The invention discloses a four-wheel independent drive vehicle stability control method based on a model prediction algorithm. The method comprises the steps of establishing a vehicle model based on monorail model data; performing state-space equation conversion and discretization processing on the vehicle model; calculating the tire cornering stiffness in real time based on a two-degree-of-freedom kinetic equation of transverse motion and yawing motion of the vehicle; performing constraint control on input and output of the vehicle model; carrying out matrix form conversion on the output of the vehicle lateral speed in the prediction time domain; and converting the target function into a standard quadratic programming form for solving. When it is detected that the lateral speed of the vehicle is high, the lateral stability controller reduces the lateral speed of the vehicle through differential driving and additional front wheel active steering, then the side slip angle is reduced, and the safety and stability of vehicle driving are guaranteed; and when it is detected that the transverse speed of the vehicle is within the safety range, the transverse stability controller does notintervene in driver operation control, and normal and safe driving of a driver is guaranteed.
本发明公开了一种基于模型预测算法的四轮独立驱动汽车稳定性控制方法,包括基于单轨模型数据建立了车辆模型;对车辆模型进行状态空间方程转化和离散化处理;基于车辆横向运动和横摆运动二自由度动力学方程实时计算轮胎侧偏刚度;对车辆模型的输入输出进行约束控制;对预测时域内的车辆侧向速度的输出进行矩阵形式转化;对目标函数转化成标准二次规划的形式进行求解。实现当检测车辆侧向速度处于较大时,横向稳定性控制器通过差动驱动和附加前轮主动转向减小车辆的侧向速度,进而减小质心侧偏角,保证车辆行驶的安全稳定性;当检测车辆横向速度处于安全范围内时,横向稳定性控制器不介入驾驶员操作控制,保证驾驶员的正常安全驾驶。
Four-wheel independent drive automobile stability control method based on model prediction algorithm
基于模型预测算法的四轮独立驱动汽车稳定性控制方法
2020-06-12
Patent
Electronic Resource
Chinese
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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