or modules may be electrical, mechanical, or other forms.

[0084] The modules described as separate components may or may not be physically separate. 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 the modules can be selected to achieve the purpose of the embodiments of the present invention, depending on actual needs.

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

[0086] If the aforementioned functions are implemented as software functional 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 this invention, essentially, or the part that contributes to the prior art, or a 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 to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0087] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

[0088] It should be understood that the sequence numbers of the steps in the invention's content and embodiments do not absolutely imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention. The foregoing description of embodiments of this disclosure has been provided for illustrative and descriptive purposes. The foregoing description is not exhaustive and is not intended to limit this disclosure to the exact form disclosed. Various modifications and variations may exist based on the foregoing teachings, or various modifications and variations may be derived from the practice of this disclosure. These embodiments were chosen and described to illustrate the principles of this disclosure and its practical application, so that those skilled in the art can utilize this disclosure in various implementations and modifications suitable for the specific purpose of the concept.

Claims

1. A method for calculating yaw rate, characterized in that, include: The theoretical yaw rate is calculated based on a two-degree-of-freedom vehicle model. Identify steering system delay, tire slack delay, and vehicle inertia delay; The equivalent total delay is calculated based on the steering system delay, the tire relaxation delay, and the vehicle body inertia delay; A phase lead correction algorithm is used to predict and compensate the theoretical yaw rate based on the equivalent total delay, so as to obtain the compensated yaw rate. The step employs a phase lead correction algorithm to predict and compensate the theoretical yaw rate based on the equivalent total delay, obtaining the compensated yaw rate, including: Calculate the compensated yaw rate using the following formula: ； in, The compensated yaw rate, The theoretical yaw rate at the current moment. The theoretical yaw rate at the previous moment. For the equivalent total delay, To control the cycle.

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: Calculate the theoretical yaw rate using the following formula: ； in, The theoretical yaw rate, Wheelbase As a stability factor, For vehicle speed, For the front wheel steering angle, For the rear wheel steering angle, This is the rear wheel steering ratio 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, which are obtained by fitting the response time of the front steering mechanism and the response time of the rear steering mechanism through a real vehicle step steering experiment.

4. The method according to claim 1, characterized in that, 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, This is the period of relaxation for the front tire. This refers to the slack length of the front tire. For vehicle speed; The rear tire relaxation time is calculated according to the following formula: ； in, This is the time for the rear tires to relax. This refers to the length of the rear tire laxity.

5. The method according to claim 1, characterized in that, The vehicle body inertial delay is calculated according to the following formula: ； in, For vehicle body inertia delay, For rotational inertia, For total lateral stiffness, This is the distance from the vehicle's center of gravity to the front axle. This is the distance from the vehicle's center of gravity to the rear axle.

6. The method according to claim 1, characterized in that, The calculation of the equivalent total delay based on the steering system delay, the tire relaxation delay, and the vehicle body inertia delay includes: The equivalent total delay is calculated using the following formula: ； in, For the equivalent total delay, The response time of the front steering mechanism. For the response time of the rear steering mechanism, This is the period of relaxation for the front tire. This is the time for the rear tires to relax. This is due to vehicle inertia delay.

7. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of a yaw rate calculation method as described in any one of claims 1 to 6.

8. A vehicle, characterized in that, Includes the electronic device as described in claim 7.

9. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of a yaw rate calculation method as described in any one of claims 1 to 6.

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