Method for acquiring overall dynamics controlled quantity of independently driven-independent steering vehicle

Abstract

The invention relates to a method for acquiring the overall dynamics controlled quantity of an independently driven-independent steering vehicle, which belongs to the technical field of vehicle dynamics. The method comprises the following steps of: acquiring the driving operation data of a driver, basic vehicle dynamics information and basic dynamics information and acquiring vehicle state information data in combination with an information fusion method; constructing a vehicle driving expert mode database and judging, processing and modifying the effectiveness and rationality of the driving operation data of the driver; generating an overall dynamics control target desired value by using an overall vehicle dynamics reference model; calculating the reachable range of the overall dynamics controlled quantity by using a constraint geometric mapping method; and generating an alternative overall dynamics controlled quantity by using a robustness control method with real-time disturbance estimation and judging and processing the feasibility of the alternative overall dynamics controlled quantity so as to obtain the overall dynamics controlled quantity. In the method, the conflict between the controlled quantity and system control capability can be weakened or eliminated and system control robustness is enhanced. Ideal dynamics control effect is achieved and safe running is realized.

Description

technical field [0001] The invention belongs to the technical field of vehicle dynamics; in particular, it relates to a method for obtaining vehicle dynamics control quantities of a manned all-wheel independent drive-independent steering (All Wheel Independent Drive & Steering, AWID-AWIS) vehicle. Background technique [0002] All-wheel independent drive-independent steering (AWID-AWIS) vehicle is a new type of vehicle developed in the international automotive industry in recent years. It cancels the axle connecting the left and right wheels in traditional vehicles, breaks through the constraints of the traditional drive-steering mechanism, With a novel wheel independent drive-brake-steer mechanism, the vehicle has obtained drive redundancy (the vehicle only has 3 degrees of freedom of longitudinal, lateral and yaw in the plane, but each wheel can generate longitudinal and lateral Two control forces; assuming that the vehicle has m independent wheels in total, 2m control for...

AI Technical Summary

Problems solved by technology

[0007] 4) Using the vehicle dynamics model and the vehicle dynamics control target expectation value {V xd , V yd , ω zd }, using PID, sliding mode control, fuzzy control, H ∞ Robust control, optimal control and other methods to calculate the vehicle dynamics control quantity total longitudinal force control total lateral force control total yaw moment control But U C The calculation does not consider the constraints of the reachable domain of the vehicle dynamics control quantity

[0010] (1) Only the vehicle state information such as vehicle mass, speed, longitudinal acceleration, lateral acceleration, pitch angle, roll angle, center of mass side slip angle and yaw rate is used, without considering the longitudinal force and lateral force of each wheel at the bottom Force information, and the information on the reachable domain of the vehicle dynamics control quantity calculated based on it, which makes the final obtained vehicle dynamics control quantity It may be unreasonable, and the effective execution of the longitudinal and lateral control forces of the underlying wheels with constraints cannot be obtained, resulting in a conflict between the vehicle dynamics control amount and the system control capability

[0011] (2) Collect the driving operation data {δ, α for each operation of the driver a , α b }There may be errors or irrationality, and the method has not judged its effectiveness and rationality and made necessary corrections. The vehicle dynamics control target expectation value {V xd , V yd , ω zd } and the final vehicle dynamics control value U C There may also be errors or unreasonable

[0012] (3) The real-time observation and utilization of system disturbances are not considered, which will lead to the generation of vehicle dynamics control quantities that are too conservative to consider the robustness of system control, and may also exceed the constraints of the underlying wheel control force and cannot be effectively implemented , and the resulting additional perturbation

In particular, when system disturbances and additional disturbances exceed the actual control capabilities of the underlying wheels, the system control will be unstable

[0013] The above deficiencies make the dynamic control effect of AWID-AWIS vehicles unsatisfactory when driving on low adhesion coefficient roads and separated roads, especially at high speeds, and sometimes even cause serious problems such as instability and loss of control of the vehicle.

Images