The invention discloses a direct yaw moment control method and device for a distributed driving automobile, and the method comprises the steps: S1, obtaining the real-time state information of a vehicle, carrying out the state estimation, and determining the ideal yaw velocity and ideal side slip angle of the vehicle; s2, monitoring the state of the vehicle, and judging whether the state of the vehicle is greatly changed or not so as to determine whether the prediction step length of model prediction control needs to be changed or not; if the state of the vehicle changes greatly, calculating a new prediction step length by using a particle swarm optimization algorithm; if the vehicle state does not change greatly, the predicted step length is kept unchanged; wherein the large change means that the sum of the longitudinal vehicle speed change rate, the road adhesion coefficient change rate and the steering wheel angle change rate is higher than a preset threshold value; and S3, a model prediction controller obtains the yaw moment through constraint, a cost function and optimization solution according to the prediction step length determined in the step S2, the ideal yaw velocity and the ideal side slip angle.
本发明公开了分布式驱动汽车直接横摆力矩控制方法和装置,包括:S1、获取车辆的实时状态信息并进行状态估计,确定车辆的理想横摆角速度和理想质心侧偏角;S2、对车辆状态进行监测,判断车辆状态是否发生大的变化,以确定模型预测控制的预测步长是否需要改变;若车辆状态发生大的变化,则利用粒子群优化算法计算新的预测步长;若车辆状态未发生大的变化,则保持预测步长不变;其中,所述大的变化是指纵向车速变化率、路面附着系数变化率及方向盘转角变化率之和高于预设阈值;S3、模型预测控制器根据步骤S2确定的预测步长,以及所述理想横摆角速度和所述理想质心侧偏角,通过约束、代价函数及优化求解获得横摆力矩。
Method and device for controlling direct yawing moment of distributed driving automobile
一种分布式驱动汽车直接横摆力矩控制方法和装置
2024-03-01
Patent
Elektronische Ressource
Chinesisch
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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