The invention relates to a vehicle motion control method for longitudinal, transverse and vertical cooperative control, which comprises the following steps of: for a steering operation state, dividing the steering state of a vehicle into a stable steering working condition, a risk steering working condition and an unstable steering working condition according to a preset # imgabs0 # phase plane in combination with an obtained side slip angle and yaw velocity; vehicle motion control is carried out in a control and stability control mode; for the straight running state, whether the straight running state is stable or not is judged, and if not, a steering running state method is adopted for vehicle motion control; and if the vehicle is stable, judging whether the vehicle is in an emergency braking or acceleration state, if not, performing vehicle motion control through a normal control mode, and if so, performing vehicle motion control through a safety control mode. Compared with the prior art, the method can accurately enter the corresponding control mode according to the vehicle state, can adapt to most working conditions, guarantees the stability of the vehicle to the maximum extent, and greatly simplifies the complexity of the model and the algorithm.

    本发明涉及一种面向纵横垂协同控制的车辆运动控制方法,包括:对于转向运行状态,根据预设的#imgabs0#相平面,结合获取的质心侧偏角和横摆角速度,将车辆的转向状态划分为趋稳转向工况、风险转向工况和失稳转向工况,以操控和稳定控制模式进行车辆运动控制;对于直线运行状态,判断直行状态是否稳定,若不稳定,则采用转向运行状态的方法进行车辆运动控制;若稳定,则判断是否处于紧急制动或加速状态,若不处于,则通过的正常控制模式进行车辆运动控制,若处于,则通过安全控制模式进行车辆运动控制。与现有技术相比,本发明能够精准根据车辆状态进入对应控制模式,能够适应大多数工况并最大程度保障车辆的稳定性,且极大简化了模型和算法的复杂度。


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    Title :

    Vehicle motion control method for longitudinal, transverse and vertical cooperative control


    Additional title:

    一种面向纵横垂协同控制的车辆运动控制方法


    Contributors:
    WU XIAODONG (author) / ZHAO SHENG (author) / WANG YAFEI (author) / KONG ZHUO (author) / YU ZHOUHANG (author)

    Publication date :

    2024-05-03


    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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