CN-121989953-A - Method and device for determining minimum turning radius, storage medium and electronic device

CN121989953ACN 121989953 ACN121989953 ACN 121989953ACN-121989953-A

Abstract

The application discloses a method and a device for determining a minimum turning radius, a storage medium and an electronic device, and relates to the field of calculation of vehicle maneuvering performance, wherein the method comprises the following steps: acquiring steering information of the vehicle under the condition that the vehicle executes a steering event, wherein the steering information at least comprises a maximum inner side steering angle of front wheels of the vehicle and a maximum outer side steering angle of the front wheels of the vehicle; determining a correction amount of the steering information by the front wheel maximum inside rotation angle and the front wheel maximum outside rotation angle, and updating the steering information by the correction amount; and determining the minimum turning radius of the vehicle through the updated steering information. Therefore, by adopting the technical scheme, the problem that the estimation accuracy of the minimum turning radius of the vehicle is poor under the condition that commercial software is not used in the related technology is solved, and the estimation accuracy of the minimum turning radius of the vehicle is improved.

Inventors

MA XUERUI
ZONG WEI
WANG BINBIN
GENG WENRAN

Assignees

上海汽车集团股份有限公司

Dates

Publication Date: 20260508
Application Date: 20241106

Claims (10)

1. A method of determining a minimum turning radius for a vehicle, comprising: Acquiring steering information of the vehicle under the condition that the vehicle executes a steering event, wherein the steering information at least comprises a maximum inner side steering angle of front wheels of the vehicle and a maximum outer side steering angle of the front wheels of the vehicle; Determining a correction amount of the steering information by the front wheel maximum inside rotation angle and the front wheel maximum outside rotation angle, and updating the steering information by the correction amount; And determining the minimum turning radius of the vehicle through the updated steering information.
2. The method according to claim 1, wherein determining the correction amount of the steering information by the front wheel maximum inside rotational angle and the front wheel maximum outside rotational angle includes: Determining a virtual wheel track of the vehicle through the maximum inner side rotation angle of the front wheel and the maximum outer side rotation angle of the front wheel, wherein the virtual wheel track is a virtual parameter corresponding to the geometric relation formed by the wheel base of the vehicle and the steering information; determining a virtual turning radius through the virtual track; the correction amount is determined by the virtual track and the virtual turning radius.
3. The method of claim 2, wherein determining the virtual track of the vehicle from the front wheel maximum inside angle and the front wheel maximum outside angle comprises: Acquiring the wheelbase of the vehicle; determining a first tangent value corresponding to the maximum inner side rotation angle of the front wheel and a second tangent value corresponding to the maximum outer side rotation angle of the front wheel; and calculating the virtual track by the wheel base, the first tangent value and the second tangent value.
4. The method of claim 2, wherein determining a virtual turning radius from the virtual track width comprises: acquiring the maximum inner side rotation angle of the rear wheel of the vehicle, wherein the steering information comprises the maximum inner side rotation angle of the rear wheel; determining a third tangent value corresponding to the maximum inner side corner of the rear wheel; and calculating the virtual turning radius through the third tangent value and the virtual track width.
5. The method of claim 2, wherein determining the correction amount by the virtual track and the virtual turning radius comprises: Determining a first functional relationship of the virtual track and the virtual turning radius; calculating a first parameter in the correction amount through the first functional relation; Calculating a second parameter of the correction amount by the first parameter and a wheelbase of the vehicle; the first parameter and the second parameter are determined as the correction amount.
6. The method of claim 5, wherein updating the steering information by the correction amount includes: Determining a second functional relationship of the virtual track and the virtual turning radius; Determining a correction value of the maximum outside rotation angle of the front wheel through the second functional relation and the first parameter; and determining the correction value as updated steering information.
7. The method of claim 2, wherein determining the minimum turning radius of the vehicle from the updated steering information comprises: Determining a second functional relationship of the virtual track and the virtual turning radius; And determining the minimum turning radius through the second functional relation and the updated steering information.
8. A minimum turning radius determining apparatus, which is applied to a vehicle, comprising: The acquisition module is used for acquiring steering information of the vehicle under the condition that the vehicle executes a steering event, wherein the steering information at least comprises a maximum inner steering angle of front wheels of the vehicle and a maximum outer steering angle of the front wheels of the vehicle; A first determining module configured to determine a correction amount of the steering information by the front wheel maximum inside rotation angle and the front wheel maximum outside rotation angle, and update the steering information by the correction amount; And the second determining module is used for determining the minimum turning radius of the vehicle through the updated steering information.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 7.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method according to any of claims 1 to 7 by means of the computer program.

Description

Method and device for determining minimum turning radius, storage medium and electronic device Technical Field The application relates to the field of vehicle maneuvering performance calculation, in particular to a method and a device for determining a minimum turning radius, a storage medium and an electronic device. Background In the related art, the calculation scheme of the minimum turning radius of the vehicle comprises a scheme I, wherein the calculation of the minimum turning radius of the vehicle is carried out by methods of direct measurement by a water drop method, tracking of a GPS (Global Positioning System ) track and the like. However, the scheme has the defects of shortage of site resources, long site test time and low test efficiency. And in the second scheme, aiming at the traditional front-wheel steering vehicle, the minimum turning radius can be generally calculated through a theoretical formula. The scheme II can improve the calculation precision of the minimum turning radius of the vehicle, and improve the measurement efficiency of the minimum turning radius of the vehicle while eliminating measurement errors caused by uncertainty of a test site and equipment. However, the second scheme is only suitable for front-wheel steering vehicles, and does not consider the minimum turning radius calculation mode under the condition that the vehicle has a rear-wheel steering angle, and the calculated minimum turning radius precision is not very high. And thirdly, introducing a rear wheel steering system into simulation software Carsim, and calculating the minimum turning radius of the four-wheel steering and vehicle with differential control strategy. However, using Carsim software simulation to calculate the minimum turning radius is dependent on commercial software and requires building a vehicle dynamics model and ensuring the completeness and accuracy of the necessary parameters. Has no universality. Accordingly, in the related art, there is a problem of how to estimate the minimum turning radius of the vehicle with high accuracy without using commercial software. Aiming at the problem of poor estimation accuracy of the minimum turning radius of the vehicle without using commercial software in the related art, no effective solution has been proposed at present. Accordingly, there is a need for improvements in the related art to overcome the drawbacks of the related art. Disclosure of Invention The embodiment of the invention provides a method and a device for determining a minimum turning radius, a storage medium and an electronic device, which are used for at least solving the problem of poor estimation precision of the minimum turning radius of a vehicle under the condition of not using commercial software. According to one aspect of the embodiment of the invention, a method for determining the minimum turning radius is provided, and is applied to a vehicle, and the method comprises the steps of obtaining steering information of the vehicle under the condition that the vehicle executes a steering event, wherein the steering information at least comprises a maximum inner side turning angle of a front wheel of the vehicle and a maximum outer side turning angle of the front wheel of the vehicle, determining correction quantity of the steering information through the maximum inner side turning angle of the front wheel and the maximum outer side turning angle of the front wheel, updating the steering information through the correction quantity, and determining the minimum turning radius of the vehicle through the updated steering information. In one exemplary embodiment, determining the correction amount of the steering information by the front wheel maximum inside angle and the front wheel maximum outside angle includes determining a virtual track of the vehicle by the front wheel maximum inside angle and the front wheel maximum outside angle, wherein the virtual track is a virtual parameter corresponding to a geometric relationship of the wheel base of the vehicle and the steering information, determining a virtual turning radius by the virtual track, and determining the correction amount by the virtual track and the virtual turning radius. In an exemplary embodiment, determining the virtual track of the vehicle through the maximum inside wheel rotation angle and the maximum outside wheel rotation angle of the front wheel comprises obtaining a wheel base of the vehicle, determining a first tangent value corresponding to the maximum inside wheel rotation angle of the front wheel and a second tangent value corresponding to the maximum outside wheel rotation angle of the front wheel, and calculating the virtual track through the wheel base, the first tangent value and the second tangent value. In one exemplary embodiment, determining the virtual turning radius through the virtual track comprises obtaining the maximum inside corner of the rear wheel of the vehicle, wherein the steering information