The invention discloses a vehicle trajectory tracking and stability coordination control method considering roll. The method comprises the following steps: 1) constructing a vehicle four-degree-of-freedom dynamics linearization model; 2) based on the vehicle four-degree-of-freedom dynamics linearization model, constructing an MPC prediction model; 3) constructing a coordination control objective function and constraint conditions based on the MPC prediction model; and 4) based on the coordination control constraint condition, solving the coordination control objective function to obtain a vehicle four-wheel driving force optimal distribution scheme. According to the invention, trajectory tracking and stability coordination control under the emergency working condition can be realized.

    本发明公开考虑侧倾的车辆轨迹跟踪与稳定性协调控制方法,包括以下步骤:1)构建车辆四自由度动力学线性化模型;2)基于车辆四自由度动力学线性化模型,构建MPC预测模型;3)基于MPC预测模型,构建协调控制目标函数与约束条件;4)基于协调控制约束条件,对协调控制目标函数进行求解,得到车辆四轮驱动力优化分配方案。本发明可以实现紧急工况下的轨迹跟踪与稳定性协调控制。


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    Title :

    Vehicle trajectory tracking and stability coordination control method considering roll


    Additional title:

    考虑侧倾的车辆轨迹跟踪与稳定性协调控制方法


    Contributors:
    XIA XIAOJUN (author) / CHEN DEBING (author) / HUANG YI (author) / ZHANG ZHIFEI (author) / WEI XIAOYU (author) / TANG YIN (author)

    Publication date :

    2024-01-30


    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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