The invention discloses a longitudinal and transverse cooperative control method for a distributed driving electric vehicle. The method comprises the steps that firstly, the real-time slip angle, the longitudinal vehicle speed, the accelerator pedal stroke and the real-time acceleration of vehicle tires are collected; 2, calculating a tire slip angle in real time and judging a working interval in which the slip angle is located; step 3, if the real-time slip angle of the tire is in a linear region, distributing four-wheel torque according to an optimization formula; if the real-time slip angle of the tire is in the saturation area, the longitudinal force obtained at the inflection point serves as the limit value distributed to the wheel, and the distributed redundant driving force is distributed to other wheels on the premise that the situation that other tires are in the linear area is met; and if the real-time side slip angles of the four wheels of the vehicle are all located in the saturation area, outputting four-wheel driving force according to a limit value obtained in a four-wheel linear area, and adjusting a transverse controller to intervene in maintaining the stability of the vehicle. The method has the characteristic of improving the response capability and the transverse stability of the vehicle.
本发明公开了一种分布式驱动电动汽车的纵横向协同控制方法,包括:步骤一、采集车辆轮胎的实时侧偏角、纵向车速、加速踏板行程和实时加速度;步骤二、实时计算轮胎侧偏角并判断侧偏角处于的工作区间;步骤三、若轮胎的实时侧偏角处于线性区内,按照优化公式进行四轮力矩的分配;若轮胎的实时侧偏角处于饱和区内,按照拐点时得出的纵向力做为该轮分配的极限值大小,并将分配的多余驱动力,在满足其余轮胎处于线性区域的前提下,分配到其余车轮;若车辆四轮的实时侧偏角均处于饱和区内,则按照四轮线性区域得到的极限值进行四轮驱动力的输出并调节横向控制器介入维持车辆稳定。本发明具有提高车辆的响应能力和横向稳定性能的特点。
Longitudinal and transverse cooperative control method for distributed driving electric vehicle
一种分布式驱动电动汽车的纵横向协同控制方法
2023-12-08
Patent
Elektronische Ressource
Chinesisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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