The invention relates to the technical field of automobiles, in particular to a commercial vehicle lane keeping control method considering roll stability, which comprises the following steps of: firstly, establishing a vehicle dynamics model required by transverse control and stability control research, researching a control mechanism of vehicle transverse control and roll stability control, and creating conditions for building related controllers; secondly, designing a lane keeping controller of the commercial vehicle on the basis of a related vehicle dynamics model and a vehicle state in combination with the improved MPC, and calculating an optimal control quantity to realize lane keeping control; and finally, a commercial vehicle roll stability controller is designed based on the differential braking principle, an upper-layer controller is used for calculating the additional yawing moment needed by the vehicle for maintaining the stability, and a lower-layer controller selects target braking wheels based on the differential braking theory and calculates the target braking moment. The technical problems that in the prior art, the commercial vehicle lane keeping and roll stability control effect is poor, and the vehicle is prone to instability are solved.

    本发明涉及汽车技术领域,具体涉及一种考虑侧倾稳定性的商用车车道保持控制方法,首先,建立横向控制与稳定性控制研究需要的车辆动力学模型,研究了车辆横向控制和侧倾稳定性控制的控制机理,为相关控制器的搭建创造了条件;其次,基于相关车辆动力学模型和车辆状态并结合改进的MPC设计了商用车的车道保持控制器,计算出最优控制量以实现车道保持控制;最后,基于差动制动原理设计了商用车侧倾稳定性控制器,其中上层控制器用于计算车辆为维持稳定性所需的附加横摆力矩,下层控制器则基于差动制动理论选定目标制动车轮并计算目标制动力矩。本发明解决了现有技术中的商用车车道保持及侧倾稳定性控制效果差,车辆容易失稳的技术问题。


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    Titel :

    Commercial vehicle lane keeping control method considering roll stability


    Weitere Titelangaben:

    一种考虑侧倾稳定性的商用车车道保持控制方法


    Beteiligte:
    JING HUI (Autor:in) / MA GUO (Autor:in) / XU HAIJUN (Autor:in) / WANG GANG (Autor:in) / KUANG BING (Autor:in) / LIU FUYUN (Autor:in) / CHANG JUNYU (Autor:in)

    Erscheinungsdatum :

    2023-09-19


    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



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