The invention provides a target optimization torque distribution method based on road adhesion coefficient recognition, and the method comprises the following steps: acquiring state parameters through a vehicle-mounted sensor, calculating normalized longitudinal tire force and lateral tire force by utilizing a Dugoff normalized tire model, and establishing a nonlinear vehicle model; identifying road adhesion coefficients by using an unscented Kalman filtering algorithm, and determining a minimum road adhesion coefficient; constructing a yaw moment pre-controller, and adjusting the running speed of the vehicle at the beginning of the moment when the torque distribution algorithm takes effect according to the minimum road adhesion coefficient by taking the front wheel steering angle as a judgment signal; designing a target optimization torque distribution algorithm which focuses on the stability of the whole vehicle, and providing a new target function, wherein the target function implies the lowest tire utilization rate and also considers different contributions of each tire to the generation of yawing moment; according to the torque distribution method, the stability of the vehicle can be improved under the limiting working condition, especially under the condition that the road adhesion coefficient is low.

    本发明提供了一种基于路面附着系数识别的目标优化转矩分配方法,本发明通过车载传感器获取状态参数,利用Dugoff归一化轮胎模型计算出归一化的纵向轮胎力和侧向轮胎力,并建立非线性车辆模型;利用无迹卡尔曼滤波算法,识别路面附着系数,确定最小路面附着系数;构建横摆力矩预控制器,以前轮转角为判断信号,根据最小路面附着系数,调整车辆在转矩分配算法生效初始时的行驶速度;同时设计了一种着眼于整车稳定性的目标优化转矩分配算法,提出一个新的目标函数,该目标函数不仅隐含了轮胎利用率最低,同时还考虑了每个轮胎对产生横摆力矩的不同贡献;该转矩分配方法有助于在极限工况下,尤其是路面附着系数较低的情况下,改善车辆的稳定性。


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    Titel :

    Target optimization torque distribution method based on road adhesion coefficient identification


    Weitere Titelangaben:

    一种基于路面附着系数识别的目标优化转矩分配方法


    Beteiligte:
    YIN DEJUN (Autor:in) / WANG JUNJIE (Autor:in) / DU JINJIAN (Autor:in)

    Erscheinungsdatum :

    2021-07-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / 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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