Vehicle yaw motion control method, system, vehicle, and readable storage medium

Abstract

The application relates to a vehicle yaw motion control method, system, vehicle and readable storage medium. The method comprises the following steps: obtaining a first yaw motion control signal of the vehicle in a previous control period; predicting a yaw motion state value of the vehicle in a current control period according to yaw motion state information of the vehicle in the current control period, yaw motion attribute information of the vehicle and the first yaw motion control signal; updating first feedforward control information and first control compensation information respectively according to the yaw motion state value and a yaw motion expected value of the vehicle in the current control period, to obtain second feedforward control information and second control compensation information; and determining a second yaw motion control signal of the vehicle in the current control period according to the second feedforward control information and the second control compensation information. The method can improve the effect of yaw motion control of the vehicle.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a vehicle yaw motion control method, a vehicle yaw motion control system, a vehicle, and a computer-readable storage medium. Background Technology

[0002] With the development of vehicle control technology, the demand for vehicle handling stability under complex driving conditions is constantly increasing, which also puts forward higher requirements for vehicle yaw motion control technology. Vehicle yaw motion control technology can avoid instability phenomena such as oversteer or understeer.

[0003] However, current vehicle yaw control technology typically relies on preset calibration parameters to eliminate yaw tracking errors. However, since vehicle yaw motion is affected by various dynamic disturbances, and these disturbances change in real time, the calibration parameters cannot match the actual yaw control requirements of the vehicle, which can easily lead to instability. Therefore, the current yaw motion control for vehicles is ineffective. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle yaw motion control method, a vehicle yaw motion control system, a vehicle, and a computer-readable storage medium that can improve the effect of yaw motion control of a vehicle, in order to address the above-mentioned technical problems.

[0005] In a first aspect, this application provides a method for controlling vehicle yaw motion, including:

[0006] The vehicle acquires a first yaw motion control signal in the previous control cycle, wherein the first yaw motion control signal is determined based on the vehicle's first feedforward control information and first control compensation information in the previous control cycle, and the first control compensation information is used to compensate for interference factors affecting the vehicle's yaw motion in the previous control cycle.

[0007] Based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal, predict the yaw motion state value of the vehicle in the current control cycle.

[0008] Based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the first feedforward control information and the first control compensation information are updated respectively to obtain the second feedforward control information and the second control compensation information.

[0009] Based on the second feedforward control information and the second control compensation information, the second yaw motion control signal of the vehicle in the current control cycle is determined;

[0010] In the current control cycle, the vehicle is yawed according to the second yaw motion control signal.

[0011] In one embodiment, the first yaw motion control signal includes an initial yaw motion control signal, and the previous control cycle includes an initial control cycle; acquiring the vehicle's first yaw motion control signal in the previous control cycle includes:

[0012] The yaw motion attribute information is extracted from the preset configuration file, and the initial yaw motion state information and initial control compensation information of the vehicle in the initial control cycle are obtained by initializing the controller state.

[0013] Based on the yaw motion attribute information, the initial yaw motion state information, and the initial yaw motion expectation value of the vehicle in the initial control cycle, the initial feedforward control information of the vehicle in the initial control cycle is generated.

[0014] The initial yaw motion control signal is generated based on the initial feedforward control information and the initial control compensation information.

[0015] In one embodiment, the step of updating the first feedforward control information and the first control compensation information based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle to obtain second feedforward control information and second control compensation information includes:

[0016] Obtain the yaw motion error value between the yaw motion state value and the yaw motion expectation value;

[0017] Under the constraint of the yaw motion error value, the feedforward gain of the first feedforward control information is updated according to the yaw motion state information and the yaw motion attribute information to obtain the updated feedforward gain;

[0018] Based on the updated feedforward gain, the first feedforward control information is optimized to obtain the second feedforward control information;

[0019] Based on the yaw motion error value, the yaw motion state information, and the yaw motion attribute information, the control compensation factor of the first control compensation information is updated to obtain the updated control compensation factor.

[0020] The second control compensation information is generated based on the updated control compensation factor.

[0021] In one embodiment, generating the second control compensation information based on the updated control compensation factor includes:

[0022] The updated control compensation factor is subjected to parameter projection operation to obtain the projected control compensation factor, wherein the projected control compensation factor is within a preset physical reasonable range;

[0023] Based on the projected control compensation factor, projected control compensation information is generated;

[0024] The projected control compensation information is converted into the second control compensation information.

[0025] In one embodiment, the first control compensation information includes at least one of the following three: vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information of the vehicle in the previous control cycle.

[0026] In one embodiment, determining the second yaw motion control signal of the vehicle in the current control cycle based on the second feedforward control information and the second control compensation information includes:

[0027] Obtain the control compensation weights corresponding to the vehicle characteristic control compensation information, the environmental change control compensation information, and the execution attenuation control compensation information, respectively.

[0028] By integrating the vehicle characteristic control compensation information, the environmental change control compensation information, and the execution attenuation control compensation information with their respective control compensation weights, comprehensive control compensation information is obtained.

[0029] The second yaw motion control signal is generated based on the second feedforward control information and the integrated control compensation information.

[0030] In one embodiment, generating the second yaw motion control signal based on the second feedforward control information and the integrated control compensation information includes:

[0031] The second feedforward control information and the comprehensive control compensation information are superimposed to obtain the intermediate signal of the vehicle's yaw motion control in the current control cycle;

[0032] Based on the historical yaw motion control signal of the vehicle in the historical control cycle, the intermediate yaw motion control signal is filtered to obtain the second yaw motion control signal.

[0033] Secondly, this application also provides a vehicle, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0034] The system acquires a first yaw motion control signal for the vehicle in the previous control cycle, wherein the first yaw motion control signal is determined based on a first feedforward control information and a first control compensation information for the vehicle in the previous control cycle, and the first control compensation information is used to compensate for interference factors affecting the yaw motion of the vehicle in the previous control cycle. Based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal, the system predicts the yaw motion state value of the vehicle in the current control cycle. Based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the system updates the first feedforward control information and the first control compensation information respectively to obtain second feedforward control information and second control compensation information. Based on the second feedforward control information and the second control compensation information, the system determines a second yaw motion control signal for the vehicle in the current control cycle. In the current control cycle, the system performs yaw motion control on the vehicle based on the second yaw motion control signal.

[0035] Thirdly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0036] The system acquires a first yaw motion control signal for the vehicle in the previous control cycle, wherein the first yaw motion control signal is determined based on a first feedforward control information and a first control compensation information for the vehicle in the previous control cycle, and the first control compensation information is used to compensate for interference factors affecting the yaw motion of the vehicle in the previous control cycle. Based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal, the system predicts the yaw motion state value of the vehicle in the current control cycle. Based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the system updates the first feedforward control information and the first control compensation information respectively to obtain second feedforward control information and second control compensation information. Based on the second feedforward control information and the second control compensation information, the system determines a second yaw motion control signal for the vehicle in the current control cycle. In the current control cycle, the system performs yaw motion control on the vehicle based on the second yaw motion control signal.

[0037] Fourthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0038] The system acquires a first yaw motion control signal for the vehicle in the previous control cycle, wherein the first yaw motion control signal is determined based on a first feedforward control information and a first control compensation information for the vehicle in the previous control cycle, and the first control compensation information is used to compensate for interference factors affecting the yaw motion of the vehicle in the previous control cycle. Based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal, the system predicts the yaw motion state value of the vehicle in the current control cycle. Based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the system updates the first feedforward control information and the first control compensation information respectively to obtain second feedforward control information and second control compensation information. Based on the second feedforward control information and the second control compensation information, the system determines a second yaw motion control signal for the vehicle in the current control cycle. In the current control cycle, the system performs yaw motion control on the vehicle based on the second yaw motion control signal.

[0039] The aforementioned vehicle yaw motion control method, vehicle yaw motion control system, vehicle, and computer-readable storage medium can first acquire the first yaw motion control signal of the vehicle in the previous control cycle. This first yaw motion control signal is based on the vehicle's first feedforward control information and first control compensation information from the previous control cycle. The first control compensation information is used to compensate for interference factors affecting the vehicle's yaw motion in the previous control cycle. Then, based on the vehicle's yaw motion state information, yaw motion attribute information, and the first yaw motion control signal in the current control cycle, the yaw motion state value of the vehicle in the current control cycle is predicted. Furthermore, using the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the first feedforward control information and the first control compensation information are updated respectively to obtain second feedforward control information and second control compensation information. Thus, based on the second feedforward control information and the second control compensation information, the second yaw motion control signal of the vehicle in the current control cycle can be determined. Finally, in the current control cycle... The control cycle performs yaw motion control on the vehicle based on the second yaw motion control signal. Since the yaw motion control is based on the second yaw motion control signal, which is determined based on the updated first feedforward control information and first control compensation information, and the first control compensation information can compensate for the interference factors affecting the vehicle's yaw motion in the previous control cycle, the second control compensation information can compensate for the interference factors affecting the vehicle's yaw motion in the current control cycle. This achieves the purpose of adaptive compensation for interference factors affecting the vehicle's yaw motion in different control cycles, ultimately enabling the yaw motion control signal to match the actual yaw control requirements of the vehicle in real time. Therefore, it overcomes the technical defect that the calibration parameters cannot match the actual yaw control requirements of the vehicle due to the influence of multiple dynamic interference factors on the vehicle's yaw motion, and the interference factors are changing in real time, which makes it easy to cause instability. Therefore, the effect of yaw motion control on the vehicle is improved. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart illustrating a vehicle yaw motion control method in one embodiment of this application.

[0042] Figure 2 This is a flowchart illustrating a vehicle yaw motion control method in another embodiment of this application;

[0043] Figure 3 This is a schematic diagram of the process for controlling the yaw motion of a vehicle in another embodiment of this application;

[0044] Figure 4 This is a structural block diagram of a vehicle yaw motion control system in one embodiment of this application;

[0045] Figure 5 This is an internal structural diagram of a vehicle in one embodiment of this application. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0047] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0048] First, it should be understood that the mainstream vehicle yaw control technologies currently available are mainly as follows: 1) Traditional PID (proportional-integral-derivative control) technology uses an error-based proportional-integral-derivative feedback mechanism, which has the advantages of simple structure and easy implementation; 2) Sliding mode control drives the system state to move along a predetermined sliding surface, which has strong robustness to matching uncertainties and fast response speed; 3) Fuzzy adaptive control achieves online parameter adjustment based on empirical rules and membership functions, does not rely on precise mathematical models, and is good at handling system uncertainties; 4) Predictive control uses an online rolling optimization strategy, which can directly handle system constraints, achieve multi-objective optimization, and has the characteristics of forward-looking control. However, the first method has limited control capabilities for nonlinear and time-varying systems, poor parameter adaptability, and difficulty in ensuring control accuracy and robustness when vehicle parameters change or road conditions change. The second method has inherent chattering phenomena, which not only affect ride comfort but may also excite unmodeled dynamic characteristics of the vehicle. The third method has limited control capabilities for nonlinear and time-varying systems, poor parameter adaptability, and difficulty in ensuring control accuracy and robustness when vehicle parameters change or road conditions change. The design of the library and membership functions requires extensive expert experience, and the system stability is difficult to prove mathematically. The fourth method has a high computational burden and requires high model accuracy. When the model is mismatched, the control performance will drop significantly. Therefore, based on the above, the main problems currently faced by vehicle yaw motion control technology include: insufficient model accuracy due to system parameter uncertainty, the impact of external disturbances on control effect, and delays caused by actuator dynamic characteristics. In addition, traditional vehicle yaw motion control methods also have certain limitations in terms of parameter adaptability, robustness, and control accuracy. Moreover, the calibration process of control parameters is complex, which increases development costs. The essence is that vehicle yaw motion is affected by multiple dynamic disturbance factors, and the disturbance factors change in real time, causing the calibration parameters to be unable to match the actual yaw control requirements of the vehicle. Therefore, there is an urgent need for a vehicle yaw motion control method that can improve the effect of vehicle yaw motion control.

[0049] In one exemplary embodiment, such as Figure 1 As shown, a vehicle yaw motion control method is provided. Taking the application of this method to a vehicle as an example, the method includes the following steps 202 to 210. Wherein:

[0050] Step 202: Obtain the first yaw motion control signal of the vehicle in the previous control cycle. The first yaw motion control signal is determined based on the first feedforward control information and the first control compensation information of the vehicle in the previous control cycle. The first control compensation information is used to compensate for the interference factors that affect the yaw motion of the vehicle in the previous control cycle.

[0051] In this embodiment, the vehicle is equipped with a vehicle yaw motion control system. This system can regulate vehicle yaw motion by outputting yaw motion control signals, specifically by correcting the steering angle or distributing braking force. The vehicle yaw motion control system can be integrated from sensors, controllers, and actuators. The previous control cycle refers to the calculation cycle preceding the current control cycle. The control cycle can be understood as the basic timing unit in the vehicle yaw motion control system, specifically determined by the system's dynamic characteristics, computational complexity, and actuator response capability. The first feedforward control information refers to the control quantity pre-calculated based on the vehicle's state, attributes, and desired yaw motion in the previous control cycle. The first control compensation information is used to compensate for interference factors affecting vehicle yaw motion in the previous control cycle. Specifically, it addresses factors affecting... The dynamic disturbances of yaw motion are corrected through an adaptive algorithm to ensure that the actual yaw motion of the vehicle closely approximates the desired state. The disturbance factors refer to dynamic variables that cause deviations between the actual and desired yaw motion during driving. These can include external environmental disturbances, vehicle parameter drift disturbances, driving condition and operation coupling disturbances, and actuator response deviation disturbances. External environmental disturbances can include changes in road slope, changes in road adhesion coefficient, and crosswind interference. Vehicle parameter drift disturbances can include changes in tire condition, vehicle load shifts, and suspension deformation. Driving condition and operation coupling disturbances can include sudden lateral loads and nonlinear disturbances in the steering system. Actuator response deviation disturbances can include fluctuations in braking force distribution and torque disturbances in the powertrain.

[0052] It should be noted that, in order to assist in the prediction and error correction of the vehicle's yaw motion state, the current yaw motion state of the vehicle can be accurately predicted by combining the first yaw motion control signal of the vehicle in the previous control cycle. The first yaw motion control signal can be acquired through the controller storage module or the actuator feedback interface.

[0053] As an example, step 202 includes: extracting the first feedforward control information and the first control compensation information of the vehicle in the previous control cycle through the actuator feedback interface, and generating the first yaw motion control signal of the vehicle in the previous control cycle based on the first feedforward control information and the first control compensation information.

[0054] The specific formula for generating the first yaw motion control signal of the vehicle in the previous control cycle, based on the first feedforward control information and the first control compensation information, is as follows:

[0055]

[0056] in, This is the first yaw motion control signal. This is the first feedforward control information. This is the primary control compensation information.

[0057] Step 204: Based on the vehicle's yaw motion state information, the vehicle's yaw motion attribute information, and the first yaw motion control signal in the current control cycle, predict the vehicle's yaw motion state value in the current control cycle.

[0058] It should be noted that the controller of the vehicle yaw motion control system is equipped with an adaptive algorithm. Specifically, the adaptive algorithm can be a numerical integration method, which can predict the yaw motion state value of the vehicle in the current control cycle through numerical integration. The yaw motion state value is a physical quantity that characterizes the yaw motion characteristics of the vehicle, specifically the angular velocity of the vehicle rotating around the vertical axis.

[0059] It should be noted that the yaw motion state information represents the operating state parameters related to the vehicle's yaw motion within the current control cycle, specifically the vehicle's yaw rate. and vehicle speed The yaw motion attribute information represents the inherent parameters determined by the vehicle's own structure and physical characteristics, specifically including the yaw moment of inertia. Distance from front axle to center of gravity Distance from rear axle to center of gravity Front wheel lateral stiffness Rear wheel lateral stiffness .

[0060] As an example, step 204 includes: inputting the vehicle's yaw motion state information in the current control cycle, the vehicle's yaw motion attribute information, and the first yaw motion control signal into the first preset state value calculation formula to obtain the vehicle's yaw motion state value in the current control cycle.

[0061] The formula for obtaining the first preset state value is as follows:

[0062]

[0063] in, This represents the yaw motion state value of the vehicle during the current control cycle. These are the state coefficients of the yaw dynamics model. Let be the yaw motion state value of the vehicle in the previous control cycle, b be the control gain coefficient, u be the first control compensation information, and dt be the control cycle of the vehicle yaw motion control system. For vehicle speed, For the moment of inertia of yaw rotation, The distance from the front axle to the center of gravity. The distance from the rear axle to the center of gravity. For front wheel lateral stiffness, This refers to the rear wheel lateral stiffness.

[0064] Step 206: Based on the yaw motion state value and the vehicle's expected yaw motion value in the current control cycle, update the first feedforward control information and the first control compensation information respectively to obtain the second feedforward control information and the second control compensation information.

[0065] The yaw motion state value and the expected yaw motion value reflect the degree of deviation between the actual yaw motion and the expected state of the vehicle. This allows for the updating of both the first feedforward control information and the first control compensation information, resulting in the second feedforward control information and the second control compensation information. Specifically, the yaw motion state value and the expected yaw motion value are compared to obtain the yaw motion state ratio. This ratio is then compared with a preset yaw motion state value. When the yaw motion state ratio is less than the preset yaw motion state value, the first feedforward control information and the first control compensation information are updated.

[0066] As an example, step 206 includes: comparing the yaw motion state value with the expected yaw motion value of the vehicle in the current control cycle to obtain a yaw motion state ratio, comparing the yaw motion state ratio with a preset yaw motion state value, and when the yaw motion state ratio is less than the preset yaw motion state value, obtaining second feedforward control information by updating the first feedforward control information, and obtaining second control compensation information by updating the first control compensation information.

[0067] Step 208: Determine the second yaw motion control signal of the vehicle in the current control cycle based on the second feedforward control information and the second control compensation information.

[0068] As an example, step 208 includes: generating a second yaw motion control signal for the vehicle in the current control cycle based on the second feedforward control information and the second control compensation information, wherein the specific generation formula is as follows:

[0069]

[0070] in, This is the second yaw motion control signal. This is the second feedforward control information. This is for the second control compensation information.

[0071] Step 210: In the current control cycle, perform yaw motion control on the vehicle according to the second yaw motion control signal.

[0072] It should be noted that the vehicle yaw motion control system may include a control module, which adjusts the vehicle yaw motion through a second yaw motion signal. Specifically, the second yaw motion signal may be an additional yaw torque control signal. The control module may specifically include at least one of an electronic stability control unit, an active rear wheel steering unit, or a torque vectoring unit.

[0073] As an example, the vehicle is controlled to yaw by outputting a second yaw motion signal during the current control cycle.

[0074] It is understandable that the current control cycle can be any control cycle, and the above yaw motion control logic can be executed cyclically within a control cycle, thus forming a closed-loop control.

[0075] The aforementioned vehicle yaw motion control method first acquires the vehicle's first yaw motion control signal from the previous control cycle. This first yaw motion control signal is based on the vehicle's first feedforward control information and first control compensation information from the previous control cycle. The first control compensation information is used to compensate for interference factors affecting the vehicle's yaw motion in the previous control cycle. Then, based on the vehicle's yaw motion state information, yaw motion attribute information, and the first yaw motion control signal in the current control cycle, the yaw motion state value of the vehicle in the current control cycle is predicted. Furthermore, using the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the first feedforward control information and the first control compensation information are updated respectively to obtain second feedforward control information and second control compensation information. Thus, based on the second feedforward control information and the second control compensation information, the vehicle's second yaw motion control signal in the current control cycle can be determined. Finally, in the current control cycle, the second yaw motion control signal is determined based on the second yaw motion... The control signal controls the vehicle's yaw motion. Since this yaw motion control is based on a second yaw motion control signal, which is determined by updated first feedforward control information and first control compensation information, and the first control compensation information compensates for interference factors affecting the vehicle's yaw motion in the previous control cycle, the second control compensation information compensates for interference factors affecting the vehicle's yaw motion in the current control cycle. This achieves adaptive compensation for interference factors affecting the vehicle's yaw motion in different control cycles, ultimately enabling the yaw motion control signal to match the vehicle's actual yaw control requirements in real time. Therefore, it overcomes the technical defect that the calibration parameters cannot match the vehicle's actual yaw control requirements due to the influence of multiple dynamic interference factors on the vehicle's yaw motion, and these factors change in real time, leading to instability. Thus, it improves the effectiveness of vehicle yaw motion control.

[0076] In one exemplary embodiment, such as Figure 2As shown, the first yaw motion control signal includes an initial yaw motion control signal, and the previous control cycle includes the initial control cycle; acquiring the vehicle's first yaw motion control signal in the previous control cycle includes:

[0077] Step 302: Extract yaw motion attribute information from the preset configuration file, and obtain the initial yaw motion state information and initial control compensation information of the vehicle in the initial control cycle by initializing the controller state.

[0078] The initial yaw motion control signal refers to the first yaw motion control signal generated within the initial control cycle after the vehicle yaw motion control system is started. The initial control cycle refers to the time interval from the start of the vehicle yaw motion control system to the completion of the first control decision. The initial control cycle is used to achieve startup and initialization. It can be understood that yaw motion attribute information can be stored in a configuration file or a real-time identification system. By initializing the controller state, the state estimation vector can be set or reset. Control input history queue and initial control compensation information ( , and (initial value).

[0079] As an example, step 302 includes: extracting yaw motion attribute information from a preset configuration file, and setting the initial yaw motion state information and initial control compensation information of the vehicle in the initial control cycle.

[0080] Step 304: Generate initial feedforward control information for the vehicle in the initial control cycle based on the yaw motion attribute information, initial yaw motion state information, and the vehicle's initial yaw motion expectation value in the initial control cycle.

[0081] As an example, the initial feedforward gain is calculated based on the yaw motion attribute information and the initial yaw motion state information. By fusing the initial feedforward gain with the expected value of the vehicle's initial yaw motion in the initial control cycle, the initial feedforward control information of the vehicle in the initial control cycle is obtained. The specific formula for fusion is shown below:

[0082]

[0083] in, This is the initial feedforward control information. This is the initial feedforward gain. This represents the expected value of the initial yaw motion, which can be either the expected yaw angular velocity or the expected path curvature.

[0084] Step 306: Generate the initial yaw motion control signal based on the initial feedforward control information and the initial control compensation information.

[0085] The specific generation formula is as follows:

[0086]

[0087] in, Initial yaw motion control signal, This is the initial feedforward control information. This is the initial control compensation information.

[0088] In this embodiment, by extracting yaw motion attribute information from the configuration file and initializing the controller state, initial yaw motion state information and initial control compensation information are obtained. Thus, even in the initial control cycle without historical control information, the corresponding initial yaw motion control signal can be generated, thereby avoiding control interruption caused by data loss during system startup. At the same time, the initial control compensation information cancels out the initial interference that may exist during startup, making the initial control signal more accurate and providing a reliable benchmark for control optimization in subsequent cycles. Therefore, it lays the foundation for improving the effect of vehicle yaw motion control.

[0089] In an exemplary embodiment, based on the yaw motion state value and the vehicle's expected yaw motion value in the current control cycle, the first feedforward control information and the first control compensation information are updated respectively to obtain the second feedforward control information and the second control compensation information, including:

[0090] Obtain the yaw motion error value between the yaw motion state value and the expected yaw motion value; under the constraint of the yaw motion error value, update the feedforward gain of the first feedforward control information according to the yaw motion state information and the yaw motion attribute information to obtain the updated feedforward gain; optimize the first feedforward control information according to the updated feedforward gain to obtain the second feedforward control information; update the control compensation factor of the first control compensation information according to the yaw motion error value, the yaw motion state information, and the yaw motion attribute information to obtain the updated control compensation factor; generate the second control compensation information according to the updated control compensation factor.

[0091] It should be noted that the yaw motion error value characterizes the deviation between the actual yaw motion state and the desired state. It is used to determine the update direction and magnitude of the feedforward gain and compensation factor. By using the yaw motion error value as a constraint, if the yaw motion error value is too large, the feedforward gain can be adjusted to enhance the correction capability of the feedforward control information. If the yaw motion error value is too small, the feedforward gain can be fine-tuned to avoid over-control and ensure that the feedforward control information fits the current operating condition. The control compensation factor is used to compensate for the control compensation information.

[0092] The first control compensation information includes at least one of the following three: vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information in the previous control cycle.

[0093] It should be noted that vehicle characteristic control compensation information is used to compensate for the vehicle's own dynamic characteristics that affected the vehicle's yaw motion in the previous control cycle; environmental change compensation information is used to compensate for the external environmental dynamic disturbances that affected the vehicle's yaw motion in the previous control cycle; and execution attenuation control compensation information is used to compensate for the controller execution efficiency attenuation and nonlinearity error that affected the vehicle's yaw motion in the previous control cycle. Specifically, vehicle characteristic control compensation information can be expressed as follows: ,in, ,in, The first parameter vector (vehicle characteristic control compensation factor) estimated in the previous control cycle. Given the yaw rate of the previous control cycle, the environmental change compensation information can be expressed as: ,in, ,in, Given the second parameter vector (environmental change control compensation factor) estimated in the previous control cycle, the attenuation control compensation information can be expressed as follows: ,in, ,in, The third parameter vector estimated in the previous control cycle (execution decay control compensation factor). This is the first yaw motion control signal, which can be called... Specifically, it can be , To control the input history queue; for example, in one implementable manner, the first control compensation information It can be represented as: , that is, It is understandable that vehicle characteristic control compensation information can compensate for uncertainties in the same direction as the control input channel, environmental change control compensation information can compensate for disturbances that are not directly aligned with the control channel, such as crosswinds or uneven road surfaces, and execution attenuation control compensation factor can compensate for changes in control efficiency, such as actuator nonlinearity and degradation.

[0094] As an example, the difference between the yaw motion state value and the expected yaw motion value is used to obtain the yaw motion error value. The specific formula is as follows:

[0095]

[0096] Where e is the yaw motion error value, Let be the expected value of the lateral motion. The yaw motion state value is given. Under the constraint of the yaw motion error value, the feedforward gain of the first feedforward control information is updated according to the yaw motion state information and the yaw motion attribute information to obtain the updated feedforward gain. The feedforward gain of the first feedforward control information is updated according to the updated feedforward gain to obtain the second feedforward control information. The control compensation factor of the first control compensation information is updated according to the yaw motion error value, the yaw motion state information and the yaw motion attribute information to obtain the updated control compensation factor.

[0097] Among them, under the constraint of the yaw motion error value, the feedforward gain of the first feedforward control information is updated according to the yaw motion state information and the yaw motion attribute information. The formula for the updated feedforward gain is as follows:

[0098]

[0099] in, For the updated feedforward gain, This is the transpose of the output matrix. Let be the state matrix of the yaw dynamics model, and b be the control gain matrix of the yaw dynamics model.

[0100] Specifically, based on the updated feedforward gain, the feedforward gain of the first feedforward control information is updated to obtain the second feedforward control information; based on the yaw motion error value, yaw motion state information, and yaw motion attribute information, the control compensation factor of the first control compensation information is updated, and the formula for obtaining the updated control compensation factor can be as follows:

[0101]

[0102] in, The control gain matrix is ​​the vehicle characteristic control compensation factor. The control gain matrix of the environmental change control compensation factor and The control gain matrix for implementing the attenuation control compensation factor, where P is a solution to the Lyapunov equation, satisfies... ,in, Let I be a positive number, and let I be the identity matrix. This is the updated vehicle characteristic control compensation factor. The updated environmental change control compensation factor, The updated execution attenuation control compensation factor is used; then, based on the updated control compensation factor, second control compensation information is generated.

[0103] The specific formula for generating the second control compensation information based on the updated control compensation factor is shown below:

[0104]

[0105] in, This provides vehicle characteristic control compensation information for the current control cycle. This provides control compensation information for environmental changes during the current control cycle. This provides the execution attenuation control compensation information for the current control cycle, where dt is the control cycle.

[0106] In this embodiment, by using the yaw motion error value as the core constraint, the feedforward gain is directly correlated with the current operating condition, enabling the updated second feedforward control information to dynamically adapt to vehicle characteristics. At the same time, by updating the control compensation factor to specifically offset the error sources, the accuracy of vehicle yaw tracking can be improved, and dynamic errors can be reduced. Furthermore, the updates of both the feedforward gain and the control compensation factor depend on the real-time error situation and operating condition, thus enhancing the adaptive capability of the vehicle yaw motion control system. Therefore, this further lays the foundation for improving the effect of vehicle yaw motion control.

[0107] In some embodiments, second control compensation information is generated based on the updated control compensation factor, including:

[0108] Perform parameter projection operation on the updated control compensation factor to obtain the projected control compensation factor, wherein the projected control compensation factor is within a preset physical reasonable range; generate projected control compensation information based on the projected control compensation factor; and convert the projected control compensation information into second control compensation information.

[0109] It should be noted that, in order to ensure that the updated control compensation factor always remains within a reasonable range with clear physical meaning, a projection operation can be performed on the updated control compensation factor to prevent it from drifting.

[0110] As an example, a positive parameter projection operation is performed on the updated control compensation factor to obtain the projected control compensation factor; the projected control compensation factor is used to replace the control compensation factor in the first control compensation information to obtain the projected control compensation information; the projected control compensation information is used as the second control compensation factor.

[0111] As another example, a bounded parameter projection operation is performed on the updated control compensation factor to obtain the projected control compensation factor. The projected control compensation factor is then used to replace the control compensation factor in the first control compensation information to obtain the projected control compensation information. This projected control compensation information is then used as the second control compensation factor. This ensures that the adaptively updated control compensation factor is within a physically meaningful and reasonable range, thus effectively generating the second control compensation information for the vehicle in the current control cycle. Therefore, it lays the foundation for improving the effectiveness of generating the second control compensation information.

[0112] In some embodiments, determining a second yaw motion control signal for the vehicle in the current control cycle based on second feedforward control information and second control compensation information includes:

[0113] The control compensation weights corresponding to vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information are obtained respectively; comprehensive control compensation information is obtained by fusing the vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information with their respective control compensation weights; and a second yaw motion control signal is generated based on the second feedforward control information and the comprehensive control compensation information.

[0114] In different yaw motion scenarios, the compensation strength for different control compensation information varies. Therefore, by dynamically adjusting the control compensation weight, the comprehensive control compensation information can be more accurately adapted to the scenario characteristics, improving the pertinence and effectiveness of the control signal. Specifically, in yaw motion scenarios with sudden changes in vehicle load (such as sudden loading or unloading), changes in vehicle characteristics are the main source of error. In this case, the control compensation weight of the vehicle characteristic compensation information can be adjusted from 0.3 to 0.6. In scenarios with frequent crosswinds or sudden changes in road surface adhesion coefficient (such as moving from a dry road to a depression), environmental interference plays a dominant role. The control compensation weight of the environmental change control compensation information can be adjusted from 0.2 to 0.4 to prioritize offsetting the yaw deviation caused by external factors. In scenarios with actuator aging (such as steering motor response delay), execution attenuation is the core error term. The control compensation weight of the execution attenuation control compensation information can be adjusted from 0.3 to 0.5 to focus on correcting the execution loss of control commands.

[0115] As an example, the control compensation weights corresponding to vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information are obtained. These are then multiplied by their respective control compensation weights and summed to obtain the comprehensive control compensation information. The motion control signal obtained by summing the comprehensive control compensation information and the second feedforward control information is directly used as the second yaw motion control signal. The specific calculation formula is shown below:

[0116]

[0117] in, This is the second yaw motion control signal. This is the second feedforward control information. The control compensation weights are the control compensation information corresponding to vehicle characteristics. The control compensation weights are the corresponding values ​​for environmental change control compensation information. To execute the control compensation weights corresponding to the attenuation control compensation information, For vehicle characteristic control compensation information. Information for environmental change control and compensation. To implement attenuation control compensation information, a dynamic allocation mechanism for control compensation weights is used to ensure that the fused comprehensive control compensation information always matches the actual yaw motion state of the vehicle. This ensures that the second yaw motion control signal generated based on the comprehensive control compensation information and the second feedforward control information is more in line with actual needs, thereby avoiding under-compensation or over-compensation. Therefore, the yaw control accuracy and stability of the vehicle in complex scenarios are further improved.

[0118] In this embodiment, a second yaw motion control signal is generated based on the second feedforward control information and the integrated control compensation information, including:

[0119] The second feedforward control information and the comprehensive control compensation information are superimposed to obtain the intermediate yaw motion control signal of the vehicle in the current control cycle; based on the historical yaw motion control signal of the vehicle in the historical control cycle, the intermediate yaw motion control signal is filtered to obtain the second yaw motion control signal.

[0120] In order to suppress high-frequency noise in the signal and avoid actuator chattering, the cutoff frequency, order and other parameters of the low-pass filter or band-stop filter can be designed and initialized according to the frequency characteristics of the vehicle yaw motion control system response (such as actuator bandwidth and noise spectrum). Specifically, a low-pass filter can be set in the controller to effectively filter out high-frequency components in the control signal and suppress high-frequency oscillations.

[0121] As an example, the second feedforward control information and the integrated control compensation information are superimposed to obtain the intermediate yaw motion control signal of the vehicle in the current control cycle; by introducing the historical yaw motion control signal of the vehicle in the historical control cycle, the intermediate yaw motion control signal is subjected to a first-order low-pass filter to obtain the second yaw motion control signal. The formula for the first-order low-pass filter is as follows:

[0122]

[0123] in, This is the second yaw motion control signal. dt represents the control period. By filtering the intermediate yaw motion control signal using historical yaw motion control signals, a second yaw motion control signal is obtained. This process filters out high-frequency noise and suppresses control chattering, thus improving the robustness of the generated second yaw motion control signal.

[0124] For example, in one feasible approach, the weight of k is 0. It can be represented as The intermediate signal for yaw motion control is directly represented as Then the second yaw motion signal can be expressed as: .

[0125] In a complete embodiment, refer to Figure 3 , Figure 3To illustrate the flowchart of yaw motion control for a vehicle, in this embodiment, the first feedforward control information and the first control compensation information (vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information) from the previous control cycle are first used as inputs for control signal calculation to generate the yaw motion control signal for the vehicle in the previous control cycle, i.e., the calculation of the yaw motion control signal is completed. Then, the yaw motion control signal is filtered and processed to obtain the first yaw motion control signal. Combining the first yaw motion control signal, the yaw motion state information of the vehicle in the current control cycle, and the yaw motion attribute information of the vehicle, the yaw motion state value (motion state estimate) of the vehicle in the current control cycle is predicted, i.e., the state prediction update is completed, and the yaw motion state value is output. Finally, the yaw motion state value and the measured... The expected yaw motion value (expected motion state value) output by the yaw motion control system is used as input to calculate the yaw motion error value between the yaw motion state value and the expected yaw motion value. Then, under the constraint of the yaw motion error value, the feedforward gain of the first feedforward control information is updated according to the yaw motion state information and the yaw motion attribute information to obtain the updated feedforward gain. The first feedforward control information is optimized according to the updated feedforward gain to obtain the second feedforward control information. And the control compensation factor of the first control compensation information is updated according to the yaw motion error value, the yaw motion state information, and the yaw motion attribute information to obtain the updated control compensation factor. That is, the adaptive parameter update is completed. The inputs in the adaptive parameter update process are the expected yaw motion value and the yaw motion error value, and the output is the updated control compensation factor.

[0126] Further, a parameter projection operation is performed on the updated control compensation factor to obtain the projected control compensation factor, wherein the projected control compensation factor is within a preset physical reasonable range; based on the projected control compensation factor, projected control compensation information is generated; the projected control compensation information is converted into second control compensation information; then, the control compensation weights corresponding to vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information are obtained; by fusing the vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information and their corresponding control compensation weights, comprehensive control compensation information is obtained; and the second feedforward control information and comprehensive control compensation information are superimposed to obtain the yaw motion control intermediate signal of the vehicle in the current control cycle; then, based on the historical yaw motion control signal of the vehicle in the historical control cycle, the yaw motion control intermediate signal is filtered to obtain the second yaw motion control signal, that is, the yaw motion control signal is filtered; finally, in the current control cycle, the vehicle is yaw motion controlled according to the second yaw motion control signal.

[0127] Since vehicle yaw control is based on a second yaw control signal, which is determined by updated first feedforward control information and first control compensation information, and the first control compensation information can compensate for interference factors affecting vehicle yaw in the previous control cycle, the second control compensation information can compensate for interference factors affecting vehicle yaw in the current control cycle. This achieves the goal of adaptive compensation for interference factors affecting vehicle yaw in different control cycles, ultimately enabling the yaw control signal to match the actual yaw control requirements of the vehicle in real time. Therefore, it overcomes the technical defect that the calibration parameters cannot match the actual yaw control requirements of the vehicle due to the influence of multiple dynamic interference factors on vehicle yaw, and the interference factors are changing in real time, which makes it easy for instability to occur. Thus, the effect of vehicle yaw control is improved.

[0128] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0129] Based on the same inventive concept, this application also provides a vehicle yaw motion control system for implementing the vehicle yaw motion control method described above. The solution provided by this system is similar to the implementation described in the above method; therefore, the specific limitations of one or more vehicle yaw motion control system embodiments provided below can be found in the limitations of the vehicle yaw motion control method described above, and will not be repeated here.

[0130] In one exemplary embodiment, such as Figure 4 As shown, a vehicle yaw motion control system is provided, including: an acquisition module 401, a prediction module 402, an update module 403, a determination module 404, and a control module 405, wherein:

[0131] The acquisition module 401 is used to acquire the first yaw motion control signal of the vehicle in the previous control cycle. The first yaw motion control signal is determined based on the first feedforward control information and the first control compensation information of the vehicle in the previous control cycle. The first control compensation information is used to compensate for the interference factors that affect the yaw motion of the vehicle in the previous control cycle.

[0132] The prediction module 402 is used to predict the yaw motion state value of the vehicle in the current control cycle based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal.

[0133] The update module 403 is used to update the first feedforward control information and the first control compensation information according to the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, respectively, to obtain the second feedforward control information and the second control compensation information.

[0134] The determination module 404 is used to determine the second yaw motion control signal of the vehicle in the current control cycle based on the second feedforward control information and the second control compensation information.

[0135] The control module 405 is used to control the yaw motion of the vehicle according to the second yaw motion control signal in the current control cycle.

[0136] In one embodiment, the first yaw motion control signal includes an initial yaw motion control signal, and the previous control cycle includes the initial control cycle; the acquisition module 401 is further configured to:

[0137] Extract yaw motion attribute information from the preset configuration file, and obtain the initial yaw motion state information and initial control compensation information of the vehicle in the initial control cycle by initializing the controller state; generate the initial feedforward control information of the vehicle in the initial control cycle based on the yaw motion attribute information, the initial yaw motion state information and the expected value of the initial yaw motion of the vehicle in the initial control cycle; generate the initial yaw motion control signal based on the initial feedforward control information and the initial control compensation information.

[0138] In one embodiment, the update module 403 is further configured to:

[0139] Obtain the yaw motion error value between the yaw motion state value and the expected yaw motion value; under the constraint of the yaw motion error value, update the feedforward gain of the first feedforward control information according to the yaw motion state information and the yaw motion attribute information to obtain the updated feedforward gain; optimize the first feedforward control information according to the updated feedforward gain to obtain the second feedforward control information; update the control compensation factor of the first control compensation information according to the yaw motion error value, the yaw motion state information, and the yaw motion attribute information to obtain the updated control compensation factor; generate the second control compensation information according to the updated control compensation factor.

[0140] In one embodiment, the update module 403 is further configured to:

[0141] Perform parameter projection operation on the updated control compensation factor to obtain the projected control compensation factor, wherein the projected control compensation factor is within a preset physical reasonable range; generate projected control compensation information based on the projected control compensation factor; and convert the projected control compensation information into second control compensation information.

[0142] In one embodiment, the first control compensation information includes at least one of the following three: vehicle characteristic control compensation information of the vehicle in the previous control cycle, environmental change control compensation information, and execution attenuation control compensation information.

[0143] In one embodiment, the determining module 404 is further configured to:

[0144] The control compensation weights corresponding to vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information are obtained respectively; comprehensive control compensation information is obtained by fusing the vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information with their respective control compensation weights; and a second yaw motion control signal is generated based on the second feedforward control information and the comprehensive control compensation information.

[0145] In one embodiment, the determining module 404 is further configured to:

[0146] The second feedforward control information and the comprehensive control compensation information are superimposed to obtain the intermediate yaw motion control signal of the vehicle in the current control cycle; based on the historical yaw motion control signal of the vehicle in the historical control cycle, the intermediate yaw motion control signal is filtered to obtain the second yaw motion control signal.

[0147] The various modules in the aforementioned vehicle yaw motion control system can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the vehicle's processor in hardware form or independent of it, or stored in the vehicle's memory in software form, so that the processor can call and execute the corresponding operations of each module.

[0148] In one exemplary embodiment, a vehicle is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 5 As shown, the vehicle includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input system. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input system are also connected to the system bus via the input / output interfaces. The vehicle's processor provides computing and control capabilities. The vehicle's memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The vehicle's input / output interfaces are used for exchanging information between the processor and external devices. The vehicle's communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a vehicle yaw motion control method.

[0149] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the vehicle to which the present application is applied. A specific vehicle may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0150] In one exemplary embodiment, a vehicle is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to perform the following steps:

[0151] The system acquires the first yaw motion control signal of the vehicle in the previous control cycle, wherein the first yaw motion control signal is determined based on the first feedforward control information and the first control compensation information of the vehicle in the previous control cycle. The first control compensation information is used to compensate for interference factors affecting the yaw motion of the vehicle in the previous control cycle. Based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal, the system predicts the yaw motion state value of the vehicle in the current control cycle. Based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the system updates the first feedforward control information and the first control compensation information respectively to obtain the second feedforward control information and the second control compensation information. Based on the second feedforward control information and the second control compensation information, the system determines the second yaw motion control signal of the vehicle in the current control cycle. In the current control cycle, the system performs yaw motion control on the vehicle based on the second yaw motion control signal.

[0152] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0153] Extract yaw motion attribute information from the preset configuration file, and obtain the initial yaw motion state information and initial control compensation information of the vehicle in the initial control cycle by initializing the controller state; generate the initial feedforward control information of the vehicle in the initial control cycle based on the yaw motion attribute information, the initial yaw motion state information and the expected value of the initial yaw motion of the vehicle in the initial control cycle; generate the initial yaw motion control signal based on the initial feedforward control information and the initial control compensation information.

[0154] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0155] Obtain the yaw motion error value between the yaw motion state value and the expected yaw motion value;

[0156] Under the constraint of the yaw motion error value, the feedforward gain of the first feedforward control information is updated according to the yaw motion state information and the yaw motion attribute information to obtain the updated feedforward gain; the first feedforward control information is optimized according to the updated feedforward gain to obtain the second feedforward control information; the control compensation factor of the first control compensation information is updated according to the yaw motion error value, the yaw motion state information and the yaw motion attribute information to obtain the updated control compensation factor; and the second control compensation information is generated according to the updated control compensation factor.

[0157] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0158] Perform parameter projection operation on the updated control compensation factor to obtain the projected control compensation factor, wherein the projected control compensation factor is within a preset physical reasonable range; generate projected control compensation information based on the projected control compensation factor; and convert the projected control compensation information into second control compensation information.

[0159] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0160] The control compensation weights corresponding to vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information are obtained respectively; comprehensive control compensation information is obtained by fusing the vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information with their respective control compensation weights; and a second yaw motion control signal is generated based on the second feedforward control information and the comprehensive control compensation information.

[0161] In one embodiment, the door opening and closing speed includes the door opening speed and the door closing speed; the processor also performs the following steps when executing the computer program:

[0162] The second feedforward control information and the comprehensive control compensation information are superimposed to obtain the intermediate yaw motion control signal of the vehicle in the current control cycle; based on the historical yaw motion control signal of the vehicle in the historical control cycle, the intermediate yaw motion control signal is filtered to obtain the second yaw motion control signal.

[0163] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0164] The system acquires the first yaw motion control signal of the vehicle in the previous control cycle, wherein the first yaw motion control signal is determined based on the first feedforward control information and the first control compensation information of the vehicle in the previous control cycle. The first control compensation information is used to compensate for interference factors affecting the yaw motion of the vehicle in the previous control cycle. Based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal, the system predicts the yaw motion state value of the vehicle in the current control cycle. Based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the system updates the first feedforward control information and the first control compensation information respectively to obtain the second feedforward control information and the second control compensation information. Based on the second feedforward control information and the second control compensation information, the system determines the second yaw motion control signal of the vehicle in the current control cycle. In the current control cycle, the system performs yaw motion control on the vehicle based on the second yaw motion control signal.

[0165] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0166] The system acquires the first yaw motion control signal of the vehicle in the previous control cycle, wherein the first yaw motion control signal is determined based on the first feedforward control information and the first control compensation information of the vehicle in the previous control cycle. The first control compensation information is used to compensate for interference factors affecting the yaw motion of the vehicle in the previous control cycle. Based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal, the system predicts the yaw motion state value of the vehicle in the current control cycle. Based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the system updates the first feedforward control information and the first control compensation information respectively to obtain the second feedforward control information and the second control compensation information. Based on the second feedforward control information and the second control compensation information, the system determines the second yaw motion control signal of the vehicle in the current control cycle. In the current control cycle, the system performs yaw motion control on the vehicle based on the second yaw motion control signal.

[0167] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above method embodiments.

[0168] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0169] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0170] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling vehicle yaw motion, characterized in that, The method includes: The vehicle acquires a first yaw motion control signal in the previous control cycle, wherein the first yaw motion control signal is determined based on the vehicle's first feedforward control information and first control compensation information in the previous control cycle. The first control compensation information is used to compensate for interference factors affecting the vehicle's yaw motion in the previous control cycle. The first feedforward control information refers to the control quantity pre-calculated based on the vehicle's state, attributes, and desired yaw motion in the previous control cycle. Based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal, predict the yaw motion state value of the vehicle in the current control cycle. Based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, the first feedforward control information and the first control compensation information are updated respectively to obtain the second feedforward control information and the second control compensation information. Based on the second feedforward control information and the second control compensation information, the second yaw motion control signal of the vehicle in the current control cycle is determined; In the current control cycle, the vehicle is yaw motion controlled according to the second yaw motion control signal. The step of updating the first feedforward control information and the first control compensation information based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, respectively, to obtain second feedforward control information and second control compensation information, includes: Obtain the yaw motion error value between the yaw motion state value and the expected yaw motion value; under the constraint of the yaw motion error value, update the feedforward gain of the first feedforward control information according to the yaw motion state information and the yaw motion attribute information to obtain the updated feedforward gain; optimize the first feedforward control information according to the updated feedforward gain to obtain the second feedforward control information; update the control compensation factor of the first control compensation information according to the yaw motion error value, the yaw motion state information, and the yaw motion attribute information to obtain the updated control compensation factor; generate the second control compensation information according to the updated control compensation factor.

2. The method according to claim 1, characterized in that, The first yaw motion control signal includes an initial yaw motion control signal, and the previous control cycle includes an initial control cycle; acquiring the vehicle's first yaw motion control signal in the previous control cycle includes: The yaw motion attribute information is extracted from the preset configuration file, and the initial yaw motion state information and initial control compensation information of the vehicle in the initial control cycle are obtained by initializing the controller state. Based on the yaw motion attribute information, the initial yaw motion state information, and the initial yaw motion expectation value of the vehicle in the initial control cycle, the initial feedforward control information of the vehicle in the initial control cycle is generated. The initial yaw motion control signal is generated based on the initial feedforward control information and the initial control compensation information.

3. The method according to claim 1, characterized in that, The step of generating the second control compensation information based on the updated control compensation factor includes: The updated control compensation factor is subjected to parameter projection operation to obtain the projected control compensation factor, wherein the projected control compensation factor is within a preset physical reasonable range; Based on the projected control compensation factor, projected control compensation information is generated; The projected control compensation information is converted into the second control compensation information.

4. The method according to claim 3, characterized in that, The first control compensation information includes at least one of the following three: vehicle characteristic control compensation information, environmental change control compensation information, and execution attenuation control compensation information in the previous control cycle.

5. The method according to claim 4, characterized in that, The step of determining the second yaw motion control signal of the vehicle in the current control cycle based on the second feedforward control information and the second control compensation information includes: Obtain the control compensation weights corresponding to the vehicle characteristic control compensation information, the environmental change control compensation information, and the execution attenuation control compensation information, respectively. By integrating the vehicle characteristic control compensation information, the environmental change control compensation information, and the execution attenuation control compensation information with their respective control compensation weights, comprehensive control compensation information is obtained. The second yaw motion control signal is generated based on the second feedforward control information and the integrated control compensation information.

6. The method according to claim 5, characterized in that, The step of generating the second yaw motion control signal based on the second feedforward control information and the integrated control compensation information includes: The second feedforward control information and the comprehensive control compensation information are superimposed to obtain the intermediate signal of the vehicle's yaw motion control in the current control cycle; Based on the historical yaw motion control signal of the vehicle in the historical control cycle, the intermediate yaw motion control signal is filtered to obtain the second yaw motion control signal.

7. A vehicle yaw motion control system, characterized in that, The system includes: The acquisition module is used to acquire the first yaw motion control signal of the vehicle in the previous control cycle. The first yaw motion control signal is determined based on the first feedforward control information and the first control compensation information of the vehicle in the previous control cycle. The first control compensation information is used to compensate for the interference factors affecting the yaw motion of the vehicle in the previous control cycle. The first feedforward control information refers to the control quantity pre-calculated based on the vehicle state, attributes and desired yaw motion in the previous control cycle. The prediction module is used to predict the yaw motion state value of the vehicle in the current control cycle based on the yaw motion state information of the vehicle in the current control cycle, the yaw motion attribute information of the vehicle, and the first yaw motion control signal. The update module is used to update the first feedforward control information and the first control compensation information respectively based on the yaw motion state value and the expected yaw motion value of the vehicle in the current control cycle, so as to obtain the second feedforward control information and the second control compensation information. The determining module is used to determine the second yaw motion control signal of the vehicle in the current control cycle based on the second feedforward control information and the second control compensation information; The control module is configured to control the yaw motion of the vehicle according to the second yaw motion control signal in the current control cycle, wherein the update module is further configured to: Obtain the yaw motion error value between the yaw motion state value and the expected yaw motion value; under the constraint of the yaw motion error value, update the feedforward gain of the first feedforward control information according to the yaw motion state information and the yaw motion attribute information to obtain the updated feedforward gain; optimize the first feedforward control information according to the updated feedforward gain to obtain the second feedforward control information; update the control compensation factor of the first control compensation information according to the yaw motion error value, the yaw motion state information, and the yaw motion attribute information to obtain the updated control compensation factor; generate the second control compensation information according to the updated control compensation factor.

8. The system according to claim 7, characterized in that, The first yaw motion control signal includes an initial yaw motion control signal, and the previous control cycle includes the initial control cycle; the acquisition module is further configured to: The yaw motion attribute information is extracted from the preset configuration file, and the initial yaw motion state information and initial control compensation information of the vehicle in the initial control cycle are obtained by initializing the controller state; the initial feedforward control information of the vehicle in the initial control cycle is generated based on the yaw motion attribute information, the initial yaw motion state information and the expected value of the initial yaw motion of the vehicle in the initial control cycle; the initial yaw motion control signal is generated based on the initial feedforward control information and the initial control compensation information.

9. A vehicle, characterized in that, It includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

Images