The invention provides an electric vehicle path tracking and stability cooperative control method. The method comprises the following steps: constructing a non-linear vehicle ideal dynamic model based on lateral and yaw; establishing a long-short-term memory network prediction model of a nonlinear system, integrating the long-short-term memory network prediction model into a model prediction control algorithm, completing the establishment of a path tracking controller, and outputting a front wheel rotation angle through the path tracking controller; constructing a stability controller; constructing a torque distribution model of multi-target collaborative optimization, and outputting an additional yaw moment through the torque distribution model; butting the front wheel steering angle with the BP neural network, training and outputting a phase plane inward contraction coefficient and an outward expansion coefficient, dividing a phase plane area, judging an area where the vehicle is located, and outputting the front wheel steering angle and the additional yawing moment after cooperative control according to a cooperative control weight coefficient. And finally, path tracking and stability cooperative control of the four-wheel independent drive electric vehicle are realized.
本发明提供一种电动汽车路径跟踪和稳定性协同控制方法,包括:构建基于侧向和横摆的非线性车辆理想动力学模型;建立非线性系统的长短期记忆网络预测模型,并将长短期记忆网络预测模型集成到模型预测控制算法中,完成路径跟踪控制器的搭建,通过路径跟踪控制器输出前轮转角;构建稳定性控制器;构建多目标协同优化的转矩分配模型,通过转矩分配模型输出附加横摆力矩;将前轮转角与BP神经网络对接,训练输出相平面内缩、外扩系数并对相平面区域进行划分,判断车辆所处区域,根据协同控制权重系数输出协同控制后的前轮转角和附加横摆力矩,最终实现四轮独立驱动电动汽车的路径跟踪和稳定性协同控制。
Electric vehicle path tracking and stability cooperative control method
一种电动汽车路径跟踪和稳定性协同控制方法
2024-12-27
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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