Vehicle stability evaluation method based on stochastic time delay

An evaluation method and stability technology, applied in the field of control, can solve problems such as the inability to effectively express the comprehensive performance evaluation of vehicle stability

Active Publication Date: 2019-01-04
JILIN UNIV
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Problems solved by technology

The above methods are only theoretically analyzing and judging the driving state of the vehicle, and cannot effectively express the comprehensive performance evaluation of the actual delay on the vehicle stability.

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  • Vehicle stability evaluation method based on stochastic time delay
  • Vehicle stability evaluation method based on stochastic time delay
  • Vehicle stability evaluation method based on stochastic time delay

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Embodiment Construction

[0055] After the vehicle speed and road surface adhesion coefficient are fixed, the phase plane stability boundary of the side slip angle of the center of mass will not change, so the phase plane stability boundary is determined. The stability of the vehicle is analyzed by analyzing the phase plane of the side slip angle of the center of mass. In the stable region of the phase plane, the phase trajectory starting from any initial point will eventually converge to the center zero point, and the phase trajectory curve of the vehicle can eventually pass through its own dynamics. The characteristic converges to a stable focus, defined at which point the vehicle can return to a stable equilibrium state. The trajectory will always change towards the trend of making the absolute value of the center of mass sideslip angle and the center of mass sideslip angular velocity decrease continuously, and the vehicles in the stable region are all in a stable state. However, the phase trajector...

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Abstract

The invention relates to a vehicle stability evaluation method based on stochastic time delay, belonging to the control technical field. The purpose of the invention is to apply a stochastic algorithmto select a stochastic time delay parameter to simulate the lag phenomenon occurring in the actual vehicle running process, and to judge the vehicle running stability under a fixed working conditionbased on a stochastic time delay vehicle stability evaluation method. The method comprises the following steps: a random algorithm selects a random time delay, a one-dimensional random number algorithm, two uniformly distributed random number generators are combined to obtain two-dimensional random vectors which are subject to two-dimensional uniform distribution, three-dimensional random vectorsobtained by the same principle are subject to three-dimensional uniform distribution, and the three-dimensional random number is normalized and scaled. As that random algorithm is added in the invention, a large number of experiment are not required to be repeated independently, and the comparison is recorded, the method can automatically enter a circulating process, and the delay parameters are randomly selected, so that the data transmission process is closer to reality, the simulation is more realistic, the results are recorded in the circulating process, and the time and labor are saved.

Description

technical field [0001] The invention belongs to the technical field of control. Background technique [0002] The stability of the vehicle is usually an important performance on par with the handling stability, and the handling stability of the car often affects the handling of the car and the safety of the car. The handling stability of the vehicle refers to: the vehicle can follow the driver's intention (that is, the direction given by the driver through the steering system and the wheels) without the driver feeling tired, and can resist external disturbances and maintain stable driving Ability. Since the research on vehicle handling stability is mainly applied in vehicle intelligent driving traffic system, vehicle active safety technology, vehicle automatic driving and cruise technology, the related research on vehicle handling stability has been valued by a large number of researchers. The state at a certain moment in the past will have a time lag effect on the current...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W50/00G05B17/02
CPCB60W50/0098B60W2050/0043G05B17/02
Inventor 王萍刘姿玚李梓涵朱超杰
Owner JILIN UNIV
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