The invention discloses a shared driving-oriented distributed driving electric vehicle stability control method, which comprises the following steps of: firstly, establishing a human-vehicle dynamics model, collecting vehicle state information in real time by combining a vehicle-mounted sensor, and processing the uncertainty problem of a system by adopting a finite vertex polyhedron method; the method comprises the following steps: firstly, establishing an active steering and additional yawing moment distributed parallel control method based on the game theory, then establishing a robust compensation-based control strategy to reduce the influence of system disturbance and uncertainty on system control, and finally, establishing a robust compensation-based control strategy. A man-machine sharing control strategy based on a dynamic intervention penalty factor is designed to improve the tracking performance and the driving performance of a shared driving vehicle. According to the method, the auxiliary compensation control logic that an auxiliary control system is arranged on a bottom layer is broken, man-machine sharing control is selected to be arranged on the control bottom layer logic, man-machine conflicts are effectively weakened, and the driving performance of man-machine sharing driving is guaranteed.
本发明公开了一种面向共享驾驶的分布式驱动电动汽车稳定控制方法,首先建立人‑车动力学模型,结合车载传感器实时采集车辆状态信息,采用有限顶点多面体方法处理系统的不确定性问题,建立基于博弈论的主动转向与附加横摆力矩分布式并行控制方法,然后,建立基于鲁棒补偿控制策略,以减少系统扰动与不确定性对系统控制的影响,最后,设计了基于动态介入惩罚因子的人机共享控制策略以提升共享驾驶车辆的跟踪性能与驾驶性能。该方法打破了将辅助控制系统置于底层的辅助补偿控制逻辑,选择将人机共享控制置于控制底层逻辑,有效的削弱了人机冲突,保证了人机共享驾驶的驾驶性能。
Distributed driving electric vehicle stability control method for shared driving
一种面向共享驾驶的分布式驱动电动汽车稳定控制方法
2025-03-07
Patent
Electronic Resource
Chinese
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