Stability control method for four-wheel independent driving electric automobile based on Q-learning

Abstract

The invention discloses a stability control method for a four-wheel independent driving electric automobile based on Q-learning. The control method comprises the following steps of selecting corresponding optimal control parameters based on actual external conditions, and calculating and obtaining an ideal control torque by utilizing the parameters; calculating slip form control parameters K of a yaw torque controller under different external conditions, and storing different external conditions and the slip form control parameters K which are in the yaw torque controller and correspond to the different external conditions, to a stability control system; and reasonably distributing the calculated ideal control torque to four wheels. According to the stability control method disclosed by the invention, the control parameters required by online calculation are found by the Q-learning manner, and stored to the yaw torque controller, so that during working, the yaw torque controller of the four-wheel independent driving electric automobile can directly call the control parameters in a manner of table look-up, the calculating time is greatly shortened, and the real-time capability, the robust ability and the practicability of the stability control system of the four-wheel independent driving electric automobile are improved.

Description

technical field [0001] The invention belongs to the field of automobile safety auxiliary driving and intelligent control, relates to a design method of a control system of a four-wheel independently driven electric vehicle, in particular to a stability control method of a four-wheel independently driven electric vehicle. Background technique [0002] With the development of society, energy problems are becoming more and more severe, and traditional internal combustion engine vehicles can no longer meet people's needs for low-carbon and environmentally friendly life. Electric vehicles are energy-saving and pollution-free, and are truly environmentally friendly vehicles. Four-wheel independent drive electric vehicles, as an important branch of electric vehicles, are attracting more and more attention. The four-wheel independent drive electric vehicle realizes the electronicization of the vehicle chassis. The four motors installed near the wheels or in the wheel hub can be ind...

AI Technical Summary

Problems solved by technology

The main problems in the stability control system of four-wheel independent drive vehicles are: first, the current design of the stability control system of four-wheel independent drive electric vehicles mainly uses intelligent control algorithms. It is relatively long, and the real-time performance of the four-wheel independent drive electric vehicle stability control system becomes worse

Second, the control algorithm parameters currently used in the design of the four-wheel independent drive electric vehicle stability control system are mostly single. When the external conditions of the vehicle change, the vehicle stability control system cannot automatically change the control algorithm parameters according to the external conditions. The robustness and practicality of the control system are not good

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