Multi-time scale rolling optimization control method for stability of vehicle yaw

Abstract

The invention discloses a multi-time scale rolling optimization control method for stability of a vehicle yaw. The method comprises the steps that vehicle path information is taken as a research point, side behavior characteristics of a driver are considered, and through rolling previewing decision optimization, a steering wheel angle meeting a driving path is obtained; and on the basis, different time scales of driver behaviors and vehicle active safety control are considered, and the multi-time scale rolling optimization method is adopted to control side stability of a vehicle. Firstly, a simplified vehicle dynamical model is built, and then design of a double-closed-loop controller is carried out, wherein the double-closed-loop controller comprises a driver decision module and a nonlinear side stability integrated control module, a control loop formed by the driver decision module and the nonlinear side stability integrated control module serves as an outer control loop, and a control loop formed by the nonlinear side stability integrated control module serves as an inner control loop, so that the stability control over the vehicle yaw can be completed.

Description

Technical field [0001] The invention relates to a multi-time scale vehicle yaw stability rolling optimization control method considering driver factors, and belongs to the technical field of vehicle yaw stability control. Background technique [0002] As cars enter the production and life of society, the frequent occurrence of traffic accidents has gradually attracted people’s attention to the problem of traffic safety, and the lateral instability of vehicles is an important cause of traffic accidents. Therefore, the problem of lateral stability of vehicles gradually It has received extensive attention from consumers and researchers. The traditional vehicle lateral stability control takes a given steering wheel angle as input, obtains the ideal yaw rate through a two-degree-of-freedom steady-state steering model, and takes the ideal yaw rate on tracking as the control target, but this control is used Method Once the driver makes a misoperation, it will cause the deviation of the...

AI Technical Summary

Problems solved by technology

The traditional vehicle lateral stability control takes a given steering wheel angle as input, obtains the ideal yaw rate through a two-degree-of-freedom steady-state steering model, and takes tracking the ideal yaw rate as the control target, but using this control Once the driver makes a wrong operation, it will lead to a deviation of the given steering wheel angle, which will cause the vehicle to become unstable and easily cause traffic accidents

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