Model predictive control method for vehicle rollover and active tilting

Abstract

The invention discloses a vehicle anti-rollover active tilting model predictive control method, including establishing a 3-degree-of-freedom vehicle steering-rolling dynamics model, establishing a lateral load transfer rate expression that can fully express the rollover transient characteristics, and establishing Desired roll angle for active roll control and design of a model predictive controller; which gives an expression for the lateral load transfer rate including the roll acceleration, thus enabling a more accurate assessment of the transient behavior of the vehicle in emergency situations, using model predictive control (MPC) technology establishes the active tilt controller of the vehicle. The active tilt MPC controller enables the vehicle to track the desired tilt angle, while tracking the desired yaw rate and the desired center of mass roll angle, which can improve the anti-rollover ability of the vehicle while maintaining Good handling stability.

Description

technical field [0001] The invention relates to a vehicle anti-rollover active tilting model predictive control method, in particular to a model predictive control method for vehicle anti-rollover active tilting (actively tilting toward a turning direction) based on an active suspension, and belongs to the field of automobile safety design. Background technique [0002] Due to the high mortality rate of vehicle rollover accidents, researchers attach great importance to it. SUVs, vans, buses, and trucks have a high center of gravity, high mass, and relatively low suspension stiffness, making them prone to rollover. The active safety control technology used to prevent vehicle rollover has become the focus of researchers. Currently, anti-rollover control is mainly performed through differential braking, active steering, and active suspension. The most common control strategy for differential braking and active steering to prevent rollover is to reduce the lateral acceleration ...

AI Technical Summary

Problems solved by technology

However, just considering the tilt of the vehicle can easily cause the vehicle to deviate from the path and cause another traffic accident

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