The invention discloses a transverse stability control method and system for a distributed driving electric vehicle. The method comprises the steps of establishing a vehicle yaw velocity prediction model according to the historical data of the vehicle yaw velocity, the historical data of the vehicle direct yaw moment and the noise data; the model does not depend on changeable vehicle parameters and environment parameters which cannot be accurately obtained in advance; and based on the model, determining a parameter vector in the model by adopting a recursive least square method according to the current data of the yaw velocity of the vehicle; predicting the yaw velocity of the vehicle according to the parameter vector and the current data of the yaw velocity of the vehicle to obtain a predicted value of the yaw velocity of the vehicle, and estimating and updating the parameter vector in real time due to the fact that model parameters are time-varying, so that the vehicle model has self-adaptability and can be suitable for all working conditions of vehicle driving; the model has certain robustness on sensor measurement errors, has a certain filtering effect on noise in a vehicle yawvelocity measurement value, and can improve the yaw stability of a vehicle.

    本发明公开了一种分布式驱动电动车辆横向稳定控制方法及系统。根据车辆横摆角速度历史数据、车辆直接横摆力矩历史数据和噪声数据建立车辆横摆角速度预测模型,该模型不依赖于多变且无法预先准确获知的车辆参数及环境参数,并且基于该模型,根据车辆横摆角速度当前数据采用递归最小二乘法确定模型中的参数向量,根据参数向量和车辆横摆角速度当前数据进行车辆横摆角速度预测,得到车辆横摆角速度预测值,由于模型参数是时变的,通过对参数向量进行实时估计和更新,使车辆模型具有自适应性,能够适用于车辆行驶的全部工况;该模型对传感器测量误差具有一定的鲁棒性,对车辆横摆角速度测量值中的噪声具有一定的滤波效果,能够提高车辆的横摆稳定性。


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    Title :

    Transverse stability control method and system for distributed driving electric vehicle


    Additional title:

    一种分布式驱动电动车辆横向稳定控制方法及系统


    Contributors:
    ZHAO ZE (author) / GU LIANG (author) / QIN YECHEN (author)

    Publication date :

    2020-06-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    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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