The invention discloses an active front wheel steering and direct yawing moment cooperative control method based on a vehicle-road state, and the method comprises the steps: calculating a limiting value of a tire force in real time according to a monitored vehicle state and a road adhesion condition; according to vehicle collision avoidance trajectory tracking and stability control requirements, an NMPC controller is designed to solve optimal tire longitudinal force and lateral force values, and coordination control over emergency steering collision avoidance safety and stability is achieved through front wheel active steering and four-wheel braking force control. The method has the advantage that the comprehensive performance of the intelligent driving vehicle is improved.
本发明公开一种基于车路状态的主动前轮转向与直接横摆力矩协同控制方法,利用监测到的车辆状态与路面附着情况,实时计算出轮胎力的限值;根据车辆避撞轨迹跟踪与稳定性控制需求,设计了NMPC控制器求解出最优的轮胎纵向力与侧向力数值,通过前轮主动转向与四轮制动力控制实现紧急转向避撞安全性与稳定性的协调控制。本发明的优点是提高智能驾驶车辆的综合性能。
Active front wheel steering and direct yawing moment cooperative control method based on vehicle-road state
一种基于车路状态的主动前轮转向与直接横摆力矩协同控制方法
2023-12-01
Patent
Elektronische Ressource
Chinesisch
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