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Vehicle lateral stability control method considering tire cornering stiffness changes

A stable control method and technology of cornering stiffness, which can be applied to control devices, vehicle components, input parameters of external conditions, etc., and can solve problems such as sideslip phenomenon and reduce driving safety.

Active Publication Date: 2019-08-13
JILIN UNIV
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Problems solved by technology

[0003] However, in the existing studies on vehicle stability control systems, most of the structural parameters of the cornering stiffness are treated as a fixed value, without quantification to explore the impact of the uncertainty caused by the change on the control system, and for the tire side Sliding phenomenon, the side slip angle is not taken into account at present to be solved as a constraint, and it is easy to cause sideslip phenomenon and reduce driving safety

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  • Vehicle lateral stability control method considering tire cornering stiffness changes
  • Vehicle lateral stability control method considering tire cornering stiffness changes
  • Vehicle lateral stability control method considering tire cornering stiffness changes

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Embodiment Construction

[0047] The technical solutions proposed by the present invention will be further elaborated and described below in conjunction with the accompanying drawings.

[0048] The present invention proposes a vehicle lateral stability control method considering changes in tire cornering stiffness, such as figure 1 As shown, it specifically includes the following steps for implementation.

[0049] Step 1: Use the existing on-board sensors and the current vehicle state observation method to feed back the current vehicle driving state, and obtain the current state information such as the steering wheel angle, acceleration of the center of mass, longitudinal velocity, yaw rate, and sideslip angle of the center of mass required by filtering. And use the existing method to identify the current road surface information.

[0050] Step 2: The driving state of the vehicle obtained from Step 1 is obtained by figure 2 The two-degree-of-freedom vehicle model obtains the desired yaw rate and the...

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Abstract

The invention provides a vehicle lateral stability control method considering tire cornering stiffness changes. The vehicle lateral stability control method considering the tire cornering stiffness changes mainly comprises the following steps that a current yaw rate and side slip angle expected by a driver are calculated according to a vehicle-mounted sensor detection system and a two-degree-of-freedom vehicle model; and in the running process of a vehicle, the tire cornering stiffness is changed continuously and has uncertainty. According to the vehicle lateral stability control method considering the tire cornering stiffness changes, the tire load transfer amount and the current side slip angle magnitude are utilized to fit a specific value of the tire cornering stiffness, and change parameters of the tire cornering stiffness are added to a vehicle control model; tire side slip angle constraint conditions are introduced, a model predictive control algorithm is adopted, and the situation is finally described as an optimization constraint problem, and the current optimal control sequence is solved; and finally, the output of the control quantity is realized through an actuator, anda control objective of avoiding the tire lateral force saturation phenomenon is realized under the condition of considering the tire cornering stiffness changes.

Description

technical field [0001] The invention belongs to the technical field of vehicle active safety control, and provides a vehicle lateral stability control method considering changes in tire cornering stiffness. The cornering stiffness of the front / rear axle tires is identified in real time and added to the control model, and the side slip angle is constrained. Within a certain range. Background technique [0002] Vehicle active safety technology has always been the core of vehicle safety research. Currently known vehicle stability control methods mainly include direct yaw moment control (DYC), anti-lock braking system (ABS) and traction control system (TCS). But vehicle stability is a complex, non-linear problem. In the cornering condition, due to the constant change of vehicle structural parameters such as cornering stiffness due to load transfer, steering instability may occur if the influence is not considered. Side skidding is one of the accidents that threaten the driver'...

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Application Information

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IPC IPC(8): B60W50/00B60W40/10
CPCB60W40/10B60W50/00B60W2050/0037B60W2520/10B60W2540/18B60W2552/00
Inventor 李寿涛李秋媛王德军刘辉刘鑫王蕊田彦涛
Owner JILIN UNIV
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