Redundant drive vehicle dynamics control distribution method

Abstract

The invention discloses a redundant drive vehicle dynamics control distribution method, and aims at solving the problem on the control distribution of constrained redundant drive vehicle dynamics. According to the redundant drive vehicle dynamics control distribution method disclosed by the invention, an expected generalized force / torque of a vehicle is determined based on a sliding mode variable structure control, an optimal distribution relationship between the expected generalized force / torque decided by an upper controller and a wheel slip ratio as well as a sideslip angle is established based on an improved fixed-point square control distribution method, priority levels of control tasks are designed based on driving and operating conditions of a vehicle, and a wheel slip ratio and side slip angle joint tracking controller is designed based on an integral sliding mode control, to coordinate and control a steering / driving / braking system of the automobile and ensure each wheel to move according to an expected slip ratio and slip angle. The invention mainly combines a control distribution method and a redundant drive vehicle dynamics system, a nonlinear coupling constraint to tire side longitudinal side force is taken into consideration, stability domain of a vehicle system is expanded, and system safety and reliability are improved.

Description

technical field [0001] The invention relates to the field of automobile active safety, in particular to a dynamic control distribution method for redundantly driven vehicles. Background technique [0002] In recent years, with the rapid development of automobile technology and automobile manufacturing industry, the number of automobiles has increased rapidly, the traffic conditions have become more complicated, and traffic accidents have occurred frequently. According to reports, the death rate per 10,000 vehicles in traffic accidents in my country in 2014 was around 2.0, much higher than that in developed countries such as the United States, Germany, and Japan. Coordinated control of vehicle dynamics can predict and solve possible dangers of vehicles, improve the stability and controllability of vehicles in dangerous conditions, and increase the safety of vehicles. [0003] With the continuous development of automotive actuator and sensor technology, the wire control syste...

AI Technical Summary

Problems solved by technology

However, due to the need to consider the nonlinear coupling constraints of the tire side longitudinal force, the control system has a heavy computational burden and poor real-time performance, and it is difficult to directly measure the tire force in the actual system.

In addition, in the process of completing the vehicle dynamics control task, there may be multiple task objectives, and multiple task objectives sometimes cannot be satisfied at the same time

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