The invention provides a layered chassis coordination control method and device, electronic equipment and a storage medium, which are applied to an electric vehicle, and the method comprises the following steps: establishing a nonlinear vehicle model, and carrying out segmented ray imitation on the nonlinear vehicle model to obtain a vehicle system model; and designing a front wheel steering and yawing moment coordinated controller based on the vehicle system model, and performing chassis coordinated control on the electric vehicle based on the controller. By combining electronic stability control and an active front wheel steering system and utilizing a composite model predictive control strategy, the front wheel steering angle and the yaw moment are comprehensively processed, and stable control over the vehicle is achieved. The vehicle stability under different driving conditions is ensured by establishing a nonlinear vehicle model, carrying out linear processing and introducing a polyhedral constraint condition. According to the control strategy, optimal control input is generated by constructing an invariant control set and solving a mixed integer quadratic programming problem so as to cope with uncertain factors in a complex driving environment, and quick response and stability of the vehicle are ensured.

    本发明提供了一种分层式底盘协调控制方法、装置、电子设备和存储介质,应用于电动汽车,包括:建立非线性车辆模型,将非线性车辆模型进行分段仿射线性化得到车辆系统模型;基于车辆系统模型设计前轮转向与横摆力矩协调的控制器,基于控制器进行电动汽车的底盘协调控制。通过结合电子稳定控制和主动前轮转向系统,利用复合模型预测控制策略,综合处理前轮转向角和横摆力矩,实现车辆的稳定控制。通过建立非线性车辆模型并进行线性化处理,引入多面体约束条件,确保在不同驾驶条件下的车辆稳定性。控制策略通过构建不变控制集合和求解混合整数二次规划问题,生成最优控制输入,以应对复杂驾驶环境中的不确定因素,确保车辆的快速响应和稳定性。


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    Title :

    Layered chassis coordination control method and device, electronic equipment and storage medium


    Additional title:

    分层式底盘协调控制方法、装置、电子设备和存储介质


    Contributors:
    DONG ZHAOZHI (author) / LIU LIJUN (author) / WANG CHUNHAI (author) / ZHUANG WEICHAO (author) / LI BINGBING (author) / YIN GUODONG (author)

    Publication date :

    2024-12-31


    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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