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A vehicle yaw stability control method based on three-step method

A stability control, three-step technology, applied to other vehicle parameters, etc., can solve the problems of no hardware equipment, no stability control system, etc., and achieve the effect of avoiding conflicts

Active Publication Date: 2017-09-12
JILIN UNIV
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  • Claims
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Problems solved by technology

At this time, the system has neither in-depth theoretical analysis nor supporting hardware equipment, so it cannot be called a stability control system in the true sense.

Method used

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  • A vehicle yaw stability control method based on three-step method
  • A vehicle yaw stability control method based on three-step method
  • A vehicle yaw stability control method based on three-step method

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Embodiment Construction

[0023] The present invention provides a method for controlling vehicle yaw stability based on a three-step method, the method comprising the following steps: Step 1, establishing a simplified vehicle dynamics model, such as figure 2 , used to characterize the relationship between the vehicle's handling stability and the vehicle's lateral and yaw motions. Considering the yaw motion and lateral motion of the vehicle, its dynamic equation is:

[0024]

[0025] Among them, F y1 , F y2 is the cornering force of the front and rear tires, unit N; M z is the additional yaw moment, in Nm; L f , L r are the distances from the center of mass of the vehicle to the front and rear axles, in m; I z is the moment of inertia of the car around the z-axis, unit kg m 2 ; r is the yaw rate, the unit is rad / s; m is the vehicle mass, the unit is kg; v x is the longitudinal velocity of the vehicle, in m / s; β is the sideslip angle of the center of mass, in rad.

[0026] The system equation...

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Abstract

The invention discloses a vehicle yaw stability control method based on a three-step method. A hierarchical control strategy is adopted, based on the three-step method, the front wheel turn angle and additional yaw moment are obtained, and based on a quadratic programming optimization method, the additional yaw moment is distributed into braking force on four wheels to act on a vehicle. The method includes the steps of firstly, establishing a simplified vehicle dynamics model, wherein the two-degree-of-freedom model is used for representing the relation between the steering stability of the vehicle and the lateral movement and yaw movement of the vehicle; secondly, designing a three-step method controller, wherein expected yaw velocity information is input into the three-step method controller, and the additional yaw moment and the front wheel turn angle are determined in a three-step method algorithm flow according to the value of expected yaw velocity and the lateral acceleration, actual yaw velocity, actual sideslip angle and longitudinal speed, fed back in real time, of the vehicle; thirdly, performing vehicle yaw stability control based on the three-step method controller designed in the second step.

Description

technical field [0001] The present invention relates to a vehicle active safety control method, and more specifically, relates to a vehicle yaw stability control method based on a three-step method. Background technique [0002] Vehicle stability control is an automotive electronic control technology emerging from abroad. It is developed on the basis of the research of braking anti-lock braking system and driving anti-skid system. The concept of stability control originated from the idea of ​​using the above two systems to solve stability problems, but at first researchers focused on improving the algorithm, so they could only deal with part of the stability problems. The system at this time has neither in-depth theoretical analysis nor supporting hardware equipment, so it cannot be called a real stability control system. At the beginning of the 1990s, researchers made a breakthrough in theoretical research and proposed a new idea of ​​direct control and regulation (DYC: Di...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/02B60W10/18B60W10/20
CPCB60W10/18B60W10/20B60W30/02B60W2520/00B60W2520/10B60W2520/125B60W2530/00
Inventor 郭洪艳宋林桓马骉陈虹于树友
Owner JILIN UNIV
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