Vehicle steady-state parameter calculation method and device based on nonlinear tire model

The invention provides a vehicle steady-state parameter calculation method and device based on a nonlinear tire model. The method comprises the steps that the current vehicle speed and the front wheel turning angle of a vehicle are obtained; calculating a steady-state vehicle speed upper limit based on the current vehicle speed, the front wheel turning angle, the vehicle parameters and the road surface parameters; under the condition that the current vehicle speed is not higher than the steady-state vehicle speed upper limit, the steady-state yaw velocity of the vehicle is calculated based on a nonlinear tire model; wherein the steady-state vehicle speed upper limit and the steady-state yaw velocity are vehicle steady-state parameters. According to the method, accurate calculation of the steady-state vehicle speed upper limit and the steady-state yaw velocity of the vehicle is realized by fully considering the nonlinear mechanical characteristics of the vehicle tire under the limit driving working condition a