The invention relates to a vehicle longitudinal and lateral motion cooperative control method based on a fast solution algorithm. The method comprises the following steps: calculating an expected yaw velocity according to a steering wheel angle and a current vehicle running speed; according to the expected yaw velocity and the current actual motion state of the vehicle, a nonlinear optimization problem is constructed, an objective function of the nonlinear optimization problem is used for tracking the expected yaw velocity, and meanwhile the lateral velocity and the tire slip rate of the vehicle need to be restrained; solving a nonlinear optimization problem to calculate expected slip rates of the four tires; calculating the additional torque of each tire according to the actual slip rate and the expected slip rate of the tire; and the additional torque of each tire is sent to an actuator of the vehicle for cooperative control. Compared with the prior art, the method has the advantages that the tire slip rate can be effectively inhibited, vehicle slip is avoided, and the provided quick solving algorithm can greatly improve the solving efficiency and improve the real-time performance.

    本发明涉及一种基于快速求解算法的车辆纵侧向运动协同控制方法,该方法包括以下步骤:根据方向盘转角和当前的车辆行驶速度计算期望横摆角速度;根据期望横摆角速度以及车辆当前的实际运动状态构建非线性优化问题,所述非线性优化问题的目标函数用于跟踪期望的横摆角速度,同时还要抑制车辆的侧向速度和轮胎滑移率;求解非线性优化问题计算出四个轮胎的期望滑移率;根据轮胎的实际滑移率和期望滑移率计算各个轮胎的附加转矩;将各个轮胎的附加转矩送入车辆的执行器进行协同控制。与现有技术相比,本发明能够有效抑制轮胎滑移率,避免车辆打滑,并且提供的快速求解算法能够大幅提升求解效率,提高实时性。


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    Titel :

    Vehicle longitudinal and lateral movement cooperative control method based on fast solution algorithm


    Weitere Titelangaben:

    一种基于快速求解算法的车辆纵侧向运动协同控制方法


    Beteiligte:
    CHEN HONG (Autor:in) / LIU XINGXING (Autor:in) / ZHANG LIN (Autor:in)

    Erscheinungsdatum :

    2023-06-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

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



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