The invention discloses a cooperative control method for an auxiliary driving system of a multi-axle vehicle, and belongs to the field of intelligent cooperative control of multi-axle vehicles. The method comprises the following steps: constructing a vehicle plane model; the yaw velocity required by DYC control is deduced and tracked according to the intention of a driver, and conventional ABS control and DYC control are carried out without considering the fault of a braking actuator; when it is detected that the vehicle runs at a high speed or emergently dodges, DYC and AFS cooperative control is carried out, an AFS and DYC deviation model of the vehicle is constructed based on the graph theory, a multi-step output prediction equation of AFS and DYC cooperative control is derived, constraint conditions are selected, a control increment sequence is solved, and the yaw velocity and sideslip angle deviation of the vehicle mass center are oriented. By cooperatively controlling the subsystems in the vehicle, the influence of the response difference and fault of the hub motor on the linear driving stability and the steering control stability of the vehicle is eliminated, and the method is particularly suitable for complex driving situations.

    本发明公开了一种多轴车辆辅助驾驶系统协同控制方法,属于多轴车辆智能协同控制领域。本发明包括:构造车辆平面模型;根据驾驶员意图推导并跟踪DYC控制所需的横摆角速度,在不考虑制动作动器故障的情况下进行常规ABS控制和DYC控制;当检测到车辆高速行驶或出现紧急躲避动作时,进行DYC与AFS协同控制,基于图论构造车辆的AFS和DYC偏差模型,推导AFS和DYC协同控制的多步输出预测方程,选择约束条件,求解控制增量序列,对车辆质心的横摆角速度和侧滑角偏差进行定向。本发明通过协同控制车辆中的各个子系统,以消除轮毂电机响应差异及故障对车辆直线行驶稳定性和转向操纵稳定性的影响,尤其适用于复杂驾驶情形中。


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    Titel :

    Cooperative control method for auxiliary driving system of multi-axle vehicle


    Weitere Titelangaben:

    一种多轴车辆辅助驾驶系统协同控制方法


    Beteiligte:
    ZHANG HUI (Autor:in) / LIANG JINGGUO (Autor:in) / XU XIANGYANG (Autor:in) / DONG PENG (Autor:in)

    Erscheinungsdatum :

    2024-04-05


    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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