The invention discloses a stability control method for a drive-by-wire four-wheel steering vehicle, and belongs to the field of vehicle steering control. Acquired vehicle yaw velocity signals and ideal yaw velocity are used as input signals of an active-disturbance-rejection controller, tracking of the ideal yaw velocity is used as a target, and an additional front wheel rotation angle needed by tracking of the yaw velocity to be guaranteed is obtained through calculation and used for compensating the front wheel rotation angle. And taking the acquired deviation value of the side slip angle as an input signal of a rear wheel angle controller, taking the zero side slip angle as a target, and calculating and outputting the rear wheel angle. According to the method, tracking of the yaw velocity and zero of the side slip angle can be guaranteed at the same time, the stability of the vehicle in the steering process is improved, and the method can be applied to controlling the stability of the four-wheel steering vehicle.

    本发明公开了一种线控四轮转向车辆稳定性控制方法,属于车辆转向控制领域。将采集到的车辆横摆角速度信号和理想横摆角速度作为自抗扰控制器的输入信号,以跟踪理想横摆角速度为目标,经计算得出要保障横摆角速度跟踪所需的附加前轮转角,用以对前轮转角进行补偿;将采集到的质心侧偏角偏差量作为后轮转角控制器的输入信号,以零化质心侧偏角为目标,经计算输出后轮转角。本发明能够同时保障横摆角速度的跟踪和质心侧偏角的零化,提升车辆在转向过程中的稳定性,可应用于控制四轮转向车辆的稳定性。


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    Title :

    Stability control method for drive-by-wire four-wheel steering vehicle


    Additional title:

    一种线控四轮转向车辆稳定性控制方法


    Contributors:
    LIU WENGUANG (author) / GAO HONG (author) / SUN ZHEN (author) / JIANG ZHU'AN (author) / LIU SUO (author)

    Publication date :

    2023-04-07


    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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