Design method for improving lane tracking and control stability

A technology of stable performance and lane tracking, which is applied in the field of automotive engineering, can solve problems such as the inability to restrain the vehicle from leaning forward and backward during acceleration, increase the range of changes in the vertical load of the wheels, and reduce the stability of vehicle handling, etc., to achieve optimal control. Effects of power distribution, suppression of body roll forward, and good steering characteristics

Inactive Publication Date: 2013-12-04
UNIV OF SHANGHAI FOR SCI & TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] As far as electric vehicles are concerned, the four-wheel independent drive system can effectively improve the handling stability of the vehicle, but it cannot suppress the vehicle's acceleration, pitching when braking, and body roll when turning
Leaning forward or backward or rolling the vehicle ...

Method used

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  • Design method for improving lane tracking and control stability
  • Design method for improving lane tracking and control stability
  • Design method for improving lane tracking and control stability

Examples

Experimental program
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Effect test

Embodiment 1

[0068] A design method for improving lane tracking and handling stability performance, the control method includes the following steps:

[0069]Step S10, according to the steering and accelerator pedal angle input given by the driver, combined with the sensor to detect the body roll or pitch angle and the distance of the center of mass relative to the movement of the wheels;

[0070] Step S20, the vehicle operating condition information is input to the PID controller, and the active adjustment range of the suspension height and the power distribution ratio of each wheel drive motor are obtained through the corresponding PID control algorithm;

[0071] Step S30, after the vehicle accepts the feedback control, the vertical load of the vehicle tires is redistributed, and the four-wheel driving force is redistributed according to the vertical load of the tires, and a correction yaw moment can be generated during steering to suppress understeering or oversteering of the vehicle Ste...

Embodiment 2

[0156] Algorithmic electric model car vehicle test

[0157] The present invention has carried out a series of tests to the model car that makes according to above-mentioned design, thereby verifies its effect. The test adopts the control variable method, and the two dial switches on the circuit board are used to select whether the single-chip microcomputer controls the body balance or the four-wheel power distribution.

[0158] Figure 7 is the control flow chart of the vehicle model, and the control flow of the vehicle algorithm is as follows: Figure 7 shown. Among them, the motor independent drive algorithm is responsible for the power distribution control of the four-wheel independent drive; the steering gear independent drive algorithm is responsible for the balance control of the body through the active suspension.

[0159] (1) Accelerated performance test

[0160] Control the model car to start to accelerate from a standstill, travel a distance of 8M, and time it. ...

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Abstract

A design method for improving lane tracking and control stability includes S10 detecting the sideward tilting angle or the forward tilting angle and the backward titling angle of an automobile body and the moving distance of the mass center relative to wheels by combining a sensor according to the steering and accelerator pedal angle input provided by a driver; S20 inputting automobile work condition information into a proportion integration differentiation (PID) controller and obtaining the driving adjusting amplitude of suspension height and the power distribution ratio of wheel driving motors through a corresponding PID control algorithm; S30 reallocating vertical load of automobile tires after an automobile receives feedback control, meanwhile reallocating driving force of four wheels according to the vertical load of the tires and generating correction yawing moment during steering to restrain understeering or oversteering of the automobile, restrain sideward tilting of the automobile body and restraining backward tilting, forward tilting and wheel slip of the automobile during the acceleration and braking process. A four wheel independent driving system and a driving suspension system are combined, and the stability and the lane tracking performance are improved.

Description

technical field [0001] The invention belongs to the technical field of automobile engineering, in particular, it is a design method for improving lane tracking and handling stability. Background technique [0002] Vehicle lane tracking performance and handling stability have always been the hotspots of vehicle driving assistance and active safety research. [0003] As far as electric vehicles are concerned, the four-wheel independent drive system can effectively improve the handling stability of the vehicle, but it cannot suppress the vehicle's acceleration, pitching when braking, and body roll when turning. Leaning forward or backward or rolling the vehicle body will cause the center of mass of the vehicle to move relative to the tires, thereby increasing the range of changes in the vertical load of the wheels and reducing the stability of the vehicle handling, especially the vehicle roll will change the positioning of the tires and affect the handling stability. Content...

Claims

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Application Information

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IPC IPC(8): B60W30/02B60W10/22B60W10/08
Inventor 孙涛武剑张志伟
Owner UNIV OF SHANGHAI FOR SCI & TECH
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