Vehicle yaw velocity estimation method, model and electronic equipment

Abstract

The invention discloses a vehicle yaw velocity estimation method, a vehicle yaw velocity estimation model and electronic equipment, and the vehicle yaw velocity estimation method comprises the steps: firstly, determining a front wheel side slip angle and a rear wheel side slip angle of a vehicle by using a transverse dynamics model; further, correcting a front wheel turning angle of the vehicle by using the front wheel side slip angle, and correcting a rear wheel turning angle of the vehicle by using the rear wheel side slip angle; and finally, according to the corrected front wheel rotation angle and the corrected rear wheel rotation angle, the yaw velocity of the vehicle is determined through a transverse kinematics model. According to the technical scheme, the advantages of the robustness of the vehicle transverse kinematics model and the accuracy of the transverse kinematics model can be integrated, and the accuracy of the estimation result of the vehicle yaw velocity is improved.

Description

Technical Field

[0001] This invention relates to the fields of autonomous driving and simulation technology, and in particular to a method, model and electronic device for estimating vehicle yaw rate. Background Technology

[0002] The vehicle lateral motion model can be used to describe the lateral motion state of a vehicle, thereby enabling vehicle tracking and control, and has a very important application in the fields of autonomous driving and simulation.

[0003] Vehicle lateral motion models are mainly divided into dynamic models and kinematic models. Currently, kinematic models are typically used to obtain the vehicle's yaw rate information. However, kinematic models do not consider the influence of mechanical factors, resulting in significant errors in the model calculation results. Summary of the Invention

[0004] The purpose of this invention is to provide a method, model, and electronic device for estimating vehicle yaw rate, in order to improve the estimation accuracy of vehicle yaw rate.

[0005] In a first aspect, the present invention provides a method for estimating the yaw rate of a vehicle, comprising: determining the front wheel slip angle and the rear wheel slip angle of the vehicle using a lateral dynamics model; correcting the front wheel steering angle of the vehicle using the front wheel slip angle, and correcting the rear wheel steering angle of the vehicle using the rear wheel slip angle; and determining the yaw rate of the vehicle using a lateral kinematics model based on the corrected front wheel steering angle and the corrected rear wheel steering angle.

[0006] In some implementations of the vehicle yaw rate estimation method described above, the front wheel slip angle and rear wheel slip angle of the vehicle are determined using a lateral dynamics model, including: determining the front wheel lateral force and rear wheel lateral force of the vehicle using the lateral dynamics model; and determining the front wheel slip angle and rear wheel slip angle of the vehicle based on the front wheel lateral force, the rear wheel lateral force, the front wheel lateral stiffness, and the rear wheel lateral stiffness.

[0007] In some implementations of the vehicle yaw rate estimation method described above, before determining the front wheel lateral force and rear wheel lateral force using a lateral dynamics model, the method further includes: acquiring target state parameters of the vehicle, including vehicle mass, vehicle moment of inertia about the Z-axis, lateral acceleration, yaw rate, yaw acceleration, longitudinal velocity, distance between the vehicle's center of gravity and the front and rear axles, distance between the front and rear axles, front wheel lateral stiffness, and rear wheel lateral stiffness.

[0008] In some implementations of the vehicle yaw rate estimation method described above, obtaining the front wheel yaw stiffness and rear wheel yaw stiffness of the vehicle includes: collecting target sample data when the vehicle is in a target driving state, wherein the target driving state is a driving state in which the vehicle speed is less than a set threshold, and the target sample data includes the front and rear wheel yaw angles and the front and rear wheel yaw forces; and calculating the front wheel yaw stiffness and rear wheel yaw stiffness of the vehicle using the least squares method.

[0009] As described above, in some implementations of the first aspect of a vehicle yaw rate estimation method, the front wheel yaw force and rear wheel yaw force of the vehicle are determined using a lateral dynamics model, including: according to the formula Determine the front wheel lateral force and the rear wheel lateral force of the vehicle; where F yf For the lateral force of the front wheel, F yr The rear wheel lateral force is given by I, where m is the vehicle mass. z Let Z be the moment of inertia of the vehicle about the Z-axis. For lateral acceleration, The yaw rate is angular velocity. V is the yaw acceleration. x For longitudinal velocity, l f and l r These are the distances between the vehicle's center of gravity and the front and rear axles, respectively, where L is the distance between the front and rear axles.

[0010] In some implementations of the vehicle yaw rate estimation method described above, the front wheel slip angle and rear wheel slip angle of the vehicle are determined based on the front wheel lateral force, the rear wheel lateral force, the front wheel lateral stiffness, and the rear wheel lateral stiffness, including: according to the formula Determine the front wheel slip angle and the rear wheel slip angle of the vehicle; wherein, α f The front wheel slip angle, α r F is the rear wheel slip angle. yf For the lateral force of the front wheel, F yr For the rear wheel lateral force, V x C is the longitudinal velocity. f For the front wheel lateral stiffness, C r This refers to the rear wheel lateral stiffness.

[0011] In some implementations of the vehicle yaw rate estimation method described above, the front wheel steering angle of the vehicle is corrected using the front wheel slip angle, and the rear wheel steering angle of the vehicle is corrected using the rear wheel slip angle, including: according to formula δ f =θ f +α f The front wheel steering angle of the vehicle is corrected, and according to formula δr =θ r +α r The rear wheel steering angle of the vehicle is corrected; wherein, α f Let θ be the front wheel slip angle. f For the front wheel steering angle, δ f The corrected front wheel steering angle; α r The rear wheel slip angle is θ. r For the rear wheel steering angle, δ r This is the corrected rear wheel steering angle.

[0012] In some implementations of the vehicle yaw rate estimation method described above, based on the corrected front wheel steering angle and the corrected rear wheel steering angle, the yaw rate of the vehicle is determined using a lateral kinematic model, including: according to the formula... Determine the yaw rate of the vehicle; wherein, V is the yaw rate. r V is the center velocity of the rear axle of the vehicle. x L is the longitudinal velocity, L is the distance between the front and rear axles, and δ is the longitudinal velocity. f The corrected front wheel steering angle, δ r This is the corrected rear wheel steering angle.

[0013] Secondly, this technical solution provides a vehicle motion model, including: a lateral dynamics model for determining the front wheel slip angle and the rear wheel slip angle of the vehicle; and a lateral kinematics model for determining the yaw rate of the vehicle based on the corrected front wheel steering angle and the corrected rear wheel steering angle; wherein the corrected front wheel steering angle and the corrected rear wheel steering angle are determined based on the front wheel slip angle and the rear wheel slip angle output by the lateral dynamics model.

[0014] Thirdly, this technical solution provides an electronic device, including: one or more processors; a memory; and one or more computer programs, wherein the one or more computer programs are stored in the memory, and the one or more computer programs include instructions that, when executed by the device, cause the device to perform the method as described in the first aspect or any possible implementation thereof.

[0015] Fourthly, the present invention also provides a computer-readable storage medium storing program code for execution by a device, the program code including instructions for performing the method in the first aspect or any possible implementation thereof.

[0016] By combining the advantages of robustness of the vehicle's lateral kinematics model and accuracy of the lateral dynamics model, the accuracy of the vehicle's yaw rate estimation results can be improved. Attached Figure Description

[0017] Figure 1 This is a schematic structural diagram of a vehicle motion model provided in an embodiment of this application;

[0018] Figure 2 This is a schematic flowchart of a vehicle yaw rate estimation method provided in an embodiment of this application;

[0019] Figure 3 This application provides a schematic diagram of the target state parameters in its embodiments;

[0020] Figure 4 This is a schematic diagram of a vehicle yaw rate estimation device provided in an embodiment of this application. Detailed Implementation

[0021] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0022] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0023] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0024] Vehicle motion models can be used to describe the motion state of a vehicle. The state information output by the model can be used to achieve vehicle control in autonomous vehicles, or to achieve vehicle motion simulation and verification.

[0025] Yaw rate is a crucial parameter in a vehicle's lateral motion profile. Existing technologies typically rely on kinematic models to obtain this information. However, kinematic models do not account for the influence of mechanical factors, leading to significant errors in their calculations.

[0026] Based on the above problems, this application provides a vehicle motion model that combines the advantages of strong robustness of kinematic models and high accuracy of dynamic models. By implementing the vehicle yaw rate estimation method provided in this application, a high-precision estimation of the vehicle yaw rate can be achieved.

[0027] Figure 1 This is a schematic structural diagram of a vehicle motion model provided in an embodiment of this application. For example... Figure 1As shown, the vehicle motion model provided in this application embodiment may include two parts: a lateral dynamics model and a lateral kinematics model.

[0028] The lateral dynamics model can be used to determine the front and rear wheel slip angles of the vehicle. The front wheel slip angle can be used to correct the front wheel steering angle input into the lateral kinematics model, and the rear wheel slip angle can be used to correct the rear wheel steering angle input into the lateral kinematics model. Based on the corrected front and rear wheel steering angles, the lateral kinematics model can be used to determine the vehicle's yaw rate.

[0029] The following is combined with Figure 1 The vehicle motion model shown illustrates the implementation process of the vehicle yaw rate estimation method provided in this application.

[0030] It should be noted that the vehicle yaw rate estimation method provided in this application embodiment can be applied to scenarios including but not limited to: vehicle control scenarios during autonomous driving, vehicle control scenarios during driver driving, and simulation scenarios of vehicle motion control processes.

[0031] Figure 2 This is a schematic flowchart of a vehicle yaw rate estimation method provided in an embodiment of this application, such as... Figure 2 As shown, the vehicle yaw rate estimation method provided in this application includes:

[0032] 101. Using the lateral dynamics model, determine the front wheel slip angle and the rear wheel slip angle of the vehicle.

[0033] In this embodiment of the application, before using the lateral dynamics model to determine the front wheel slip angle and the rear wheel slip angle of the vehicle, the target state parameters of the vehicle can first be obtained.

[0034] The target state parameters of a vehicle may include vehicle mass, moment of inertia about the Z-axis, lateral acceleration, yaw rate, yaw acceleration, longitudinal velocity, distance between the vehicle's center of gravity and the front and rear axles, distance between the front and rear axles, front wheel lateral stiffness, and rear wheel lateral stiffness.

[0035] Among them, the vehicle mass, the vehicle's moment of inertia about the Z-axis, lateral acceleration, yaw rate, yaw acceleration, longitudinal velocity, the distance between the vehicle's center of gravity and the front and rear axles, and the distance between the front and rear axles can be determined by detection.

[0036] The front and rear wheel lateral stiffness can be calculated using the least squares method. Specifically, in low-speed driving scenarios such as parking, the vehicle's lateral angle is small, and the lateral angle and lateral stiffness satisfy the small-angle linearity assumption. Furthermore, when the vehicle is driving straight, the lateral angle and lateral force are in opposite directions, while when reversing, they are in the same direction. Based on this, in this embodiment, target sample data can be collected in advance when the vehicle is in a target driving state. The target driving state is a driving state where the vehicle speed is less than a set threshold, and the target sample data includes the front and rear wheel lateral angles and lateral forces. Then, the least squares method can be used to calculate the front and rear wheel lateral stiffness of the vehicle from the target sample data.

[0037] Alternatively, the front wheel lateral stiffness and rear wheel lateral stiffness can be obtained directly from the vehicle manufacturer.

[0038] Furthermore, based on the aforementioned target state parameters, the front wheel slip angle and rear wheel slip angle of the vehicle can be determined using a lateral dynamics model.

[0039] In this embodiment, the front and rear wheel lateral forces of the vehicle can be determined first using a lateral dynamics model. Specifically, the vehicle mass, moment of inertia about the Z-axis, lateral acceleration, yaw rate, yaw acceleration, longitudinal velocity, distance between the vehicle's center of gravity and the front and rear axles, and the distance between the front and rear axles can be input into the lateral dynamics model. Then, the lateral dynamics model can determine the front and rear wheel lateral forces of the vehicle according to the following formula:

[0040]

[0041] Among them, reference Figure 3 F yf For the lateral force of the front wheel, F yr The rear wheel lateral force is given by I, where m is the vehicle mass. z Let Z be the moment of inertia of the vehicle about the Z-axis. For lateral acceleration, The yaw rate is angular velocity. V is the yaw acceleration. x For longitudinal velocity, l f and l r These are the distances between the vehicle's center of gravity and the front and rear axles, respectively, where L is the distance between the front and rear axles.

[0042] Then, based on the front wheel lateral force, the rear wheel lateral force, and the front wheel lateral stiffness and rear wheel lateral stiffness among the target state parameters mentioned above, the vehicle's front wheel slip angle and rear wheel slip angle can be determined. Specifically, the lateral dynamics model can determine the vehicle's front wheel slip angle and rear wheel slip angle using the following formula:

[0043]

[0044] Among them, reference Figure 3 α f The front wheel slip angle, α r F is the rear wheel slip angle. yf For the lateral force of the front wheel, F yr For the rear wheel lateral force, V x C is the longitudinal velocity. f For the front wheel lateral stiffness, C r This refers to the rear wheel lateral stiffness.

[0045] 102. Correcting the front wheel steering angle of a vehicle using the front wheel slip angle, and correcting the rear wheel steering angle of a vehicle using the rear wheel slip angle.

[0046] refer to Figure 3 During vehicle operation, the wheels exhibit lateral deviation, therefore the angle between the wheel speed direction and the longitudinal direction of the vehicle body is not entirely consistent with the wheel rotation angle.

[0047] Therefore, in this embodiment, the front wheel slip angle and rear wheel slip angle output by the lateral dynamics model can be used to correct the front wheel steering angle and rear wheel steering angle of the vehicle, respectively, to obtain the corrected front wheel steering angle and the corrected rear wheel steering angle. The corrected front wheel steering angle is the angle between the front wheel velocity direction and the longitudinal direction of the vehicle body, and the corrected rear wheel steering angle is the angle between the rear wheel velocity direction and the longitudinal direction of the vehicle body.

[0048] Specifically, according to the formula δ f =θ f +α f Correcting the front wheel steering angle of the vehicle, and, according to the formula δ r =θ r +α r This corrects the steering angle of the vehicle's rear wheels.

[0049] Among them, reference Figure 3 α f Let θ be the front wheel slip angle. f For the front wheel steering angle, δ f The corrected front wheel steering angle; α r The rear wheel slip angle is θ. r For the rear wheel steering angle, δ r This is the corrected rear wheel steering angle.

[0050] The front and rear wheel steering angles of the vehicle can be determined based on the steering wheel angle. Specifically, in real-world scenarios, the process of the steering system controlling the vehicle's steering can be considered as a first-order inertial element. A first-order inertial element is a system that can be described by a first-order differential equation. The output response of a first-order system changes with the rate of change of the input signal and exhibits lag; the output change rate is slower than the rate of change of the input signal. For a first-order system, the time constant T determines the system's response speed. The larger T is, the slower the system's response. Based on this, in this embodiment, the steering wheel angle can be determined according to the steering command received by the steering system. Then, based on the aforementioned characteristics of the first-order inertial element, the front and rear wheel steering angles of the vehicle can be determined according to the steering wheel angle. The time constant T of the steering system can be obtained from the vehicle manufacturer or experimentally.

[0051] In this embodiment, step 102 can be performed by the lateral kinematics model after the front wheel slip angle and rear wheel slip angle are input into the lateral kinematics model. Alternatively, in another implementation, step 102 can also be performed by the lateral dynamics model, in which case the lateral dynamics model can directly input the corrected front and rear wheel steering angles into the lateral kinematics model.

[0052] 103. Based on the corrected front wheel steering angle and the corrected rear wheel steering angle, the yaw rate of the vehicle is determined using a lateral kinematics model.

[0053] In this embodiment of the application, after obtaining the corrected front wheel steering angle and the corrected rear wheel steering angle, the lateral kinematic model can determine the yaw rate of the vehicle according to the following formula:

[0054]

[0055] Among them, reference Figure 3 , V is the yaw rate. r V is the center velocity of the rear axle of the vehicle. x L is the longitudinal velocity, L is the distance between the front and rear axles, and δ is the longitudinal velocity. f The corrected front wheel steering angle, δ r This is the corrected rear wheel steering angle.

[0056] In the above technical solution, the front and rear wheel slip angles of the vehicle can be determined using a lateral dynamics model. Then, based on these slip angles, the front and rear wheel steering angles can be corrected. Finally, based on the corrected steering angles, the yaw rate of the vehicle is calculated using a lateral kinematics model. This approach combines the advantages of lateral kinematics and lateral dynamics, improving the accuracy of yaw rate estimation and facilitating precise vehicle control and scenario simulation.

[0057] Figure 4This is a schematic diagram of a vehicle yaw rate estimation device provided in an embodiment of this application. Figure 4 As shown, the apparatus provided in this application embodiment may include:

[0058] The first determining module 41 is used to determine the front wheel slip angle and the rear wheel slip angle of the vehicle using a lateral dynamics model.

[0059] The correction module 42 is used to correct the front wheel steering angle of the vehicle using the front wheel slip angle, and to correct the rear wheel steering angle of the vehicle using the rear wheel slip angle.

[0060] The second determining module 43 is used to determine the yaw rate of the vehicle using a lateral kinematic model based on the corrected front wheel steering angle and the corrected rear wheel steering angle.

[0061] In one specific implementation, the first determining module 41 is specifically used to determine the front wheel lateral force and the rear wheel lateral force of the vehicle using a lateral dynamics model; and to determine the front wheel slip angle and the rear wheel slip angle of the vehicle based on the front wheel lateral force, the rear wheel lateral force, the front wheel lateral stiffness, and the rear wheel lateral stiffness.

[0062] In one specific implementation, the first determining module 41 is further used to obtain the target state parameters of the vehicle, which include the vehicle mass, the vehicle's moment of inertia about the Z-axis, lateral acceleration, yaw rate, yaw acceleration, longitudinal velocity, the distance between the vehicle's center of gravity and the front and rear axles, the distance between the front and rear axles, the front wheel lateral stiffness, and the rear wheel lateral stiffness.

[0063] In one specific implementation, the first determining module 41 is specifically used to collect target sample data when the vehicle is in a target driving state. The target driving state is a driving state where the vehicle speed is less than a set threshold. The target sample data includes the front and rear wheel slip angles and the front and rear wheel slip forces. The target sample data is calculated using the least squares method to obtain the front wheel slip stiffness and the rear wheel slip stiffness of the vehicle.

[0064] In one specific implementation, the first determining module 41 is specifically used to determine, according to the formula Determine the front wheel lateral force and the rear wheel lateral force of the vehicle; where F yf For the lateral force of the front wheel, F yr The rear wheel lateral force is given by I, where m is the vehicle mass. z Let Z be the moment of inertia of the vehicle about the Z-axis. For lateral acceleration, The yaw rate is angular velocity. V is the yaw acceleration. x For longitudinal velocity, l f and l rThese are the distances between the vehicle's center of gravity and the front and rear axles, respectively, where L is the distance between the front and rear axles.

[0065] In one specific implementation, the first determining module 41 is specifically used to determine, according to the formula Determine the front wheel slip angle and the rear wheel slip angle of the vehicle; where α f The front wheel slip angle, α r F is the rear wheel slip angle. yf For the lateral force of the front wheel, F yr For the rear wheel lateral force, V x C is the longitudinal velocity. f For the front wheel lateral stiffness, C r This refers to the rear wheel lateral stiffness.

[0066] In one specific implementation, the correction module 42 is specifically used to, according to formula δ f =θ f +α f Correcting the front wheel steering angle of the vehicle, and, according to the formula δ r =θ r +α r This corrects the rear wheel steering angle of the vehicle; where α f Let θ be the front wheel slip angle. f For the front wheel steering angle, δ f The corrected front wheel steering angle; α r The rear wheel slip angle is θ. r For the rear wheel steering angle, δ r This is the corrected rear wheel steering angle.

[0067] In one specific implementation, the second determining module 43 is specifically used to determine, according to the formula Determine the vehicle's yaw rate; where, V is the yaw rate. r V is the center velocity of the rear axle of the vehicle. x L is the longitudinal velocity, L is the distance between the front and rear axles, and δ is the longitudinal velocity. f The corrected front wheel steering angle, δ r This is the corrected rear wheel steering angle.

[0068] In the above technical solution, the vehicle yaw rate estimation device can use a lateral dynamics model to determine the front and rear wheel slip angles of the vehicle. Then, based on the front and rear wheel slip angles, the front and rear wheel steering angles can be corrected. Finally, based on the corrected front and rear wheel steering angles, the vehicle yaw rate is calculated using a lateral kinematics model. This combines the advantages of lateral kinematics and lateral dynamics, improving the estimation accuracy of the yaw rate and facilitating precise vehicle control and scenario simulation.

[0069] It should be understood that the apparatus described herein is embodied in the form of functional units. The term "module" here can be implemented in software and / or hardware, without specific limitation. For example, a "module" can be a software program, hardware circuit, or a combination of both that implements the above-described functions. The hardware circuit may include application-specific integrated circuits (ASICs), electronic circuits, a processor (e.g., a shared processor, a proprietary processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components supporting the described functions. Whether a function is implemented in hardware or in a manner driven by computer 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 in conjunction with the embodiments.

[0070] The module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods are possible. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into a single processing module. The integrated modules described above can be implemented in hardware.

[0071] This application also provides an electronic device, which includes a storage medium and a central processing unit. The storage medium may be a non-volatile storage medium, and a computer-executable program is stored in the storage medium. The central processing unit is connected to the non-volatile storage medium and executes the computer-executable program to implement the above-described vehicle yaw rate estimation method.

[0072] It should be noted that the electronic devices provided in this application embodiment may include, but are not limited to, mobile phones, tablets, wearable devices, in-vehicle devices, augmented reality (AR) / virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), etc. This application embodiment does not impose any restrictions on the specific type of electronic device.

[0073] This application also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the various steps of the vehicle yaw rate estimation method of this application.

[0074] This application also provides a computer program product containing instructions that, when run on a computer or any at least one processor, cause the computer to execute the various steps of the vehicle yaw rate estimation method of this application.

[0075] This application also provides a chip, including a processor and a data interface. The processor reads instructions stored in a memory through the data interface to execute the corresponding operations and / or processes performed by the vehicle yaw rate estimation method provided in this application.

[0076] Optionally, the chip further includes a memory connected to the processor via a circuit or wire, the processor being used to read and execute computer programs stored in the memory. Further optionally, the chip includes a communication interface to which the processor is connected. The communication interface is used to receive data and / or information that needs to be processed, the processor obtaining the data and / or information from the communication interface and processing the data and / or information. The communication interface can be an input / output interface.

[0077] The memory can be read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), or other types of dynamic storage devices that can store information and instructions. It can also be electrically erasable programmable read-only memory (EEPROM), compact disc-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed discs, laser discs, optical discs, digital universal discs, Blu-ray discs, etc.), magnetic disk storage media, or other magnetic storage devices. Alternatively, it can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer.

[0078] In this embodiment, "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the existence of A alone, the simultaneous existence of A and B, or the existence of B alone. A and B can be singular or plural. The character " / " generally indicates that the preceding and following associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0079] Those skilled in the art will recognize that the units and algorithm steps described in the embodiments disclosed herein can be implemented using electronic hardware, computer software, or a combination of electronic hardware and software. 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 implementation should not be considered beyond the scope of this application.

[0080] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the vehicles, servers, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0081] In the several embodiments provided in this application, any function, if implemented as a software functional unit and sold or used as an independent product, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part 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 described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0082] The above description is merely a specific embodiment of this application. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. The protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for estimating the yaw rate of a vehicle, characterized in that, include: The front wheel slip angle and rear wheel slip angle of the vehicle are determined using a lateral dynamics model. The front wheel slip angle is used to correct the front wheel steering angle of the vehicle, and the rear wheel slip angle is used to correct the rear wheel steering angle of the vehicle. The yaw rate of the vehicle is determined using a lateral kinematic model based on the corrected front wheel steering angle and the corrected rear wheel steering angle.

2. The method according to claim 1, characterized in that, Using a lateral dynamics model, the front and rear wheel slip angles of the vehicle are determined, including: Using a lateral dynamics model, the front wheel lateral force and the rear wheel lateral force of the vehicle are determined; The front wheel slip angle and the rear wheel slip angle of the vehicle are determined based on the front wheel slip force, the rear wheel slip force, the front wheel slip stiffness, and the rear wheel slip stiffness.

3. The method according to claim 2, characterized in that, Before determining the front and rear wheel lateral forces of the vehicle using a lateral dynamics model, the method further includes: Obtain the target state parameters of the vehicle, which include vehicle mass, vehicle moment of inertia about the Z-axis, lateral acceleration, yaw rate, yaw acceleration, longitudinal velocity, distance between the vehicle's center of gravity and the front and rear axles, distance between the front and rear axles, front wheel lateral stiffness, and rear wheel lateral stiffness.

4. The method according to claim 3, characterized in that, Obtain the front and rear wheel lateral stiffness of the vehicle, including: Target sample data is collected when the vehicle is in a target driving state, wherein the target driving state is a driving state in which the vehicle speed is less than a set threshold, and the target sample data includes the front and rear wheel slip angles and the front and rear wheel slip forces. The front wheel lateral stiffness and rear wheel lateral stiffness of the vehicle are obtained by calculating the target sample data using the least squares method.

5. The method according to claim 3, characterized in that, Using a lateral dynamics model, the front and rear wheel lateral forces of the vehicle are determined, including: According to the formula Determine the lateral force on the front wheels and the lateral force on the rear wheels of the vehicle; Among them, F yf For the lateral force of the front wheel, F yr The rear wheel lateral force is given by I, where m is the vehicle mass. z Let Z be the moment of inertia of the vehicle about the Z-axis. For lateral acceleration, The yaw rate is angular velocity. V is the yaw acceleration. x For longitudinal velocity, l f and l r These are the distances between the vehicle's center of gravity and the front and rear axles, respectively, where L is the distance between the front and rear axles.

6. The method according to claim 2, characterized in that, Based on the front wheel lateral force, the rear wheel lateral force, the front wheel lateral stiffness, and the rear wheel lateral stiffness, the front wheel slip angle and the rear wheel slip angle of the vehicle are determined, including: According to the formula Determine the front wheel slip angle and the rear wheel slip angle of the vehicle; Where, α f The front wheel slip angle, α r F is the rear wheel slip angle. yf For the lateral force of the front wheel, F yr For the rear wheel lateral force, V x C is the longitudinal velocity. f For the front wheel lateral stiffness, C r This refers to the rear wheel lateral stiffness.

7. The method according to claim 1, characterized in that, Correcting the front wheel steering angle of the vehicle using the front wheel slip angle, and correcting the rear wheel steering angle of the vehicle using the rear wheel slip angle, includes: According to the formula δ f =θ f +α f The front wheel steering angle of the vehicle is corrected, and according to formula δ r =θ r +α r The rear wheel steering angle of the vehicle is corrected. Where, α f Let θ be the front wheel slip angle. f For the front wheel steering angle, δ f The corrected front wheel steering angle; α r The rear wheel slip angle is θ. r For the rear wheel steering angle, δ r This is the corrected rear wheel steering angle.

8. The method according to claim 1, characterized in that, Based on the corrected front wheel steering angle and the corrected rear wheel steering angle, the yaw rate of the vehicle is determined using a lateral kinematic model, including: According to the formula Determine the yaw rate of the vehicle; in, V is the yaw rate. r V is the center velocity of the rear axle of the vehicle. x L is the longitudinal velocity, L is the distance between the front and rear axles, and δ is the longitudinal velocity. f The corrected front wheel steering angle, δ r This is the corrected rear wheel steering angle.

9. A vehicle motion model, characterized in that, include: Lateral dynamics model is used to determine the front wheel slip angle and rear wheel slip angle of the vehicle; A lateral kinematic model is used to determine the yaw rate of the vehicle based on the corrected front wheel steering angle and the corrected rear wheel steering angle. The corrected front wheel steering angle and the corrected rear wheel steering angle are determined based on the front wheel slip angle and the rear wheel slip angle output by the lateral dynamics model.

10. An electronic device, characterized in that, include: One or more processors; Memory; And one or more computer programs, wherein the one or more computer programs are stored in the memory, the one or more computer programs including instructions that, when executed by the device, cause the device to perform the method as described in any one of claims 1-8.

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