Path maintaining and wheel sideslip control method for four-wheel steering/driving vehicles

A four-wheel steering, wheel technology, applied in the field of path keeping and wheel side slip control

Active Publication Date: 2014-02-26
SHANDONG COMP SCI CENTNAT SUPERCOMP CENT IN JINAN
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, there is no control model and method that simultaneously considers longitudinal force, lateral force and other factors to control the driving path of four-wheel drive vehicles.

Method used

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  • Path maintaining and wheel sideslip control method for four-wheel steering/driving vehicles
  • Path maintaining and wheel sideslip control method for four-wheel steering/driving vehicles
  • Path maintaining and wheel sideslip control method for four-wheel steering/driving vehicles

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Embodiment Construction

[0071] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0072] The present invention adopts the longitudinal and lateral joint control strategy, and designs the path keeping and wheel slip controller of the four-wheel steering / drive vehicle. The method is based on the singular disturbance theory and robust The control idea comprehensively optimizes multiple performance indicators of the closed-loop system, including: path keeping, wheel slip and disturbance suppression.

[0073] Such as figure 1 The vehicle model shown, which includes the longitudinal, lateral and yaw dynamics of the car body, and the rotational dynamics of the four wheels. The dynamic equation of the car body is:

[0074] (1)

[0075] in, and are the mass and moment of inertia of the car body, is the velocity at the center of mass, is the side slip angle of the center of mass, is the yaw rate, is the aerodynamic c...

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Abstract

The invention discloses a path maintaining and wheel sideslip control method for four-wheel steering/driving vehicles. The path maintaining and wheel sideslip control method for the four-wheel steering/driving vehicles comprises (a), establishing a vehicle body dynamic equation; (b), establishing a wheel dynamic equation; (c), establishing a relational expression between the frictional force and the moment of force; (d), establishing a computational formula for the longitudinal slip ratio and the lateral slip ratio; (e), establishing a path maintaining equation; (f), establishing a control model by controlling the wheel slip ratio; (g), designing a state feedback controller, namely, (g-1), selecting a performance index; (g-2), working out a matrix sum constant and (g-3), designing the controller; (h), obtaining wheel moment of force and a steering angle for a controlled vehicle. The path maintaining and wheel sideslip control method for the four-wheel steering/driving vehicles has the advantages of obtaining the appropriate wheel torque and the steering angle due to control of the longitudinal and lateral slip ratios of wheels and establishment of the control model, limiting the vehicle slip ratio to be within a certain range, restraining vehicle disturbance, enabling the vehicle to drive according to a preset path and guaranteeing lateral deviation not exceeding standard.

Description

Technical field [0001] The present invention involves the path of a vehicle and the control method of the wheel side slip. More specifically, especially the path of the four -wheel steering / driving vehicle by controlling the vertical and side sliding rate by controlling the vertical and side sliding rates.Control method. Background technique [0002] The control of the vehicle's path control is one of the research directions of the advanced vehicle control system (AVCS). In addition, there are longitudinal control and joint control of vertical and side.Among them, the main goal of vertical control is to maintain a proper time interval between vehicles, and the main task of side control is to keep the path.Under the conditions of acceleration / braking and steering, the vehicle is sufficient due to large acceleration / braking force or low friction road surface, which leads to the saturation of the tire force, which leads to the deviation of the path and the side slip of the wheel.In ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/14B60W40/101
CPCB60W30/10B60W40/101B60W2710/207B60W2720/20
Inventor 陈长芳舒明雷魏诺杨明孔祥龙刘瑞霞许继勇杨媛媛周书旺马继鹏唐梅玉
Owner SHANDONG COMP SCI CENTNAT SUPERCOMP CENT IN JINAN
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