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CN-122009206-A - Method and device for determining yaw rate of vehicle, vehicle and storage medium

CN122009206ACN 122009206 ACN122009206 ACN 122009206ACN-122009206-A

Abstract

The present disclosure relates to a method, a device, a vehicle and a storage medium for determining a yaw rate of a vehicle, the method comprising determining an initial yaw rate of the vehicle according to a wheel speed difference, a wheel track and a wheel rolling radius of the vehicle; and correcting the initial yaw rate according to a preset correction coefficient to obtain the actual yaw rate of the vehicle. The method comprises the steps of determining the initial yaw rate of wheels based on the wheel speed difference, the wheel track and the wheel rolling radius of the vehicle, then, correcting the initial yaw rate based on a preset correction coefficient to obtain the actual yaw rate of the vehicle, wherein the correction coefficient not only considers the linear deviation caused by a steering system, but also considers the linear deviation between the wheel speed difference and the yaw rate, thereby providing more accurate actual yaw rate for the whole vehicle control of the vehicle, further guaranteeing the reliability of the vehicle control, and reducing the measurement cost without using excessive measurement period in the determination process of the actual yaw rate.

Inventors

  • DU JIANWEI
  • QIAN GUOPING
  • LI CHEN
  • ZHANG SHUNJUN

Assignees

  • 智博汽车科技(上海)有限公司

Dates

Publication Date
20260512
Application Date
20260408

Claims (10)

  1. 1. A method of determining a yaw rate of a vehicle, the method comprising: determining an initial yaw rate of a vehicle according to a wheel speed difference, a wheel track and a wheel rolling radius of the vehicle; The initial yaw rate is modified according to a preset modification coefficient to obtain the actual yaw rate of the vehicle, The preset correction coefficient includes a first correction coefficient for correcting a deviation of a linear relationship between a wheel speed difference and a yaw rate of the vehicle due to a steering system clearance, and/or a second correction coefficient for correcting a deviation of a linear relationship between a wheel speed difference and a yaw rate of the vehicle due to a tire cornering.
  2. 2. The method of claim 1, wherein the step of determining the position of the substrate comprises, The first correction coefficient is a steering wheel angle correction coefficient, and the correcting the initial yaw rate according to a preset correction coefficient includes correcting the initial yaw rate according to an actual steering angle of a steering wheel of the vehicle and the steering wheel angle correction coefficient, and/or, The second correction coefficient is a road surface adhesion compensation coefficient, and the correction of the initial yaw rate according to the preset correction coefficient includes correction of the initial yaw rate according to an actual adhesion coefficient of a road surface on which the vehicle is traveling and the road surface adhesion compensation coefficient.
  3. 3. The method of claim 1, wherein correcting the initial yaw rate according to a preset correction factor comprises: Correcting the initial yaw rate by using the first correction coefficient under the condition that the speed of the vehicle is smaller than or equal to a preset speed; and correcting the initial yaw rate by using the second correction coefficient under the condition that the vehicle speed is larger than the preset vehicle speed.
  4. 4. A method according to any one of claims 1-3, wherein the wheel rolling radius is determined by: acquiring an average wheel speed of the vehicle; and determining the wheel rolling radius according to the speed of the vehicle and the average wheel speed.
  5. 5. A method according to any one of claims 1-3, wherein the wheel speed difference is the wheel speed difference of the left and right front wheel axle, and the wheel track is the front wheel track.
  6. 6. The method of claim 5, wherein the wheel speed difference is determined by: Acquiring a first initial wheel speed of a left wheel of a front wheel shaft and a second initial wheel speed of a right wheel of the front wheel shaft; preprocessing the first initial wheel speed and the second initial wheel speed to obtain a first wheel speed and a second wheel speed; and determining the wheel speed difference according to the first wheel speed and the second wheel speed.
  7. 7. The method according to claim 1, wherein the method further comprises: acquiring interrupt signal duration, wherein the interrupt signal duration is the interrupt duration for acquiring the wheel speed signal of the wheel; And under the condition that the time length of the interrupt signal is longer than the preset time length, determining the actual yaw rate of the vehicle according to the vehicle speed, the steering wheel angle and the wheel track.
  8. 8. A vehicle yaw rate determination apparatus, characterized by comprising: An initial information determination module configured to determine an initial yaw rate of a vehicle based on a wheel speed difference, a wheel track, and a wheel rolling radius of the vehicle; An actual information determination module configured to modify the initial yaw rate according to a preset modification coefficient to obtain an actual yaw rate of the vehicle, The preset correction coefficient includes a first correction coefficient for correcting a deviation of a linear relationship between a wheel speed difference and a yaw rate of the vehicle due to a steering system clearance, and/or a second correction coefficient for correcting a deviation of a linear relationship between a wheel speed difference and a yaw rate of the vehicle due to a tire cornering.
  9. 9. A vehicle, characterized by comprising: A memory having a computer program stored thereon; a processor for executing said computer program in said memory, which processor, when executing, carries out the steps of the method for determining a yaw rate of a vehicle according to any one of claims 1 to 7.
  10. 10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, carries out the steps of the method for determining the yaw rate of a vehicle according to any one of claims 1 to 7.

Description

Method and device for determining yaw rate of vehicle, vehicle and storage medium Technical Field The disclosure relates to the technical field of vehicle control, in particular to a method and a device for determining a yaw rate of a vehicle, the vehicle and a storage medium. Background In the related technology of vehicle control, yaw rate is used as a core parameter for describing the rotational motion of a vehicle around a vertical ground axis, is a key index for vehicle dynamics control, and the detection accuracy directly determines the execution effects of vehicle stability control and path tracking, and is an important basis for assisting driving environment perception and decision planning, thereby deeply affecting driving safety. The accurate acquisition of the yaw rate of the vehicle can enable the control system to timely sense the change of the running posture of the vehicle, quickly make adaptive steering and braking adjustment, and avoid instability phenomena such as sideslip, tail flicking and the like of the vehicle. In the auxiliary driving scene, accurate yaw rate data is a basis for guaranteeing the vehicle to run according to a planned path and realizing a safety decision under complex road conditions, so that the detection accuracy of the yaw rate is directly reflected and determines the accuracy and reliability of the overall control of the vehicle. Disclosure of Invention An object of the present disclosure is to provide a method, apparatus, vehicle and storage medium for determining a yaw rate of a vehicle, to solve the above-mentioned problems. In order to achieve the above object, in a first aspect, the present disclosure provides a method of determining a yaw rate of a vehicle, the method comprising: determining an initial yaw rate of a vehicle according to a wheel speed difference, a wheel track and a wheel rolling radius of the vehicle; The initial yaw rate is modified according to a preset modification coefficient to obtain the actual yaw rate of the vehicle, The preset correction coefficient includes a first correction coefficient for correcting a deviation of a linear relationship between a wheel speed difference and a yaw rate of the vehicle due to a steering system clearance, and/or a second correction coefficient for correcting a deviation of a linear relationship between a wheel speed difference and a yaw rate of the vehicle due to a tire cornering. Optionally, the first correction coefficient is a steering wheel angle correction coefficient, and the correcting the initial yaw rate according to the preset correction coefficient includes correcting the initial yaw rate according to an actual steering angle of a steering wheel of the vehicle and the steering wheel angle correction coefficient, and/or, The second correction coefficient is a road surface adhesion compensation coefficient, and the correction of the initial yaw rate according to the preset correction coefficient includes correction of the initial yaw rate according to an actual adhesion coefficient of a road surface on which the vehicle is traveling and the road surface adhesion compensation coefficient. Optionally, the correcting the initial yaw rate according to a preset correction coefficient includes: Correcting the initial yaw rate by using the first correction coefficient under the condition that the speed of the vehicle is smaller than or equal to a preset speed; and correcting the initial yaw rate by using the second correction coefficient under the condition that the vehicle speed is larger than the preset vehicle speed. Optionally, the wheel rolling radius is determined by: acquiring an average wheel speed of the vehicle; and determining the wheel rolling radius according to the speed of the vehicle and the average wheel speed. Optionally, the wheel speed difference is a wheel speed difference of left and right wheels of the front wheel axle, and the wheel track is a wheel track of the front wheel axle. Optionally, the wheel speed difference is determined by: Acquiring a first initial wheel speed of a left wheel of a front wheel shaft and a second initial wheel speed of a right wheel of the front wheel shaft; preprocessing the first initial wheel speed and the second initial wheel speed to obtain a first wheel speed and a second wheel speed; and determining the wheel speed difference according to the first wheel speed and the second wheel speed. In a second aspect, the present disclosure also provides a device for determining a yaw rate of a vehicle, including: An initial information determination module configured to determine an initial yaw rate of a vehicle based on a wheel speed difference, a wheel track, and a wheel rolling radius of the vehicle; An actual information determination module configured to modify the initial yaw rate according to a preset modification coefficient to obtain an actual yaw rate of the vehicle, The preset correction coefficient includes a first correction coefficient fo