The invention provides a cooperative control method and device for a vehicle chassis. The cooperative control method comprises the steps that a vehicle dynamics model is established based on control parameters input by a driver to calculate expected values of vehicle kinematics state variables; constructing a target function and constraint conditions based on the expected value of the vehicle kinematics state variable to solve expected values of resultant force and resultant moment of vehicle chassis control; based on a preset optimization target and the expected values of the resultant force and the resultant moment, the transverse force and the longitudinal force on each wheel are optimally distributed to obtain optimal distribution values of the transverse force and the longitudinal force on each wheel; and based on the optimal distribution values of the transverse force and the longitudinal force on each wheel, determining a motor output torque and a rotation angle of each wheel so as to realize cooperative control of the vehicle chassis.
本发明提供了一种车辆底盘的协同控制方法及装置,包括:基于驾驶员输入的控制参数建立车辆动力学模型以计算车辆运动学状态变量的期望值;基于车辆运动学状态变量的期望值构建目标函数及约束条件,以求解车辆底盘控制的合力与合力矩的期望值;基于预设优化目标以及合力与合力矩的期望值,优化分配每个车轮上横向力与纵向力,以得到每个车轮上横向力及纵向力的最优分配值;以及基于每个车轮上横向力及纵向力的最优分配值确定电机输出转矩及各个车轮的转角以实现车辆底盘的协同控制。
Cooperative control method and device for vehicle chassis
一种车辆底盘的协同控制方法及装置
2023-06-27
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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