The invention discloses a steering and braking cooperative control method of a four-wheel independent drive vehicle. The method comprises the steps that when a vehicle is steered, an ideal steering angle is collected, and then an expected vehicle body slip angle, an expected yaw velocity and an expected yaw angle are obtained according to a reference model; a front wheel steering angle, a rear wheel steering angle and a yawing moment are obtained according to the expected vehicle body side slip angle, the expected yawing angular velocity and the expected yawing angle through a sliding mode variable structure control model, and then an actual vehicle body side slip angle, an actual yawing angular velocity and an actual yawing angle of the vehicle are calculated; when the vehicle is braked,errors are controlled based on a BP neural network PID control model, and then steering and braking cooperative control is conducted on the vehicle; when the vehicle is steered and braked, actual andideal vehicle body slip angles, yaw velocity and yaw angle errors, and actual and ideal slip rates are controlled at the same time based on the BP neural network PID control model, and then steering and braking cooperative control is carried out on the vehicle.

    本发明公开了一种四轮独立驱动车辆转向制动协同控制方法,包括:车辆转向时,采集理想转向角后根据参考模型得到期望车身侧偏角,期望横摆角速度和期望横摆角;通过滑模变结构控制模型,根据所述期望车身侧偏角、所述期望横摆角速度和所述期望横摆角得到前轮转向角、后轮转向角和横摆力矩后,计算得到车辆的实际车身侧偏角、实际横摆角速度和实际横摆角;车辆制动时,基于BP神经网络PID控制模型对误差进行控制,进而对所述车辆进行转向制动协同控制;在车辆转向制动时,基于BP神经网络PID控制模型同时对实际和理想的车身侧偏角、横摆角速度和横摆角误差、实际和理想滑移率进行控制,进而对所述车辆进行转向制动协同控制。


    Access

    Download


    Export, share and cite



    Title :

    Steering and braking cooperative control method of four-wheel independent drive vehicle


    Additional title:

    一种四轮独立驱动车辆转向制动协同控制方法


    Contributors:
    LEI YULONG (author) / WEN GUANZHENG (author) / GENG XIAOHU (author) / ZONG CHANGFU (author) / FU YAO (author) / ZHENG HONGYU (author) / LI XINGZHONG (author) / JIA FUCHUN (author) / WANG BINYU (author)

    Publication date :

    2020-08-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge



    Vehicle braking device, braking method, four-wheel independent steering system and vehicle

    HOU RUQUAN / WANG BO | European Patent Office | 2024

    Free access

    Four-wheel-drive four-steering unmanned vehicle independent suspension device

    LI HANSHENG / ZHOU YONG / LIAN ZHIHAO et al. | European Patent Office | 2022

    Free access

    Selective braking of four wheel steering vehicle

    YAMAZAKI RYOSUKE / INAGAKI TAKUMI | European Patent Office | 2022

    Free access

    Four-wheel independent steering control method for horizontal four-steering-wheel chassis vehicle

    QIN YUGUI / WANG KAIYUAN / LIU HUAN et al. | European Patent Office | 2023

    Free access

    Torque cooperative braking control method and device for multi-point independent wheel drive vehicle

    WANG TAO / XU LIANBING / HUANG HAIFEI et al. | European Patent Office | 2022

    Free access