The invention relates to a vehicle curve self-adaptive cruise stability control method utilizing differential steering, which adopts a hierarchical control architecture, and combines a differential steering control strategy based on MFAC and a fuzzy logic rule of multi-target weight coefficient self-adjustment based on MPC in upper layer control, so that the stability of the vehicle curve self-adaptive cruise stability is improved. Taking the actual vehicle speed, acceleration, position, yaw velocity and side slip angle of the vehicle as input, and outputting to obtain the expected acceleration of the vehicle; in the lower-layer control, driving and braking switching logic based on a deceleration protection range threshold value and a feedforward-feedback fusion control strategy based on an acceleration error are combined, the actual vehicle speed, the acceleration and the expected vehicle acceleration of the vehicle serve as input, and a vehicle hub motor torque signal is output and obtained; and transmitting the vehicle hub motor torque signal to the vehicle hub motor so as to correspondingly control and change the driving state of the vehicle. Compared with the prior art, the transverse stability of the vehicle in the curve vehicle following process can be improved, and the transverse displacement deviation can be reduced.

    本发明涉及一种利用差动转向的车辆弯道自适应巡航稳定性控制方法,采用分层控制架构,在上层控制中,结合基于MFAC的差动转向控制策略以及基于MPC的多目标权重系数自调整的模糊逻辑规则,以车辆实际的车速、加速度、位置、横摆角速度和质心侧偏角作为输入,输出得到车辆期望加速度;在下层控制中,结合基于减速度保护范围阈值的驱制动切换逻辑以及基于加速度误差的前馈‑反馈融合控制策略,以车辆实际的车速、加速度和车辆期望加速度作为输入,输出得到车辆轮毂电机转矩信号;将车辆轮毂电机转矩信号传输给车辆轮毂电机,以相应控制改变车辆行驶状态。与现有技术相比,本发明能够改善车辆在弯道跟车过程中的横向稳定性并减少横向位移偏差。


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    Title :

    Vehicle curve adaptive cruise stability control method using differential steering


    Additional title:

    一种利用差动转向的车辆弯道自适应巡航稳定性控制方法


    Contributors:
    YANG MINGFEI (author) / MENG DEJIAN (author) / WANG YANGYANG (author) / ZHANG LIJUN (author)

    Publication date :

    2025-03-21


    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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