Vehicle stability integrated control method based on variable-weight model prediction algorithm

Abstract

The invention discloses a vehicle stability integrated control method based on a variable-weight model prediction algorithm. The method is mainly aimed at yawing motion and side-tipping motion of a vehicle to improve the stability and the riding comfort of the vehicle. The method mainly comprises steps as follows: step one, vehicle driving state information is acquired and subjected to estimation processing; step two, reference state values for keeping the yawing stability and the side-tipping stability of the vehicle are decided respectively; step three, a variable-weight model prediction control algorithm is used, a front wheel rotating angle and tire braking force are taken as control variables, and vehicle yawing and side-tipping stability control are integrated; step four, expected tire braking force is compared with actual pressure of a brake tube, an action instruction of an electromagnetic valve is determined, an additional front wheel rotation angle and steering action of a driver are superposed, and a final front wheel rotation angle is obtained; step five, a brake executer and a steering executer execute the action instruction of the electromagnetic valve and a front wheel rotation angle instruction, so that the vehicle keeps the yawing stability and side-tipping stability.

Description

technical field [0001] The invention relates to a design method of a vehicle stability controller, in particular to a design method of a vehicle yaw and roll stability integrated controller based on a variable weight model prediction algorithm. Background technique [0002] In recent years, the increasingly complex traffic environment has led to frequent traffic accidents, among which vehicle rollover and sideslip accidents have become a major threat to human life and property safety, which are mainly related to vehicle yaw motion and roll motion. At present, most of the researches are on the control of the yaw or roll motion of the vehicle alone, or the simple superposition of the two motion controls. However, there is serious coupling between the yaw and roll motions of the vehicle, and the two controls can promote each other to a certain extent. However, under extreme conditions, there may be certain contradictions. For example, when the vehicle is driving at high speed ...

AI Technical Summary

Problems solved by technology

Therefore, a single or simply superimposed control scheme can no longer fully guarantee the yaw stability and roll stability of the vehicle.

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