The invention relates to a vehicle active steering control method and system. The method comprises the steps: substituting current state information of a vehicle into a two-degree-of-freedom vehicle model to be solved and corrected so as to obtain a corrected expected yaw velocity and a corrected side slip angle; separately inputting the corrected expected yaw velocity and the corrected expected side slip angle into a yaw velocity self-disturbance controller and a side slip angle self-disturbance controller respectively so as to obtain two front wheel rotation angle control quantities; weighting the two front wheel steering angle control quantities to obtain a final front wheel steering angle control quantity; and determining a control quantity for controlling operation of the vehicle based on the final front wheel steering angle control quantity. The method of the invention does not depend on an object accurate mathematical model, ideal steering characteristics are tracked at the same time under active-disturbance-rejection active steering control based on comprehensive feedback of the yaw velocity and the side slip angle, the amplitude of the yaw velocity and the amplitude of the side slip angle of the vehicle are greatly reduced, and the stability and safety of the vehicle are improved.
本发明涉及一种车辆主动转向控制方法及系统,方法包括:将车辆当前状态信息代入二自由度车辆模型进行求解修正获得修正后的期望横摆角速度和修正后的质心侧偏角;将修正后的期望横摆角速度和修正后的期望质心侧偏角分别输入至横摆角速度自扰控制器和质心侧偏角自扰控制器后获得两个前轮转角控制量;将两个前轮转角控制量加权后获得最终的前轮转角控制量;基于最终的前轮转角控制量确定用于控制车辆运行的控制量。本发明公开的方案不依赖于对象精确数学模型,基于横摆角速度与质心侧偏角综合反馈的自抗扰主动转向控制下同时跟踪理想的转向特性,大大降低了车辆的横摆角速度与质心侧偏角的幅值,改善了车辆的稳定性和安全性。
Vehicle active steering control method and system
一种车辆主动转向控制方法及系统
2022-02-11
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Vehicle steering control method, vehicle steering control system and vehicle
European Patent Office | 2022
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