CN118665492B - Vehicle tire force determination method, device, equipment, medium, product and vehicle - Google Patents
Vehicle tire force determination method, device, equipment, medium, product and vehicle Download PDFInfo
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Abstract
本申请公开了一种车辆轮胎力确定方法、装置、设备、介质、产品及车辆，涉及车辆技术领域。车辆轮胎力方法包括：获取轮胎力分配请求，其中，轮胎力分配请求包括车辆四个轮胎的轮胎力的合力所需实现的第一参数和轮胎力分配所需的第二参数；根据第一参数、第二参数和轮胎力需要满足的约束条件，确定车辆前轮和车辆后轮的第一轮胎力；基于第一轮胎力，构建与轮胎力需要满足的约束条件对应的轮胎力优化问题；对轮胎力优化问题进行求解，得到车辆前轮和车辆后轮的第二轮胎力。根据本申请公开的方案，能够合理确定车辆轮胎力，使其在极限工况下保证车辆横摆自由度的稳定，而在常规工况下优化驱动效率。
The present application discloses a vehicle tire force determination method, device, equipment, medium, product and vehicle, and relates to the field of vehicle technology. The vehicle tire force method comprises: obtaining a tire force distribution request, wherein the tire force distribution request includes a first parameter required to achieve the resultant force of the tire forces of the four tires of the vehicle and a second parameter required for tire force distribution; determining the first tire force of the front wheels and the rear wheels of the vehicle according to the first parameter, the second parameter and the constraints that the tire force needs to satisfy; constructing a tire force optimization problem corresponding to the constraints that the tire force needs to satisfy based on the first tire force; solving the tire force optimization problem to obtain the second tire force of the front wheels and the rear wheels of the vehicle. According to the scheme disclosed in the present application, the vehicle tire force can be reasonably determined so that the stability of the vehicle's yaw freedom can be guaranteed under extreme conditions, while the driving efficiency is optimized under normal conditions.
Description
Technical Field
The application belongs to the technical field of vehicles, and particularly relates to a method, a device, equipment, a medium, a product and a vehicle for determining the tire force of a vehicle.
Background
The vehicle motion controller (Vehicle Motion Controller, VMC) is the core of a high performance vehicle path, vehicle speed tracking control technology, which requires that the control algorithm can accurately track any dynamically viable reference trajectory to enable the maneuverability of the intelligent vehicle to reach and exceed the human driving level, making the delivery more efficient and safer in emergency conditions.
The VMC first determines a desired target resultant longitudinal force, a target resultant lateral force, and a target resultant yaw moment for the vehicle. And then distributed to obtain a target tire force, and the underlying controller controls the wheels to achieve the tire force to achieve the desired movement of the vehicle.
In the related art, the VMC is determined only from the target longitudinal resultant force and the target lateral resultant force when determining the vehicle tire force, and ignores the influence of the yaw moment on the vehicle tire force, resulting in inaccuracy of the determined vehicle tire force. In addition, the vehicle cannot achieve the target yaw moment under the normal working condition due to the inherent characteristics of the vehicle, and a corresponding method is required to be designed to solve the problem.
Disclosure of Invention
The embodiment of the application provides a method, a device, equipment, a medium, a product and a vehicle for determining the tire force of a vehicle, which can solve the problem of inaccurate determination of the tire force of the vehicle.
In a first aspect, an embodiment of the present application provides a method for determining a tire force of a vehicle, including:
Obtaining a tire force distribution request, wherein the tire force distribution request comprises a first parameter required to achieve the resultant force of the tire forces of four tires of the vehicle and a second parameter required to achieve the tire force distribution, the first parameter comprises a target resultant longitudinal force, a target resultant lateral force and a target resultant yaw moment, and the second parameter comprises a rear wheel attachment coefficient, a rear wheel vertical load, a rear wheel cornering angle, a rear wheel cornering stiffness, a first distance from a vehicle centroid to a front axle and a second distance from the vehicle centroid to a rear axle;
determining first tire forces of front wheels and rear wheels of the vehicle according to the first parameter, the second parameter and constraint conditions which need to be met by the tire forces;
constructing a tire force optimization problem corresponding to the constraint condition based on the first tire force, wherein the tire force optimization problem comprises a constraint between a rear wheel longitudinal force and a rear wheel lateral force of a quadratic form;
and solving the tire force optimization problem to obtain second tire forces of the front wheels and the rear wheels of the vehicle.
In a second aspect, an embodiment of the present application provides a vehicle tire force determining apparatus including:
The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a tire force distribution request, the tire force distribution request comprises a first parameter required to realize the resultant force of tire forces of four tires of a vehicle and a second parameter required by the tire force distribution, the first parameter comprises a target resultant longitudinal force, a target resultant lateral force and a target resultant yaw moment, and the second parameter comprises a rear wheel attachment coefficient, a rear wheel vertical load, a rear wheel side deflection angle, a rear wheel side deflection rigidity, a first distance from a vehicle mass center to a front axle and a second distance from the vehicle mass center to a rear axle;
the determining module is used for determining first tire forces of the front wheels and the rear wheels of the vehicle according to the first parameter, the second parameter and the constraint conditions which need to be met by the tire forces;
The building module is used for building a tire force optimization problem corresponding to the constraint condition based on the first tire force, wherein the tire force optimization problem comprises constraint between the longitudinal force of the rear wheel and the lateral force of the rear wheel in a quadratic form;
and the solving module is used for solving the tire force optimization problem to obtain second tire forces of the front wheels and the rear wheels of the vehicle.
In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a processor and a memory storing computer program instructions, and the processor implements the steps of the method for determining a tire force of a vehicle provided by the embodiment of the present application when executing the computer program instructions.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method for determining a vehicle tire force provided by the embodiments of the present application.
In a fifth aspect, embodiments of the present application provide a computer program product comprising computer program instructions which, when executed by a processor, implement the steps of the method for determining vehicle tyre force provided by embodiments of the present application.
In a sixth aspect, an embodiment of the present application provides a vehicle including at least one of:
the embodiment of the application provides a vehicle tire force determining device;
the embodiment of the application provides electronic equipment;
the embodiment of the application provides a computer readable storage medium.
In the embodiment of the application, a tire force distribution request is acquired, wherein the tire force distribution request comprises a first parameter required to achieve resultant force of tire forces of four tires of a vehicle and a second parameter required to achieve tire force distribution, the first parameter comprises a target resultant longitudinal force, a target resultant lateral force and a target resultant yaw moment, the second parameter comprises a rear wheel attachment coefficient, a rear wheel vertical load, a rear wheel lateral angle, a rear wheel lateral stiffness, a first distance from a vehicle center of mass to a front axle and a second distance from the vehicle center of mass to the rear axle, the first tire force of the front wheels of the vehicle and the first tire force of the rear wheels of the vehicle are determined according to the first parameter, the second parameter and constraint conditions required to be met by the tire forces, a tire force optimization problem corresponding to the constraint conditions is constructed based on the first tire force, the tire force optimization problem comprises constraint between the rear wheel longitudinal force and the rear wheel lateral force of a quadratic form, and the second tire force of the vehicle is obtained by solving the tire force optimization problem. Therefore, when the tire force of the vehicle is determined, the influence of the yaw moment on the tire force of the vehicle is not ignored, the target yaw moment is considered when the tire force is determined under the limiting working condition in a self-adaptive mode according to the working condition, the target yaw moment is not considered when the tire force is determined under the normal working condition, smooth transition between the two can be realized, and the accuracy and the rationality for determining the target tire force of the vehicle can be improved.
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In order to more clearly illustrate the technical solution of the embodiments of the present application, the drawings that are needed to be used in the embodiments of the present application will be briefly described, and it is possible for a person skilled in the art to obtain other drawings according to these drawings without inventive effort.
FIG. 1 is a flow chart of a method for determining tire force of a vehicle according to an embodiment of the present application;
FIG. 2 is a schematic diagram of an architecture for distributing tire forces provided by an embodiment of the present application;
FIG. 3 is a schematic illustration of a solution to rear wheel longitudinal force and rear wheel lateral force provided by an embodiment of the present application;
FIG. 4 is a schematic diagram of a vehicle u-turn condition provided by an embodiment of the present application;
FIG. 5 is a schematic illustration of tire forces provided by an embodiment of the present application;
FIG. 6 is a schematic view of a construction of a vehicle tire force determining apparatus provided by an embodiment of the present application;
fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
Features and exemplary embodiments of various aspects of the present application will be described in detail below, and in order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail below with reference to the accompanying drawings and the detailed embodiments. It should be understood that the particular embodiments described herein are meant to be illustrative of the application only and not limiting. It will be apparent to one skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the application by showing examples of the application.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising" does not exclude the presence of additional identical elements in a process, method, article, or apparatus that comprises the element.
The method, the device, the equipment, the medium, the product and the vehicle for determining the tire force of the vehicle provided by the embodiment of the application are described in detail below through specific embodiments and application scenes thereof with reference to the accompanying drawings.
Fig. 1 is a flowchart of a method for determining a tire force of a vehicle according to an embodiment of the present application. As shown in fig. 1, the vehicle tire force determination method may include:
Step 101, acquiring a tire force distribution request, wherein the tire force distribution request comprises a first parameter required to realize the resultant force of the tire forces of four tires of a vehicle and a second parameter required to realize the tire force distribution, the first parameter comprises a target resultant longitudinal force, a target resultant lateral force and a target resultant yaw moment, and the second parameter comprises a rear wheel attachment coefficient, a rear wheel vertical load, a rear wheel side deflection angle, a rear wheel side deflection rigidity, a first distance from a vehicle center of mass to a front shaft and a second distance from the vehicle center of mass to a rear shaft;
in some possible implementations of embodiments of the application, the VMC may include an upper motion control layer, a middle tire force distribution layer, and a lower actuator distribution layer.
The upper-layer motion control layer calculates the total longitudinal force, the total lateral force and the total yaw moment required by the vehicle according to the expected motion (expected path and expected speed) and the actual measured motion obtained by actual measurement, calculates a rear wheel attachment coefficient, a rear wheel vertical load, a rear wheel side deflection angle, a rear wheel side deflection rigidity, a first distance from a vehicle center of mass to a front axle and a second distance from the vehicle center of mass to a rear axle through a vehicle motion state and parameter estimation module, transmits calculated data to the middle-layer tire force distribution layer, calculates the tire forces of the front wheels and the rear wheels of the vehicle according to the received data, and transmits the calculated tire forces of the front wheels and the rear wheels of the vehicle to the lower-layer actuator distribution layer, and the lower-layer actuator distribution layer generates actuator (e.g. wheel rotation angle, motor torque and the like) instructions capable of generating the received tire forces of the front wheels and the rear wheels of the vehicle to distribute the calculated tire forces of the front wheels and the rear wheels of the vehicle. As shown in fig. 2, fig. 2 is a schematic diagram of an architecture for distributing tire forces according to an embodiment of the present application.
In some possible implementations of the embodiments of the present application, the tire force of the front wheel of the vehicle in the embodiments of the present application is represented by a component of the tire force of the front wheel of the vehicle on the longitudinal axis of the vehicle body coordinate system (abbreviated as front wheel longitudinal force) and a component of the tire force of the front wheel of the vehicle on the transverse axis of the vehicle body coordinate system (abbreviated as front wheel lateral force), and the tire force of the rear wheel of the vehicle in the embodiments of the present application is represented by a component of the tire force of the rear wheel of the vehicle on the longitudinal axis of the vehicle body coordinate system (abbreviated as rear wheel longitudinal force) and a component of the tire force of the rear wheel of the vehicle on the transverse axis of the vehicle body coordinate system (abbreviated as rear wheel lateral force).
And 102, determining first tire forces of the front wheels and the rear wheels of the vehicle according to the first parameter, the second parameter and the constraint conditions which need to be met by the tire forces.
In some possible implementations of the embodiments of the present application, the constraint conditions that the tire forces need to satisfy include that the tire forces, when combined, in the longitudinal direction, the resultant force of the tire forces of the four tires of the vehicle is equal to the target resultant longitudinal force, i.e., the resultant force of the front wheel longitudinal force and the rear wheel longitudinal force is equal to the target resultant longitudinal force, in the lateral direction, the resultant force of the tire forces of the four tires of the vehicle is equal to the target resultant lateral force, i.e., the resultant force of the front wheel lateral force and the rear wheel lateral force is equal to the target resultant lateral force, the resultant moment calculated from the tire forces of the four tires of the vehicle is equal to the target resultant yaw moment, and the physical constraint of the vehicle system.
For vehicles with individually controllable front wheel steering and front and rear axle driving forces, the front wheels can simultaneously steer and drive and brake, the longitudinal force of the front wheels and the lateral force of the front wheels can be independently controlled, the rear wheels can only drive and brake, the longitudinal force of the rear wheels and the lateral force of the rear wheels are coupled, and the longitudinal force of the rear wheels and the lateral force of the rear wheels are required to meet the constraint of the coupling relation.
In some possible implementations of embodiments of the application, the constraints that the tire forces need to satisfy are shown in equations (1) and (2) below:
Wherein, in the formulas (1) and (2), For the longitudinal force of the front wheel,For the lateral force of the front wheel,For the longitudinal force of the rear wheel,For the side force of the rear wheel,For a target resultant longitudinal force,For the purpose of the resultant lateral force of the object,For the target yaw moment to be combined,As the distance of the vehicle centroid to the front axle,Is the distance of the vehicle center of mass to the rear axle. Equation (2) represents a coupling relationship constraint between the rear wheel longitudinal force and the rear wheel lateral force.
In some possible implementations of embodiments of the application, the coupling relationship constraint may be modeled by an existing tire model. The coupling relationship between the rear wheel longitudinal force and the rear wheel lateral force is constrained as shown in the following formula (3):
In the formula (3) of the present invention, As the attachment coefficient of the rear wheel,For the vertical load of the rear wheel,Is the rear wheel side saturation rate.Can be calculated by the following formula (4):
wherein, in the formula (4), As the slip angle of the rear wheel,For the cornering stiffness of the rear wheel,The following formula (5) shows:
Solving the equation set formed by the formulas (1) and (3) to obtain first tire forces of the front wheels and the rear wheels of the vehicle, wherein the first tire forces are shown in the following formula (6):
wherein, in the formula (6), For the longitudinal force of the front wheel,For the lateral force of the front wheel,For the longitudinal force of the rear wheel,For the side force of the rear wheel,As the distance of the vehicle centroid to the front axle,As the distance of the vehicle center of mass to the rear axle,For a target resultant longitudinal force,For the purpose of the resultant lateral force of the object,For the target yaw moment to be combined,As the attachment coefficient of the rear wheel,For the vertical load of the rear wheel,Is the rear wheel side saturation rate.
It will be appreciated that the first tire force of the front wheels of the vehicle comprises the front wheel longitudinal forceAnd front wheel side forceThe first tire force of the rear wheel of the vehicle comprises a rear wheel longitudinal forceAnd rear wheel side force。
And 103, constructing a tire force optimization problem corresponding to the constraint condition based on the first tire force, wherein the tire force optimization problem comprises constraint between the rear wheel longitudinal force and the rear wheel lateral force of the quadratic form.
In some possible implementations of embodiments of the application, the first tire force may not meet the need for accurate control of vehicle motion in some situations. For example, when the rear wheel is corneringAt 0 (e.g., vehicle is traveling straight), the rear wheel side saturation rateAlso 0, due toAppear in equation (6)AndIn the denominator of the determination type, the problem is singular at this time and cannot be determinedAndWhen the rear wheel is deviatedWhen not 0 but very small (e.g., less than a threshold), results inIs also small, calculated according to formula (6)AndWill be large and reverse, and the physical meaning is that the front wheel and the rear wheel are respectively driven by full force and braked by full force, which is different from the actual situation, even though the driving is thatThe point=0 is designed separately to solve the problem of singular point, and the solution of the tire force at the point is discontinuous, so that the tire force frequently and greatly jumps when the vehicle is in straight line in actual use.
The reason for the above phenomenon is that although the vehicle with independently controllable front-wheel steering and front-rear axle driving force is a complete driving system in the motion control problem, the target longitudinal force of the upper layer can be simultaneously achievedLateral force of targetYaw moment of target combinationThe range of resultant yaw moments that can be generated by such vehicle configurations is limited, or called the control authority (control authority) of the resultant yaw moment is small, when requested, but in and near straight-ahead conditions. Therefore, in and around the straight running condition, i.e., the condition where the above-mentioned problem exists, the target yaw moment should not be considered in determining the target tire forceIs realized by the method. Under such conditions, the ability to independently control the fore and aft axle drive forces should be used for the purpose of optimizing power consumption (or other indicators of evaluation of economy) or road surface adhesion utilization by distributing the fore and aft axle drive forces, which is also more physically intuitive.
To achieve the purpose of ignoring the target yaw moment during and near the straight-through working conditionThe method comprises the steps of requesting and realizing smooth change of tire force under the condition of change, designing a strategy of optimizing energy consumption or optimizing algorithm output of road surface adhesion utilization as driving force distribution proportion, and calculating by means of optimizing energy consumption or optimizing road surface adhesion utilization to obtain target longitudinal force of the rear wheelCalculating the target lateral force of the rear wheel according to the formula (6)。
In some possible implementations of the embodiments of the present application, the tire force optimization problem corresponding to the constraint conditions constructed in the embodiments of the present application is shown in the following formula (7):
In the formula (7) of the present invention, AndAs weights, they may be set according to actual requirements, alternatively,The value may be set to 1,The value may be 10.
The expression (7) means that the index is found to be enabled under the constraint that the coupling relation between the rear wheel longitudinal force and the rear wheel lateral force shown in the above expression (3) is satisfiedMinimal rear wheel longitudinal forceAnd rear wheel side force。
And 104, solving the tire force optimization problem to obtain second tire forces of the front wheels and the rear wheels of the vehicle.
When the longitudinal force of the rear wheel is solved by using the formula (7)And rear wheel side forceThereafter, the target resultant longitudinal forceLongitudinal force with rear wheelIs determined as the front wheel longitudinal forceCombining the targets with side forcesLateral force with rear wheelIs determined as the front wheel side force。
How equation (7) enables a smooth variation in tire force at and near straight running conditions is explained below by the rear wheel longitudinal force and rear wheel lateral force shown in fig. 3.
FIG. 3 shows rear wheel longitudinal force for a given rear wheel slip angle (both large rear wheel slip angle-limit condition and small rear wheel slip angle-normal condition)Lateral force with rear wheelThe combined range of values, i.e. an ellipse (only 1/4 of an ellipse is drawn in the gray curve), is also shown in fig. 3 for rear wheel longitudinal forces resulting from the purposes of optimizing energy consumption or optimizing road surface attachment utilization, etcAnd yaw moment by targetCalculated rear wheel target lateral force. It can be seen that due to the underdrive characteristics of the rear wheels which are only braked by the drive but not steered,And (3) withAnd cannot be taken at the same time. The concentric ellipses in FIG. 3 are optimized cost functionsDue to the weight of the contour line of (2)AndThe arrangement is such that the major axes of the ellipses are significantly larger than the minor axes, and the direction of the major axes is the direction of the longitudinal force of the rear wheels. These concentric ellipses representing the index magnitude contours represent the rear wheel longitudinal forcesLateral force with rear wheelThe tangent point when ellipses of the combination value ranges are tangent is the solution of formula (7), as shown in fig. 3.
Due to the joint slip characteristic of the tire, when the slip angle of the rear wheel is small (upper half of fig. 3), the eccentricity of the ellipse representing the value range is smaller than the eccentricity of the ellipse representing the index, and at this time, the eccentricity is calculated by optimizing the energy consumption or optimizing the road surface adhesion utilizationDetermining the tire force of the vehicle, wherein when the slip angle of the rear wheels is large, the eccentricity of the ellipse representing the value range is larger than the eccentricity of the ellipse representing the index, and at this time, the yaw moment is combined according to the targetVehicle tire forces are determined.
In some possible implementations of embodiments of the present application, equation (7) does not resolve the solution, and in order to reduce the computational resources consumed in calculating tire forces, the constraint between the rear wheel longitudinal force and the rear wheel lateral force of the quadratic form may be converted to a linear constraint. Based on the above, solving the tire force optimization problem to obtain second tire forces of the front wheels and the rear wheels of the vehicle may include converting constraints between longitudinal forces of the rear wheels and lateral forces of the rear wheels of the vehicle into linear constraints, and solving the second tire forces of the front wheels and the rear wheels of the vehicle based on the linear constraints.
Since the solution of equation (7) must fall on the black curve segment in fig. 3, a straight line passing through the end point of the black curve segment is used to approximate the elliptic curve segment, and the constraint between the quadratic rear wheel longitudinal force and the rear wheel lateral force shown in equation (7) is converted into a linear constraint as shown in equation (8):
wherein, each parameter in the formula (8) is as shown in the formula (9):
In the formula (9) of the present invention, AndThe longitudinal force and the lateral force of the rear wheel which meet the combined sliding constraint of the linearized tire are respectively,AndThe residuals of the longitudinal and lateral forces introduced to construct this optimization problem, respectively.AndThe following formula (10) shows:
the optimal solution of equation (8) As shown in formula (11):
Optimal solution in equation (11) The first element and the second element of the tire are rear wheel longitudinal force meeting the combined sliding constraint of the tire after linearizationLateral force with rear wheel。
The obtained product is then used to obtainDetermined as the final rear wheel longitudinal forceCalculating the final rear wheel side force according to the fourth equation in the formula (6)The following formula (12) shows:
when the final rear wheel longitudinal force is calculated And final rear wheel side forceThereafter, the target resultant longitudinal forceAnd (3) withThe difference being determined as the final front wheel longitudinal forceCombining the targets with side forcesAnd (3) withThe difference being determined as the final front wheel side forceThe following formula (13) shows:
the front wheel longitudinal force, the front wheel lateral force, the rear wheel longitudinal force and the rear wheel lateral force in the finally determined second tire force are respectively 、、And。
In the embodiment of the application, a tire force distribution request is acquired, wherein the tire force distribution request comprises a first parameter required to achieve resultant force of tire forces of four tires of a vehicle and a second parameter required to achieve tire force distribution, the first parameter comprises a target resultant longitudinal force, a target resultant lateral force and a target resultant yaw moment, the second parameter comprises a rear wheel attachment coefficient, a rear wheel vertical load, a rear wheel lateral angle, a rear wheel lateral stiffness, a first distance from a vehicle center of mass to a front axle and a second distance from the vehicle center of mass to the rear axle, the first tire force of the front wheels of the vehicle and the first tire force of the rear wheels of the vehicle are determined according to the first parameter, the second parameter and constraint conditions required to be met by the tire forces, a tire force optimization problem corresponding to the constraint conditions is constructed based on the first tire force, the tire force optimization problem comprises constraint between the rear wheel longitudinal force and the rear wheel lateral force of a quadratic form, and the second tire force of the vehicle is obtained by solving the tire force optimization problem. In this way, when the tire force of the vehicle is determined, the influence of the yaw moment on the tire force of the vehicle is not ignored, and the aim of adaptively considering the target yaw moment when the tire force is determined under the limiting working condition according to the working condition is realized, and the aim of not considering the target yaw moment when the tire force is determined under the normal working condition is realized, and the smooth transition between the two can be realized, so that the accuracy and the rationality of determining the target tire force of the vehicle can be improved, and the calculation resources consumed for calculating the tire force can be reduced.
The following describes a method for determining a tire force of a vehicle according to an embodiment of the present application with reference to specific examples.
Fig. 4 is a schematic diagram of a vehicle u-turn condition according to an embodiment of the present application. Fig. 4 shows the reference path and attitude required for the vehicle, which in fig. 4 is traveling at a constant speed of 10 km/h. Fig. 5 is a schematic illustration of tire forces provided by an embodiment of the present application. The front wheel longitudinal force and the rear wheel longitudinal force can be reasonably determined when the vehicle is traveling straight (before 4.8s and after 8 s). The front wheel longitudinal force and the rear wheel longitudinal force are small in size and are in the same direction so as to overcome the running resistance. And between the 4.8s and 8s, the vehicle body side deviation angle is large (as shown in fig. 4), the yaw movement is unstable, and the front wheel longitudinal force and the rear wheel longitudinal force are reversed at this time, so that the target combined yaw moment for stability control, which is required by the vehicle, is met while the target combined longitudinal force is met.
The embodiment of the application also provides a vehicle tire force determining device, as shown in fig. 6. Fig. 6 is a schematic structural diagram of a vehicle tire force determining apparatus provided in an embodiment of the present application, and the vehicle tire force determining apparatus 600 may include:
An obtaining module 601, configured to obtain a tire force distribution request, where the tire force distribution request includes a first parameter required to achieve a resultant of tire forces of four tires of the vehicle and a second parameter required for tire force distribution, the first parameter includes a target resultant longitudinal force, a target resultant lateral force, and a target resultant yaw moment, and the second parameter includes a rear wheel attachment coefficient, a rear wheel vertical load, a rear wheel cornering angle, a rear wheel cornering stiffness, a first distance from a vehicle centroid to a front axle, and a second distance from the vehicle centroid to the rear axle;
A determining module 602, configured to determine a first tire force of a front wheel and a rear wheel of the vehicle according to the first parameter, the second parameter, and a constraint condition that needs to be satisfied by the tire force;
A building module 603 configured to build a tire force optimization problem corresponding to the constraint condition based on the first tire force, where the tire force optimization problem includes a constraint between a rear wheel longitudinal force and a rear wheel lateral force of a quadratic form;
The solving module 604 is configured to solve the tire force optimization problem to obtain second tire forces of the front wheel and the rear wheel of the vehicle.
In the embodiment of the application, a tire force distribution request is acquired, wherein the tire force distribution request comprises a first parameter required to achieve resultant force of tire forces of four tires of a vehicle and a second parameter required to achieve tire force distribution, the first parameter comprises a target resultant longitudinal force, a target resultant lateral force and a target resultant yaw moment, the second parameter comprises a rear wheel attachment coefficient, a rear wheel vertical load, a rear wheel lateral angle, a rear wheel lateral stiffness, a first distance from a vehicle center of mass to a front axle and a second distance from the vehicle center of mass to the rear axle, the first tire force of the front wheels of the vehicle and the first tire force of the rear wheels of the vehicle are determined according to the first parameter, the second parameter and constraint conditions required to be met by the tire forces, a tire force optimization problem corresponding to the constraint conditions is constructed based on the first tire force, the tire force optimization problem comprises constraint between the rear wheel longitudinal force and the rear wheel lateral force of a quadratic form, and the second tire force of the vehicle is obtained by solving the tire force optimization problem. Therefore, when the tire force of the vehicle is determined, the influence of the yaw moment on the tire force of the vehicle is not ignored, the target yaw moment is considered when the tire force is determined under the limiting working condition in a self-adaptive mode according to the working condition, the target yaw moment is not considered when the tire force is determined under the normal working condition, smooth transition between the two can be realized, and the accuracy and the rationality for determining the target tire force of the vehicle can be improved.
In some possible implementations of embodiments of the application, the solving module 604 is specifically configured to:
converting the constraint between the longitudinal force of the rear wheel and the lateral force of the rear wheel into linear constraint;
based on the linear constraint, tire forces of the front wheels and the rear wheels of the vehicle are solved.
In the embodiment of the application, the calculation resources consumed for calculating the tire force can be reduced.
In some possible implementations of embodiments of the application, the constraints include:
In the longitudinal direction, the resultant of the tire forces of the four tires of the vehicle is equal to the target resultant longitudinal force;
in the lateral direction, the resultant of the tire forces of the four tires of the vehicle is equal to the target resultant lateral force;
The resultant moment calculated according to the tire forces of the four tires of the vehicle is equal to the target resultant yaw moment;
Physical constraints of the vehicle system.
Fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
The electronic device may include a processor 701 and a memory 702 storing computer program instructions.
In particular, the processor 701 may include a central processing unit (Central Processing Unit, CPU), or Application SPECIFIC INTEGRATED Circuit (ASIC), or may be configured as one or more integrated circuits that implement embodiments of the present application.
Memory 702 may include mass storage for data or instructions. By way of example, and not limitation, memory 702 may include a hard disk drive (HARD DISK DRIVE, HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or universal serial bus (Universal Serial Bus, USB) drive, or a combination of two or more of the foregoing. The memory 702 may include removable or non-removable (or fixed) media, where appropriate. The memory 702 may be internal or external to the electronic device, where appropriate. In some particular embodiments, the memory 702 is a non-volatile solid state memory.
In some particular embodiments, the Memory may include Read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk storage media devices, optical storage media devices, flash Memory devices, electrical, optical, or other physical/tangible Memory storage devices. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software comprising computer-executable instructions and when the software is executed (e.g., by one or more processors) it is operable to perform the operations described with reference to a vehicle tire force determination method according to the present application.
The processor 701 reads and executes the computer program instructions stored in the memory 702 to implement the steps of the method for determining the tire force of a vehicle provided by the embodiment of the present application.
In one example, the electronic device may also include a communication interface 703 and a bus 710. As shown in fig. 7, the processor 701, the memory 702, and the communication interface 703 are connected by a bus 710 and perform communication with each other.
The communication interface 703 is mainly used for implementing communication between each module, device, unit and/or apparatus in the embodiment of the present application.
Bus 710 includes hardware, software, or both that couple components of the electronic device to one another. By way of example, and not limitation, the buses may include an accelerated graphics Port (ACCELERATED GRAPHICS Port, AGP) or other graphics Bus, an enhanced industry Standard architecture (Extended Industry Standard Architecture, EISA) Bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an industry Standard architecture (Industry Standard Architecture, ISA) Bus, an Infiniband interconnect, a Low Pin Count (LPC) Bus, a memory Bus, a micro channel architecture (Micro channel architecture, MCA) Bus, a peripheral component interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) Bus, a PCI-Express (PCI-X) Bus, a serial advanced technology attachment (SERIAL ADVANCED Technology Attachment, SATA) Bus, a video electronics standards Association local (Video electronics standards association Local Bus, VLB) Bus, or other suitable Bus, or a combination of two or more of these. Bus 710 may include one or more buses, where appropriate. Although embodiments of the application have been described and illustrated with respect to a particular bus, the application contemplates any suitable bus or interconnect.
The electronic equipment can execute the vehicle tire force determining method provided by the embodiment of the application, so that the corresponding technical effects of the vehicle tire force determining method provided by the embodiment of the application are realized.
In addition, in combination with the vehicle tire force determining method in the above embodiment, the embodiment of the application also provides a computer readable storage medium. The computer readable storage medium has stored thereon computer program instructions which when executed by a processor implement the steps of the method for determining vehicle tire force provided by an embodiment of the present application. Examples of computer readable storage media include non-transitory computer readable media such as ROM, RAM, magnetic or optical disks, and the like.
The embodiment of the application provides a computer program product, which comprises computer program instructions, wherein the computer program instructions realize the steps of the method for determining the tire force of the vehicle provided by the embodiment of the application when being executed by a processor, and can achieve the same technical effects, and the repetition is avoided, so that the description is omitted.
The embodiment of the application also provides a vehicle, which comprises at least one of the following components:
the embodiment of the application provides a vehicle tire force determining device;
the embodiment of the application provides electronic equipment;
the embodiment of the application provides a computer readable storage medium.
It should be understood that the application is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. The method processes of the present application are not limited to the specific steps described and shown, but various changes, modifications and additions, or the order between steps may be made by those skilled in the art after appreciating the spirit of the present application.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic Circuit, application SPECIFIC INTEGRATED Circuit (ASIC), appropriate firmware, plug-in, function card, or the like. When implemented in software, the elements of the application are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor Memory devices, ROM, flash Memory, erasable programmable read-Only Memory (Erasable Read Only Memory, EROM), floppy disks, compact discs (Compact Disc Read-Only Memory, CD-ROM), optical discs, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. The present application is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions/acts specified in the flowchart and/or block diagram block or blocks. Such a processor may be, but is not limited to being, a general purpose processor, a special purpose processor, an application specific processor, or a field programmable logic circuit. It will also be understood that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware which performs the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In the foregoing, only the specific embodiments of the present application are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present application is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present application, and they should be included in the scope of the present application.
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| KR20220034976A (en) * | 2020-09-11 | 2022-03-21 | 현대자동차주식회사 | Apparatus for controlling motor of a vehicle and method thereof |
| CN117400953A (en) * | 2023-11-22 | 2024-01-16 | 经纬恒润(天津)研究开发有限公司 | Tire force direct control method, device, equipment and storage medium |
| CN118514678A (en) * | 2024-05-30 | 2024-08-20 | 东风汽车集团股份有限公司 | Vehicle, vehicle stability control method, device and medium |
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