The invention relates to a vehicle chassis coordination control method and system considering tire lateral deviation characteristics and relates to the technical field of vehicle chassis coordinationcontrol. The method comprises steps of calculating an expected yaw velocity according to an obtained front wheel rotation angle, an actual longitudinal vehicle speed and a two-degree-of-freedom reference model; calculating additional yawing moment based on a sliding mode algorithm according to the expected yawing angular velocity and the actual yawing angular velocity; distributing the additionalyawing moment to a DYC subsystem and an AFS subsystem according to the tire vertical load, the tire slip angle and the road adhesion coefficient of the vehicle to obtain the additional yawing moment corresponding to the DYC subsystem and the additional yawing moment corresponding to the AFS subsystem; and according to the additional yawing moment corresponding to each subsystem, an optimization algorithm being adopted to calculate a four-wheel drive torque and an additional front wheel rotation angle. The method is advantaged in that lateral deviation characteristics of the tire are quantitatively analyzed, and lateral stability of a vehicle is improved.
本发明涉及一种考虑轮胎侧偏特性的车辆底盘协调控制方法及系统,涉及车辆底盘协调控制技术领域,包括根据获取的前轮转角和实际纵向车速以及二自由度参考模型,计算期望横摆角速度;根据期望横摆角速度和实际横摆角速度,基于滑模算法,计算附加横摆力矩;根据车辆的轮胎垂向载荷、轮胎侧偏角和路面附着系数,将附加横摆力矩分配给DYC子系统和AFS子系统,得到DYC子系统对应的附加横摆力矩和AFS子系统对应的附加横摆力矩;根据各子系统对应的附加横摆力矩,采用优化算法,计算四轮驱动转矩和附加前轮转角。本发明量化分析轮胎的侧偏特性,提高车辆的侧向稳定性。
Vehicle chassis coordination control method and system considering tire lateral deviation characteristics
一种考虑轮胎侧偏特性的车辆底盘协调控制方法及系统
2021-03-30
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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