A Nonlinear Integrated Control Method for Vehicle Lateral Stability

Abstract

The invention relates to a vehicle active safety control method, and particularly relates to a vehicle lateral stability nonlinear integration control method. Firstly, a simplified vehicle dynamics model is built; then, design of a nonlinear model predictive controller is carried out, expected yaw angle velocity information is inputted to the nonlinear controller module, according to the value of the expected yaw angle velocity and sideslip angle velocities of a front wheel and a rear wheel of the vehicle and the yaw angle velocity fed back in real time, a model predicative control method is used for predicting future dynamic performance of the system, optimization is carried out at the same time, an additional yaw moment and the optimized steering wheel angle information are decided and outputted to an execution mechanism corresponding to the vehicle, and the vehicle is kept in a yaw stability state. The method of the invention is successfully realized by the controller through FPGA full hardware, the FPGA uses a parallel hardware calculation method for acquiring the optimized control sequence in a limited sampling time domain, requirements of high real-time performance and miniaturization on the vehicle-mounted nonlinear model predictive controller can be met, and the calculation performance of the control system is improved.

Description

technical field [0001] The invention relates to a vehicle active safety control method, in particular to a vehicle lateral stability nonlinear integrated control method. Background technique [0002] With the rapid development of the modern automobile industry, the number of automobiles in today's society is increasing, which leads to corresponding problems: road traffic pressure is increasing, and traffic accidents occur frequently. The severe traffic situation has made people pay more and more attention to the active safety of vehicles. The simple superposition of electronic control systems can no longer meet the needs, and integrated control has become the trend of active safety research in recent years. The integrated control of active front wheel steering and direct yaw moment can not only further improve the stability of the vehicle, but also reduce the impact of braking on the longitudinal dynamics and improve the driving comfort of the vehicle. In this paper, in ord...

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Problems solved by technology

The severe traffic situation makes people pay more and more attention to the active safety of vehicles. The simple superposition of electronic control systems can no longer meet the demand. Integrated control has become the trend of active safety research in recent years.

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