Linear quadratic differential game based four-wheel active steering control method for four-wheel independently-driven electric vehicle

A four-wheel independent drive, linear quadratic type technology, applied in automatic steering control components, electric vehicles, control drives, etc., can solve the problems of steering sensitivity, driver's driving feeling changes, and inadaptability to four-wheel steering systems, etc., to achieve improved The effects of handling stability, improving active safety performance, and reducing the side slip angle of the car's center of mass

Active Publication Date: 2019-05-24
SOUTHEAST UNIV
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AI Technical Summary

Problems solved by technology

The increase or decrease of steering sensitivity will lead to a large change in the driver's

Method used

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  • Linear quadratic differential game based four-wheel active steering control method for four-wheel independently-driven electric vehicle
  • Linear quadratic differential game based four-wheel active steering control method for four-wheel independently-driven electric vehicle
  • Linear quadratic differential game based four-wheel active steering control method for four-wheel independently-driven electric vehicle

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Embodiment Construction

[0023] The present invention is described in further detail now in conjunction with accompanying drawing. These drawings are all simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, so they only show the configurations related to the present invention.

[0024] Such as Figure 1-Figure 2 As shown, a four-wheel active steering control method for a four-wheel independently driven electric vehicle based on a linear quadratic differential game of the present invention comprises the following steps:

[0025] Step 1: Obtain the steering wheel angle of the driver through the steering wheel angle sensor, convert the reference front wheel steering angle through the given steering transmission ratio i, input the reference front wheel steering angle into the vehicle's front wheel steering controller, and reflect the driver's turn intention;

[0026] The second step: Obtain the real-time longitudinal driving speed of th...

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Abstract

The invention relates to a linear quadratic differential game based four-wheel active steering control method for a four-wheel independently-driven electric vehicle. The linear quadratic differentialgame based four-wheel active steering control method has the advantages that a front-wheel feedforward compensation control steering angle and a rear-wheel feedforward control steering angle are output by a feedforward controller, and serve as two 'players' in a game according to a linear quadratic differential game algorithm; a feedback Nash equilibrium solution of the differential game is acquired by solving the coupled algebraic Riccati equation set, and accordingly, the front-wheel feedforward compensation control steering angle and the rear-wheel feedforward control steering angle are acquired; the handling stability of the electric vehicle during high-speed steering and the handling flexibility thereof during low-speed steering can be improved through four-wheel active drive based onthe combination of feedforward control with feedback control; the side slip angle of the vehicle is effectively decreased under the premise of not changing the driver's feeling about conventional front wheel steering, the ideal yaw velocity of the vehicle can be well tracked, and the active safety performance of the vehicle is improved.

Description

technical field [0001] The invention relates to a four-wheel active steering control method of a four-wheel independently driven electric vehicle based on a linear quadratic differential game, belonging to the field of active steering of electric vehicles. Background technique [0002] The four-wheel independent drive electric vehicle directly drives the wheels through the hub motor, and can more easily realize various active control strategies through the individual control of each motor, which improves the ability of the vehicle to adapt to more complex working conditions. Handling stability is an extremely important performance index in the active safety performance of automobiles, and it is also one of the hotspots of automobile safety technology research at home and abroad for several years. Four-wheel steering control technology can improve the steering stability of the vehicle at high-speed steering, and improve the handling flexibility of the vehicle at low-speed ste...

Claims

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Application Information

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IPC IPC(8): B62D6/00B60L15/32B62D101/00B62D113/00B62D103/00
Inventor 殷国栋朱侗张德明边辰通李广民梁晋豪任彦君徐利伟
Owner SOUTHEAST UNIV
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