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Automobile stability control method with combination of active front wheel steering and direct yawing moment

A technology of active front wheel steering and stability control, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as instability and poor lateral stability of automobiles

Inactive Publication Date: 2018-06-01
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0004] In order to solve the problem that the existing linear MPC method can not fully characterize the nonlinear dynamic characteristics of the car, the problem of poor lateral stability or even instability of the car under extreme conditions

Method used

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  • Automobile stability control method with combination of active front wheel steering and direct yawing moment
  • Automobile stability control method with combination of active front wheel steering and direct yawing moment
  • Automobile stability control method with combination of active front wheel steering and direct yawing moment

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Embodiment Construction

[0070] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0071] figure 1 It is a schematic diagram of the system structure of the vehicle stability control method combining active front wheel steering and direct yaw moment 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 system Power distribution module 4, car model 5. 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 5 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 motion st...

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Abstract

The present invention provides an automobile stability control method with combination of active front wheel steering and a direct yawing moment. The devices used in the method comprise a reference model, a tire side force and cornering stiffness processor, an MPC controller, a brake distribution model, an automatic model. The reference model is configured to determine an expected automobile yaw velocity; the tire side force and cornering stiffness processor is configured to determine side slip angles, yawing forces and cornering stiffness of tires; the automatic model is configured to outputactual motion state information of the automobile; the MPC controller is configured to optimize and obtain a front wheel extraordinary angle and a compensation yawing moment of the automobile according to the expected automobile yaw velocity, wherein the front wheel extraordinary angle is superimposed with a front wheel rotation angle generated by driver steering input, and then the superimposed data is directly output to the automobile model, the compensation yawing moment is output to the brake distribution model, and the brake distribution model is configured to determine brake moments of four wheels and output the brake moments to the automobile model, so that stability control is achieved.

Description

technical field [0001] The invention relates to the field of automobile stability control, in particular to an automobile stability control method combining active front wheel steering and direct yaw moment. Background technique [0002] With the continuous development of vehicle chassis dynamics control, integrated control has become the direction of future development, and the combination of active front wheel steering and direct yaw moment to achieve vehicle stability has been widely studied. At present, the control methods involved in the field of vehicle stability control mainly include robust control, neural network control, and model predictive control (Model Predictive Control, MPC), among which model predictive control can better handle multi-objective tasks and system constraints. , has been widely used in the field of vehicle stability control. [0003] According to different prediction models and optimization methods used, MPC can be divided into linear MPC and ...

Claims

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Application Information

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IPC IPC(8): G05B13/04B60W30/02
CPCB60W30/02G05B13/042
Inventor 李绍松王国栋于志新张邦成卢晓晖郑顺航李政李增吴晓东
Owner CHANGCHUN UNIV OF TECH
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