The invention relates to a vehicle stable steering control method, in particular to a unitary and integral type stable steering control method based on differential flatness. According to the method, the expected longitudinal velocity, the expected side velocity and the expected yaw velocity of a vehicle expected stable state are deduced from path information and serve as expectation of differential flatness control, through the combination of the differential flatness control and PID feedback regulation, a state variable of a vehicle system is kept to be around an expectancy value, and the steering stability of the vehicle which drives at a high speed is guaranteed; by utilizing a weighted control mode of a differential flatness corner and a driver preview corner, the weighting coefficient under different vehicle speeds is obtained, the vehicle steering angle is controlled jointly by a controller and a driver, and a desired trajectory can be tracked. By means of the method, the steering stability of the vehicle which drives at a high speed is guaranteed, and meanwhile a great trajectory tracking performance is achieved.
Vehicle stable steering integrated control method based on differential flatness
2015-09-23
Patent
Elektronische Ressource
Englisch
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 |
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