Redundant drive vehicle dynamics control distribution method
A technology of vehicle dynamics and control distribution, applied in the direction of control devices, etc., can solve the problems of difficult direct measurement of tire force, multiple task objectives cannot be met at the same time, poor real-time performance, etc.
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[0020] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings.
[0021] refer to figure 1 As shown, a redundant drive vehicle dynamics control distribution method, the specific implementation includes the following steps:
[0022] i. Vehicle dynamics control distribution upper control module design:
[0023] The driver's control input is realized through the steering wheel and the acceleration / brake pedal, and the input is given to the three-degree-of-freedom vehicle model to determine the ideal value of the vehicle's motion state parameters, including determining the ideal vehicle center of mass longitudinal velocity, lateral velocity, and yaw rate; the vehicle The dynamics control distribution upper control module adopts the constant value sliding mode control method to determine the expected generalized force / moment of the ...
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