The invention discloses a distributed driving electric vehicle active safety control method based on a stability domain. The method comprises the steps that speed information of a vehicle is obtained, a transverse dynamic model of the distributed driving electric vehicle is constructed, a solving algorithm of an analysis stability domain based on quadratic sum planning is designed, and vehicle dynamic stability domains under different working conditions are obtained; according to the Newton's second law and linear tire model hypothesis, a linear vehicle lateral dynamic model is constructed, a model prediction controller is designed based on the linear vehicle lateral dynamic model and stability domain constraints, an expected yaw velocity and an expected side slip angle are obtained, and active safety system control of the vehicle is completed. And the instability risk of the vehicle is avoided. The transverse stability controller based on model predictive control is developed, and the driving stability of the distributed driving electric vehicle is remarkably improved.
本发明公开了一种基于稳定域的分布式驱动电动汽车主动安全控制方法,获取车辆的速度信息,构建分布式驱动电动汽车的横向动力学模型,设计基于平方和规划的解析稳定域的求解算法,得到不同工况下的车辆动态稳定域;根据牛顿第二定律和线性轮胎模型假设,构建线性车辆侧向动力学模型,基于线性车辆侧向动力学模型和稳定域约束,设计模型预测控制器,得到期望的横摆角速度和期望的质心侧偏角,完成车辆的主动安全系统控制,避免车辆出现失稳风险。本发明开发了基于模型预测控制的横向稳定性控制器,显著提升了分布式驱动电动汽车的行驶稳定性。
Distributed driving electric vehicle active safety control method based on stability domain
一种基于稳定域的分布式驱动电动汽车主动安全控制方法
28.06.2024
Patent
Elektronische Ressource
Chinesisch
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