The invention discloses a vehicle stability control method based on model prediction drive-by-wire active front wheel steering. The method comprises the steps that a drive-by-wire steering vehicle model is established based on the yaw velocity, the lateral acceleration, the tire slip angle and the tire lateral force of a double-wheel model; state-space equation conversion and discretization model processing are carried out; calculating the lateral deviation force, the rigidity, the angular velocity and the yaw velocity of a front wheel tire; summarizing and designing an ideal transmission ratio suitable for the model; formulating a front wheel steering angle control strategy; obtaining a target control function of active front wheel steering; and the objective function is converted into a quadratic programming problem through model predictive control for solving, so that the stability control method for active steering of the front wheels of the wire-controlled steering vehicle is obtained. According to the invention, a driver can select a proper transmission ratio according to different driving styles, the stability controller does not participate in the steering action of the vehicle and does not interfere with the steering operation of the driver, and the driving stability of the vehicle is ensured.
本发明公开了一种基于模型预测线控主动前轮转向的车辆稳定性控制方法,包括基于双轮模型的横摆角速度、侧向加速度、轮胎侧偏角、轮胎侧向力建立线控转向车辆模型;进行状态空间方程转化和离散化模型处理;计算前轮轮胎的侧偏力、刚度、角速度以及横摆角速度;总结并设计出适合模型的理想传动比;制定前轮转角控制策略;得出主动前轮转向的目标控制函数;通过模型预测控制将目标函数转化为二次规划问题的形式进行求解从而得出线控转向车辆前轮主动转向的稳定性控制方法。本发明实现了驾驶者可以根据不同的驾驶风格选择合适的传动比,稳定性控制器可以不参与车辆的转向动作,不干涉驾驶员的转向操作,保证车辆行驶的稳定性。
Vehicle stability control method based on model prediction drive-by-wire active front wheel steering
一种基于模型预测线控主动前轮转向的车辆稳定性控制方法
2024-10-29
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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