The invention relates to a vehicle stable steering control method, in particular to a unitary and integral type stable steering control method based on differential flatness. According to the method, the expected longitudinal velocity, the expected side velocity and the expected yaw velocity of a vehicle expected stable state are deduced from path information and serve as expectation of differential flatness control, through the combination of the differential flatness control and PID feedback regulation, a state variable of a vehicle system is kept to be around an expectancy value, and the steering stability of the vehicle which drives at a high speed is guaranteed; by utilizing a weighted control mode of a differential flatness corner and a driver preview corner, the weighting coefficient under different vehicle speeds is obtained, the vehicle steering angle is controlled jointly by a controller and a driver, and a desired trajectory can be tracked. By means of the method, the steering stability of the vehicle which drives at a high speed is guaranteed, and meanwhile a great trajectory tracking performance is achieved.


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    Title :

    Vehicle stable steering integrated control method based on differential flatness


    Contributors:
    SHI SHUMING (author) / WANG YUQIONG (author) / LI LING (author) / ZHANG XIANGDONG (author)

    Publication date :

    2015-09-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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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