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Vehicle yaw stability control method based on saturation self-adaption

A technology of yaw stabilization and control method, which is applied in the direction of the control device, etc., can solve the problems of the saturation problem and the control effect is not ideal, and achieve the effect of reducing the impact and ensuring the driving stability.

Active Publication Date: 2018-08-24
HARBIN INST OF TECH
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Problems solved by technology

[0005] In order to solve the problem that the existing vehicle yaw stability control method does not consider the saturation problem of the vehicle yaw stability actuator, the self-control effect is not ideal, and a saturation self-adaptive vehicle yaw stability control method is proposed.

Method used

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  • Vehicle yaw stability control method based on saturation self-adaption
  • Vehicle yaw stability control method based on saturation self-adaption
  • Vehicle yaw stability control method based on saturation self-adaption

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Embodiment

[0032] Embodiment: combine below Figure 1 to Figure 5 This embodiment will be described in detail.

[0033] refer to figure 1 , the saturation adaptive vehicle yaw stabilization control method described in this embodiment includes:

[0034] Step 1, establishing a two-degree-of-freedom vehicle yaw dynamics model when the vehicle turns;

[0035] Step 2, designing a vehicle yaw stability controller based on saturation self-adaptation according to the two-degree-of-freedom vehicle yaw dynamics model;

[0036] Step 3, adjust the direct yaw moment of the vehicle through the vehicle yaw stability controller based on saturation self-adaptation, and then ensure the tracking of the vehicle yaw rate to its reference steady-state value.

[0037] refer to figure 2 , the two-degree-of-freedom vehicle yaw dynamics model of this embodiment is:

[0038]

[0039]

[0040] In the formula, β is the sideslip angle of the center of mass of the vehicle, m is the mass of the vehicle, v i...

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Abstract

The invention provides a vehicle yaw stability control method based on saturation self-adaption and belongs to the field of vehicle stability control. The problem that saturation of a vehicle yaw stability actuator is not considered in an existing vehicle yaw stability control method, so that the control effect of the existing method is not ideal is solved. The vehicle yaw stability control methodbased on saturation self-adaption includes the steps that a two-freedom-degree vehicle yaw dynamics model in the vehicle turning process is established; a vehicle yaw stability controller based on saturation self-adaption is designed according to the two-freedom-degree vehicle yaw dynamics model; and the direct yaw moment of a vehicle is adjusted through the vehicle yaw stability controller basedon saturation self-adaption, so that the vehicle yaw velocity tracks the reference stead-state value of the vehicle yaw velocity. The vehicle yaw stability control method based on saturation self-adaption is particularly suitable for conducting yaw stability control on the vehicle.

Description

technical field [0001] The invention relates to a vehicle yaw stability control method, which belongs to the field of vehicle stability control. Background technique [0002] During the turning process of the vehicle, the vehicle will directly generate the yaw rate. When the vehicle speed exceeds the critical value, the yaw rate gain of the vehicle will increase sharply, which will lead to dangerous conditions such as sideslip or tail flick of the vehicle. These dangerous and unstable working conditions will seriously affect the driving stability of the vehicle and threaten the personal safety of the occupants. Therefore, it is very necessary to perform yaw stability control on the vehicle during the turning process of the vehicle. [0003] The existing vehicle yaw stability control method is usually as follows: the vehicle yaw stability controller controls the vehicle yaw stability actuator, so that the vehicle yaw rate can track its reference steady-state value, thereby ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/045
CPCB60W30/045B60W2050/0031
Inventor 孙维超张晋华
Owner HARBIN INST OF TECH
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