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Four-wheel steering control method for maintaining lateral stability of automobile under extreme working condition

A four-wheel steering and control method technology, applied in the field of four-wheel steering control, can solve problems such as instability, poor lateral stability of tire nonlinear characteristics, etc.

Inactive Publication Date: 2018-06-01
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 characterize the nonlinear characteristics of the tire, which causes poor lateral stability or even instability of the car under extreme conditions

Method used

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  • Four-wheel steering control method for maintaining lateral stability of automobile under extreme working condition
  • Four-wheel steering control method for maintaining lateral stability of automobile under extreme working condition
  • Four-wheel steering control method for maintaining lateral stability of automobile under extreme working condition

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Embodiment Construction

[0073] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0074] figure 1 It is a schematic diagram of the system structure of a four-wheel steering control method to maintain the lateral stability of the vehicle under extreme conditions. The system mainly includes a reference model 1, a tire lateral force and cornering stiffness processor 2, an MPC controller 3, and a vehicle model 4 . The reference model 1 is used to determine the desired yaw rate of the car; the tire lateral force and cornering stiffness processor 2 is used to determine the tire's side slip angle, lateral force and cornering stiffness; the car model 4 is used to output the actual Motion state information, including vehicle longitudinal velocity, yaw rate, center-of-mass side slip angle and road adhesion coefficient; MPC controller 3 combines the expected vehicle yaw rate and the actual vehicle state information to optimize and solve the ...

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Abstract

Provided is a four-wheel steering control method for maintaining the lateral stability of an automobile under an extreme working condition. The method is characterized by involving a reference model,a tire lateral force and cornering stiffness processor, an MPC controller and an automobile model. The reference model is used for determining the desired automobile yaw rate; the tire lateral force and cornering stiffness processor is used for determining side slip angle, lateral force and cornering stiffness of tires; the automobile model is used for outputting the actual motion state information of the automobile, and the actual motion state information includes automobile longitudinal velocity, yaw rate, centroid side slip angle and road adhesion coefficient; the MPC controller combines the desired automobile yaw rate and the actual motion state information of the automobile for optimization solution to obtain rotation angle of rear wheels of the automobile and outputting to the automobile model to control the lateral stability of the automobile under the extreme working condition.

Description

technical field [0001] The invention relates to the field of automobile lateral stability control, in particular to a four-wheel steering control method for maintaining automobile lateral stability under extreme working conditions. 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 them, four-wheel steering (4Wheel Steering, 4WS) technology has been widely recognized as an effective means to improve automobile stability. 4WS technology can effectively reduce the turning radius of the car at low speed and improve the stability of the car at high speed. [0003] At present, the control methods used in the 4WS system mainly include PID control, robust control, neural network control, and model predictive control (Model Predictive Control, MPC). System constraints have been widely used in the field of vehicle lateral stability control. [0004] According to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/045
Inventor 李绍松王国栋郭陆平郑顺航李政崔高健张袅娜卢晓晖韩玲
Owner CHANGCHUN UNIV OF TECH
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