The invention discloses a distributed driving electric vehicle stability control method based on a safety envelope area, which comprises the following steps of: constructing a vehicle nonlinear lateral dynamic model, and constructing a dynamic safety envelope boundary of a vehicle on a yaw velocity and side slip angle phase plane based on a tire force saturation constraint principle; and meanwhile, based on a model prediction control algorithm, a lateral stability controller of the vehicle is designed by taking a safety envelope boundary as a state constraint of the controller, so that the driving safety of the distributed driving electric vehicle is effectively improved, and the instability risk is reduced.
本发明公开了基于安全包络区域的分布式驱动电动汽车稳定性控制方法,构建了车辆非线性侧向动力学模型,并基于轮胎力饱和约束原则,在横摆角速度和质心侧偏角相平面上构建了车辆的动态安全包络边界,同时基于模型预测控制算法,将安全包络边界作为控制器的状态约束,设计了车辆的侧向稳定性控制器,有效提升了分布式驱动电动汽车的行驶安全性,降低了失稳风险。
Distributed driving electric vehicle stability control method based on safety envelope area
基于安全包络区域的分布式驱动电动汽车稳定性控制方法
2024-08-20
Patent
Electronic Resource
Chinese
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