Method and device for determining yaw rate of vehicle, terminal equipment and storage medium

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Method and device for determining yaw rate of vehicle, terminal equipment and storage medium

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LIAN ZHIYUAN / LI XU / LIU JIAHAN / DONG ZHEN / ZHOU DEXIANG / SUN GUANGDI / GAO GUOWEI / SHU JIE / LIU ZHE / XU WEIPING

Abstract

The invention is suitable for the technical field of intelligent automobiles, and provides a method and device for determining the yaw rate of a vehicle, terminal equipment and a storage medium. The vehicle parameters comprise a road adhesion coefficient, the longitudinal speed of the vehicle, the actual longitudinal acceleration of the vehicle, the average steering angle of front wheels of the vehicle and the actual transverse acceleration of the vehicle; calculating a first candidate yaw rate of the vehicle based on the longitudinal vehicle speed, the actual longitudinal acceleration, the front wheel average steering angle and the road adhesion coefficient; determining a second candidate yaw rate of the vehicle based on the longitudinal vehicle speed, the actual lateral acceleration and the first candidate yaw rate; and determining a target yaw rate of the vehicle based on the first candidate yaw rate and the second candidate yaw rate. According to the method, the yaw rate of the vehicle under different emphasis is considered, the considered scene is more comprehensive, and the obtained target yaw rate is more accurate.

本申请适用于智能汽车技术领域，提供了一种车辆的偏航率的确定方法、装置、终端设备及存储介质，该方法包括：获取车辆参数，其中，车辆参数包括路面附着系数、车辆的纵向车速、车辆的实际纵向加速度、车辆的前轮平均转向角和车辆的实际横向加速度；基于纵向车速、实际纵向加速度、前轮平均转向角和路面附着系数，计算车辆的第一候选偏航率；基于纵向车速、实际横向加速度和第一候选偏航率，确定所述车辆的第二候选偏航率；基于第一候选偏航率和第二候选偏航率，确定车辆的目标偏航率。本申请考虑了不同侧重点时车辆所应存在的偏航率，考虑的场景更全面，得到的目标偏航率更准确。

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Document information

Title :

Method and device for determining yaw rate of vehicle, terminal equipment and storage medium

Additional title:

车辆的偏航率的确定方法、装置、终端设备及存储介质

Contributors:

LIAN ZHIYUAN (author) / LI XU (author) / LIU JIAHAN (author) / DONG ZHEN (author) / ZHOU DEXIANG (author) / SUN GUANGDI (author) / GAO GUOWEI (author) / SHU JIE (author) / LIU ZHE (author) / XU WEIPING (author)

Publication date :

2023-08-04

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

IPC:

B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion