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A Stability Control Method for Four-Wheel Steering Vehicle Based on Time-varying Dynamics Model

A four-wheel steering vehicle and stability control technology, which is applied to automatic steering control components, steering rods, steering mechanisms, etc., and can solve the problems of poor control effect of 4WS system and inability to reflect the nonlinear dynamic characteristics of vehicles.

Inactive Publication Date: 2020-09-18
CHANGCHUN UNIV OF TECH
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  • Claims
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Problems solved by technology

[0005] In order to solve the problem that the existing linear time-varying MPC prediction model cannot reflect the nonlinear dynamic characteristics of the vehicle, resulting in the poor control effect of the 4WS system under extreme conditions

Method used

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  • A Stability Control Method for Four-Wheel Steering Vehicle Based on Time-varying Dynamics Model
  • A Stability Control Method for Four-Wheel Steering Vehicle Based on Time-varying Dynamics Model
  • A Stability Control Method for Four-Wheel Steering Vehicle Based on Time-varying Dynamics Model

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Embodiment Construction

[0083] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0084] figure 1 It is a schematic diagram of the system structure of a four-wheel steering vehicle stability control method based on a time-varying dynamics model of the present invention. The system mainly includes a reference model 1, a tire data processor 2, an MPC controller 3, and a CarSim vehicle model 4; the reference model 1 is used to determine the desired car yaw rate and side slip angle of the center of mass; the tire data processor 2 is used to determine the side slip angle, lateral force and lateral force gradient of the tire; CarSim car model 4 is used to output the actual motion of the car State information, including vehicle longitudinal velocity, yaw rate, center-of-mass sideslip angle, and road adhesion coefficient; MPC controller 3 optimizes and solves the car’s vehicle’s state information based on the expected vehicle yaw rate, cen...

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Abstract

A four-wheel steering vehicle stability control method based on time-varying dynamics model is characterized in that the method comprises a reference model, a tire data processor, an MPC controller and a CarSim vehicle model; The reference model is used to determine the desired yaw rate and the center-of-mass sideslip angle of the vehicle. The tire data processor is used for determining the side angle, side force and side force gradient of the tire. The CarSim automobile model is used to output the information of the actual moving state of the automobile, including the longitudinal velocity, yaw angular velocity, center-of-mass deflection angle and road adhesion coefficient. The MPC controller optimizes the rear wheel rotation angle of the vehicle according to the expected yaw rate, the center-of-mass deflection angle and the actual motion state information of the vehicle, and outputs the result to the CarSim vehicle model to control the vehicle to realize the stability control.

Description

Technical field: [0001] The invention relates to the field of vehicle stability control, in particular to a four-wheel steering vehicle stability control method based on a time-varying dynamics model. Background technique: [0002] As people pay more and more attention to the safety of automobiles, the active safety system of automobiles has been developed rapidly. Among them, four-wheel steering (Four Wheel Steering, 4WS) has been widely recognized as an effective means to improve the stability of automobiles. 4WS technology can effectively reduce the turning radius of the car when driving at low speed and improve the stability of the car when driving at high speed. [0003] At present, the control methods adopted by 4WS mainly include PID control, robust control, neural network control and model predictive control (Model Predictive Control, MPC), among which model predictive control can better deal with multi-objective tasks and system constraints. , has been widely used ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D6/00B60W30/045B62D101/00B62D111/00B62D137/00
CPCB60W30/045B62D6/00Y02T10/40
Inventor 李绍松王国栋高嵩张邦成于志新崔高健卢晓辉韩玲李政
Owner CHANGCHUN UNIV OF TECH
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