The invention discloses a rollover prevention control method for an electric vehicle based on a model predictive control algorithm, which comprises the steps of establishing a kinetic model for vehicle state observation and control based on vehicle plane kinetic model data and vehicle rollover kinetic model data; calculating the cornering stiffness of a tire in real time based on a transverse motion and yawing motion kinetic equation of the vehicle; meanwhile, estimating the vehicle state quantity in real time through an unscented Kalman filter method; designing a vehicle rollover prevention controller based on the model predictive control algorithm, specifically, establishing a state equation and an output equation of a prediction model, and performing linearization and discretization processing on the state equation and the output equation; establishing an objective function; constraining the input and the output; and converting the objective function into a standard quadratic programming form to be solved, and performing corresponding operation according to the comparison result of the detected rollover index of the vehicle and the set threshold, so that the rollover risk of thefour-wheel independent drive vehicle under certain limit working conditions is reduced, and the driving safety of the vehicle is improved.

    本发明公开了一种基于模型预测控制算法的电动汽车防侧翻控制方法,基于车辆平面动力学模型数据和车辆侧倾动力学模型数据建立车辆状态观测和控制的动力学模型;基于车辆的横向运动和横摆运动动力学方程实时计算轮胎的侧偏刚度;同时通过无迹卡尔曼滤波方法对车辆状态量进行实时估算;基于模型预测控制算法设计车辆防侧翻控制器,包括建立预测模型的状态方程和输出方程,并对其进行线性化和离散化处理;建立目标函数;对输入和输出进行约束;将目标函数转化成标准二次规划的形式进行求解,能根据当检测到车辆的翻车指数与设定阈值的比较结果进行对应的操作,以降低四轮独立驱动车辆在某些极限工况下的侧翻风险,提高车辆的驾驶安全性。


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    Title :

    Rollover prevention control method for electric vehicle based on model predictive control algorithm


    Additional title:

    基于模型预测控制算法的电动汽车防侧翻控制方法


    Contributors:
    JING HUI (author) / AN WEIBIAO (author) / LIU SUQI (author) / LIU FEI (author) / KUANG BING (author) / HUANG CHUNYUE (author) / WANG GANG (author)

    Publication date :

    2020-11-06


    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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