The invention provides a multi-domain cooperative stability control system and method for an intelligent electrically-driven heavy-load vehicle, and the system comprises the steps: building a control architecture composed of an intelligent driving domain, a chassis domain and a VCU, predicting a front road condition through the intelligent driving domain, and carrying out the track planning according to the front road condition; according to the vehicle state, stability analysis is conducted on the vehicle state, a safety boundary is determined, torque of four wheels of the vehicle is redistributed by a chassis domain, track re-planning judgment is conducted on the real-time running state of the vehicle, vehicle dynamics tracking is conducted on the planned track through an AMPC method, and finally corresponding torque and steering are executed through VCU control. Therefore, a multi-domain cooperative stability control system and safety boundary calculation suitable for intelligent electrically-driven heavy-load vehicles such as mining dump trucks are realized, and the stability of the vehicles is effectively improved.
发明提供了一种智能电驱动重载车辆的多域协同稳定性控制系统与方法,其搭建了由智驾域、底盘域、VCU三部分组成的控制架构,并由智驾域预测前方路况并以此为依据进行轨迹规划,根据车辆状态对车辆状态进行稳定性分析并确定安全边界,底盘域对车辆四轮的力矩进行重新分配和对车辆行驶实时状态进行轨迹重规划判断,并用AMPC方法对规划的轨迹进行车辆动力学跟踪,最终通过VCU控制执行相应力矩与转向,从而实现了适用于矿用自卸车等智能电驱动重载车辆的多域协同稳定性控制系统及安全边界计算,有效提高了车辆的稳定性。
Multi-domain cooperative stability control system and method for intelligent electrically-driven heavy-duty vehicle
智能电驱动重载车辆的多域协同稳定性控制系统与方法
2024-11-22
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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