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Vehicle yaw stability prediction control method and system

A yaw stability and predictive control technology, applied in design optimization/simulation, geometric CAD, etc., can solve problems such as heavy calculation burden and difficulty in realizing real-time calculation of real vehicles, so as to improve efficiency and realize real-time control

Active Publication Date: 2020-06-12
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0004] The nonlinear characteristics of tires are a non-negligible part of the model establishment in DYC. When considering the strong nonlinear control-oriented model, the existing NMPC optimization algorithm has a large computational burden, and it is difficult to meet the real-time calculation requirements of the real vehicle.

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  • Vehicle yaw stability prediction control method and system
  • Vehicle yaw stability prediction control method and system
  • Vehicle yaw stability prediction control method and system

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Embodiment Construction

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0043] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0044] The first aspect of the present invention provides a vehicle yaw stability predictive control method, such as figure 1 As shown, the method includes the following steps:

[0045] Step 101: Determine the expe...

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Abstract

The invention discloses a vehicle yaw stability prediction control method and system. The method comprises: determining an expected side slip angle of a vehicle, and determining the expected yaw velocity of the vehicle according to the longitudinal vehicle speed and the front wheel rotation angle fed back by the vehicle; according to the longitudinal vehicle speed, the expected yaw velocity and the expected side slip angle fed back by the vehicle, constructing a state updating equation in combination with a vehicle dynamics model and a tire magic formula, considering safety constraints of a side slip angle and a yaw velocity and an external yaw moment driving constraint, and constructing an NMPC optimization control problem by taking minimization of a vehicle state following error two-normas an optimization target; solving the NMPC optimization control problem by adopting an improved C / GMRES algorithm to obtain an optimal solution of the external yawing moment; and inputting the optimal solution of the external yawing moment into a wheel hub motor moment distribution module as an output moment reference. The method is high in calculation efficiency, and the problems that an initial solution of a traditional NMPC controller is difficult to obtain, and the optimality of the initial solution is difficult to guarantee are solved.

Description

technical field [0001] The invention relates to the technical field of processing control, in particular to a vehicle yaw stability predictive control method and system. Background technique [0002] The handling stability of the vehicle is the main factor that determines the safety performance of the vehicle under extreme conditions, and is the core content of the vehicle dynamics control. Different from traditional fuel vehicles and centralized drive electric vehicles, distributed electric drive vehicles are driven by in-wheel motors installed in each wheel and controlled independently, which has good control flexibility and is a favorable carrier for high-performance vehicle handling stability control. Direct Yaw Moment Control (DYC) is an important proposition for the stability control of distributed electric drive vehicles. This method generates an applied torque around the yaw direction of the vehicle by setting the output torque of each hub motor reasonably to adjust ...

Claims

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Application Information

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IPC IPC(8): B60W30/02B60W50/00G06F30/15G06F30/20
CPCB60W30/02B60W50/0098B60W2520/00B60W2520/10
Inventor 张旭东邹渊郭宁远孙逢春
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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