Active rear steering control method for broadening car stability region

A technology of rear wheel steering and control method, which is applied in the field of automobile stability control, and can solve the problems such as the inability to fully characterize the nonlinear dynamic characteristics of the automobile and the narrow stability field of the automobile.

Inactive Publication Date: 2018-05-29
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0005] In order to solve the problem that the existing linear MPC method cannot fully characteri...

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  • Active rear steering control method for broadening car stability region
  • Active rear steering control method for broadening car stability region
  • Active rear steering control method for broadening car stability region

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Embodiment Construction

[0089] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0090] figure 1 It is a schematic diagram of the system structure of an active rear wheel steering control method for widening the vehicle stability domain of the present invention. The system mainly includes a reference model 1, a tire lateral force and cornering stiffness processor 2, an MPC controller 3, and a Carsim vehicle model 4 . Reference model 1 is used to determine the expected vehicle yaw rate and cornering angle; tire lateral force and cornering stiffness processor 2 is used to determine tire cornering angle, lateral force and cornering stiffness; CarSim car model 4 It is used to output the actual motion state information of the car, including the longitudinal speed of the car, the yaw rate, the side slip angle of the center of mass and the road adhesion coefficient; the MPC controller 3 selects the prediction model according to the corn...

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Abstract

An active rear steering control method for broadening the car stability region is characterized in that a reference model, a tire lateral force and slip rigidity processor, a model predictive control(MPC) controller and a CarSim car model are included in the method; the reference model is used for determining the expected car yaw velocity and side slip angle; the tire lateral force and slip rigidity processor is used for determining slip angles, lateral force and slip rigidity of tires; the CarSim car model is used for outputting practical motion state information of a car, wherein the practical motion state information comprises the car longitudinal velocity, the yaw velocity, the side slip angle and the road surface attachment coefficient; and the MPC controller selects a predictive model according to the slip rigidity of the tires and obtains rear wheel rotation angles of the car in an optimization solution mode by combining with the expected car yaw velocity and side slip angle and the practical motion state information of the car, and the rear wheel rotation angles are output to the CarSim car model to control the car to achieve stability control.

Description

technical field [0001] The invention relates to the field of automobile stability control, in particular to an active rear wheel steering control method for widening the automobile stability domain. Background technique [0002] As people pay more and more attention to the safety of automobiles, the active safety system of automobiles has been developed rapidly, among which Active Rear Steering (ARS) technology has been widely recognized as an effective means to improve automobile stability. , using ARS technology, can effectively reduce the turning radius of the car when driving at low speed, and improve the stability of the car when driving at high speed. [0003] At present, the control methods adopted by ARS mainly include PID control, robust control, neural network control and model predictive control (Model Predictive Control, MPC). Constraints have been widely used in the field of vehicle stability control. [0004] According to different prediction models and optim...

Claims

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Application Information

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IPC IPC(8): B60W30/045B60W40/10
CPCB60W30/045B60W40/10
Inventor 李绍松王国栋于志新张邦成崔高健卢晓晖韩玲吴晓东
Owner CHANGCHUN UNIV OF TECH
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