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A vehicle stability control method for a traveling system with uncertainties

A technology of stability control and uncertainty, applied in the direction of control device, vehicle components, driver input parameters, etc., can solve problems such as uncertainty of vehicle driving system and impact of vehicle operation.

Active Publication Date: 2018-12-18
JILIN UNIV
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Problems solved by technology

[0003] During the driving process of the vehicle, due to the inability to accurately know the actual load weight of the vehicle and the corresponding moment of inertia, there is uncertainty in the vehicle driving system, which has a great impact on the operation of the vehicle

Method used

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  • A vehicle stability control method for a traveling system with uncertainties
  • A vehicle stability control method for a traveling system with uncertainties
  • A vehicle stability control method for a traveling system with uncertainties

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[0037] specific implementation plan

[0038] The proposed technical solution will be further elaborated and illustrated below in conjunction with the accompanying drawings.

[0039] The principle of the vehicle stability control system is as follows: figure 1 As shown, the present invention proposes a vehicle stability control method aimed at the travel system with uncertainty, which is implemented in the following steps:

[0040] 1. Real-time collection of effective information on vehicle driving status and identification of the friction coefficient of the road surface.

[0041] Collect the vehicle driving state information fed back by the on-board sensors, including the steering wheel angle signal collected by the steering wheel angle sensor, the yaw rate signal collected by the yaw rate sensor at the center of mass of the vehicle, the acceleration sensor collected by the acceleration sensor at the center of mass of the vehicle The Err sensor detects the wheel speed inform...

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Abstract

A vehicle stability control method for a traveling system with uncertainties which Contains the following steps: Collecting vehicle driving state information, according to the two-degree-of-freedom model, expressing The uncertainties of the analytical system of the vehicle model as linear uncertain systems, Taking the deviation between the actual value and the expected value of the state quantityas the input of the robust optimization vehicle stability controller, obtaining the expected value of the control quantity required for vehicle stability by using the suboptimal control method, and distributing the tire force by the pseudo-inverse distribution method, and finally executing the tire force distribution result by the actuator.

Description

technical field [0001] The invention belongs to the technical field of vehicle active safety control, and provides a control method of a vehicle stability system, in particular to a vehicle stability control method due to the uncertainty of vehicle mass and moment of inertia in a driving system. Background technique [0002] In recent years, the active safety control of vehicles has attracted much attention, especially in the context of vehicle intelligent driving and automatic driving. The continuous development of vehicle stability control systems has greatly improved the safety performance of vehicles. Vehicle stability control system mainly includes yaw stability system, active roll stability control and integrated stability control system. The yaw stabilization system is mainly a stability control system that controls the yaw behavior of the vehicle and prevents the vehicle from skidding. Active Roll Stability Control is a stability control system that prevents the veh...

Claims

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Application Information

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IPC IPC(8): B60W50/00
CPCB60W50/00B60W2050/0002B60W2050/0028B60W2050/0075B60W2520/10B60W2520/125B60W2520/28B60W2540/18
Inventor 王德军梁晓娜丁健楠杨千惠谢宁宁史德伟王丽华
Owner JILIN UNIV
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