The invention relates to the technical field of vehicle path tracking coordination control, in particular to a vehicle path tracking coordination control method and system based on vehicle stability judgment. The method comprises the following steps: acquiring current driving parameters of a target vehicle; and the current position of the target vehicle in a preset beta-omega phase plane is obtained according to the current driving parameters, and control is conducted according to a preset control rule. In order to meet different working condition requirements, a stability domain and an unstable domain are divided based on a beta-omega phase plane, stability judgment is performed on a target vehicle, and then a corresponding control strategy is executed, so that the intervention accuracy of differential braking is improved; and moreover, during specific control, a control weight is introduced to realize adaptive adjustment, so that the adaptive capacity of controlled quantity output to working condition change is enhanced. The method solves the problem that an existing method lacks intervention/quit control over yaw moment control.

    本发明涉及车辆路径跟踪协调控制技术领域,更具体的,涉及基于车辆稳定性判别的车辆路径跟踪协调控制方法、系统。本发明的方法包括:获取目标车辆的当前行驶参数;依据当前行驶参数得到目标车辆在预设的β‑ω相平面中的当前位置,并按照预设控制规则进行控制。本发明为了应对不同的工况需求,基于β‑ω相平面划分出稳定域和不稳定域,并对目标车辆进行稳定性判别,进而执行相应的控制策略,这样提升了差动制动的介入精准度;而且在具体控制时引入了控制权重实现自适应调整,加强了控制量输出对工况变化的适应能力。本发明解决了现有方法缺少对横摆力矩控制进行介入/退出控制的问题。


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    Titel :

    Vehicle path tracking coordination control method and system based on vehicle stability discrimination


    Weitere Titelangaben:

    基于车辆稳定性判别的车辆路径跟踪协调控制方法、系统


    Beteiligte:
    WANG HONGBO (Autor:in) / ZHENG WENJIE (Autor:in) / ZHOU JUNTAO (Autor:in) / XIE YOUHAO (Autor:in)

    Erscheinungsdatum :

    28.05.2024


    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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