The invention discloses a network connection information-based vehicle stability control method under an extreme working condition, and belongs to the technical field of vehicle safety control. The invention aims to obtain reference values of a yaw velocity and a side slip angle on the basis of path information changing in real time, and designs a vehicle stability control method based on network connection information under an NMPC vehicle stability control algorithm extreme working condition. The method comprises the following steps that a four-wheel hub motor driven electric automobile model is obtained through simulation software CarSim, state information of the automobile is provided in real time, a path curvature calculation model and a reference model are established, and a nonlinear model prediction controller based on the path curvature is designed. According to the method, the wheel torque is corrected, so that the instability phenomenon caused by too high vehicle speed during turning of the vehicle is avoided; the over-steering characteristic is added when the vehicle enters a curve, so that the vehicle can smoothly enter the curve, and the insufficient steering characteristic is added when the vehicle exits the curve, so that the vehicle is more stable due to the increase of the insufficient steering degree when the vehicle exits the curve.
一种极限工况下基于网联信息的车辆稳定性控制方法,属于车辆安全控制技术领域。发明的目的是基于实时变化的路径信息,得到横摆角速度和质心侧偏角的参考值,设计了一种NMPC车辆稳定性控制算法极限工况下基于网联信息的车辆稳定性控制方法。本发明包括以下步骤:利用仿真软件CarSim得到四轮轮毂电机驱动电动汽车模型,实时提供车辆的各状态信息,建立路径曲率计算模型及参考模型,基于路径曲率的非线性模型预测控制器的设计。本发明对车轮力矩进行修正,使车辆过弯时避免车速过快而发生失稳现象;在入弯时增加过度转向特性,使车辆能够顺利进入弯道,出弯时增加不足转向特性,使车辆在出弯时由于不足转向度的增加而更加稳定。
Vehicle stability control method based on network connection information under extreme working condition
极限工况下基于网联信息的车辆稳定性控制方法
2023-12-15
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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