A coordinated control method for electric vehicles having independent four-wheel driving and steering, comprising the steps of: calculating to obtain a desired value of yaw velocity according to the steering angle and the current vehicle driving speed, and limiting the desired value of yaw velocity according to the current road adhesion condition; constructing an optimization problem according to the current vehicle motion state and the desired value of yaw velocity, and solving the optimization problem to obtain a desired active rear wheel steering angle control variable and a desired additional yaw moment control variable; calculating to obtain an additional torque of each wheel according to a desired additional yaw moment control variable, obtaining a desired active rear wheel steering angle, and sending the additional torque of each wheel and the desired active rear wheel steering angle to an executor of the vehicle for performing a coordinated control.
COORDINATED CONTROL METHOD FOR ELECTRIC VEHILES HAVING INDEPENDENT FOUR-WHEEL DRIVING AND STEERING
2024-08-15
Patent
Electronic Resource
English
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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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