Vehicle lateral stability control method based on speed dependence

A technology of lateral stability and control method, which is applied in the direction of control devices, vehicle components, driver input parameters, etc., and can solve the problems of not considering the uncertain factors of vehicle parameters and unable to guarantee stability, etc.

Active Publication Date: 2019-02-22
GUANGDONG UNIV OF TECH
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Problems solved by technology

[0004] Chinese invention patent application CN107215329A discloses an ATSM-based distributed drive electric vehicle lateral stability control method, which is also a control method for vehicle lateral dynamic stability, and the method used is the helical Sliding mode control algorithm, but does not consider the uncertainty of vehicle parameters, so the designed controller cannot guarantee stability when the vehicle speed changes greatly

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  • Vehicle lateral stability control method based on speed dependence
  • Vehicle lateral stability control method based on speed dependence
  • Vehicle lateral stability control method based on speed dependence

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Embodiment Construction

[0097] The invention discloses a vehicle lateral stability control method based on speed dependence, which specifically includes the following steps:

[0098] Step 1, collect the parameters of the car

[0099] The parameters to be collected include inherent parameters and real-time parameters, among which:

[0100] Intrinsic parameters include the total mass of the car m, moment of inertia I z , the distance from the front and rear axles to the center of gravity of the vehicle l f , l r , and the cornering stiffness C of the front and rear wheels f 、C r ; These parameters are intrinsic to the vehicle and can be collected and stored in advance.

[0101] Real-time parameters include front wheel steering angle δ, car longitudinal speed v x , yaw rate r, center-of-mass side slip angle β; among these parameters, the front wheel steering angle can be obtained by collecting the steering wheel angle through the sensor, and then calculated by the parameters of the steering transm...

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Abstract

The invention discloses a vehicle lateral stability control method based on speed dependence. The method comprises the steps of acquiring vehicle intrinsic parameters and parameters, building a vehicle two-degree-of-freedom model, selecting a side slip angle and a yaw velocity as state variables of a control model, and obtaining a vehicle lateral motion model; and on the basis, building a vehiclecontrol model system, calculating to obtain a yawing moment of a vehicle through a state feedback gain matrix in a solving system, calculating to obtain a moment distributed to each vehicle wheel through a moment distribution system, and producing a required moment through a steering system and a braking system, so that vehicle lateral stability control is realized. According to the vehicle lateral stability control method based on speed dependence provided by the invention, the vehicle speed is considered as an uncertain factor, so that a designed controller has better robustness, the lateralstability performance of the vehicle is effectively improved, the probability of the occurrence of dangerous situations during the vehicle running process is reduced, and the comfort in riding is improved.

Description

technical field [0001] The invention relates to the technical field of vehicle stability control, in particular to a speed-dependent vehicle lateral stability control method. Background technique [0002] In recent decades, the world's automobile industry has developed rapidly and on a large scale. Along with the increase of automobile quantity, traffic safety problem has become a social problem, has also caused people to attach great importance to the safety performance of automobile. At the same time, scientific research and technical personnel in the field of automobiles have also continued to explore and research on the safety performance of automobiles. Due to the difference in action time before and after a traffic accident, vehicle safety includes both passive and active safety. [0003] Among them, passive safety refers to the protection of passengers through the installations and facilities in the car when a dangerous situation occurs in the car, so as to alleviat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W10/20B60W10/18
CPCB60W10/18B60W10/20B60W30/02B60W2520/10B60W2540/18
Inventor 鲁仁全李鹏旭李攀硕
Owner GUANGDONG UNIV OF TECH
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