Vehicle yaw stability control method based on hybrid optimization of genetic algorithm and GPC

Abstract

The invention discloses a vehicle yaw stability control method based on hybrid optimization of a genetic algorithm and GPC. The vehicle yaw stability control method comprises the steps of establishinga vehicle two-degree-of-freedom linear model as a predictive model, calculating and obtaining an ideal yaw rate and an ideal sideslip angle by virtue of the predictive model, detecting and obtainingreal-time data by virtue of sensors, calculating and obtaining an optimal additional yaw moment by virtue of the method of hybrid optimization of the genetic algorithm and GPC according to the real-time data, adopting a left and right wheel driving force rule distribution method to distribute the optimal additional yaw moment into driving forces of four wheels of a four-wheel independent driving hub motor electric vehicle, and applying the driving forces to the wheels in a one-to-one correspondence manner. Compared with a common generalized predictive algorithm, the algorithm provided by the invention is better in global searching ability and global convergence by virtue of the method which introduces the genetic algorithm into the rolling optimization process of GPC for hybrid optimization; and the hybrid optimization of the obtained additional yaw moment is performed so as to greatly improve the accuracy of the optimal solution.

Description

technical field [0001] The invention relates to the field of safety assisted driving and intelligent control, in particular to a stability control method for an electric vehicle with four-wheel independent drive hub motors. Background technique [0002] The handling stability of the car is an important performance that affects the safe driving of the car at high speed. When the car encounters the interference of external factors (such as side wind), separation road driving, high-speed emergency obstacle avoidance, etc., the vehicle will deviate from the ideal vehicle. Handling characteristics, when serious, the driver will lose control of the vehicle and be in a very dangerous situation. The yaw stability control (YSC) system can correct the car to the ideal handling characteristics, from the unstable area to the stable area. As a very potential active safety device, the yaw stability control system has been widely recognized by the society. [0003] At present, various sci...

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Problems solved by technology

[0003] At present, various scientific research institutions have conducted a lot of research on yaw stability control. The commonly used methods are optimal control, such as LQR and LQG, etc., but these control methods require precise control models, and the car is a complex nonlinear system. system, and it is often necessary to simplify the model in engineering use, so the accuracy of the model is difficult to guarantee; in addition, when the vehicle is running, the parameters and the environment have great uncertainty, so that the optimal control obtained by the ideal model is within In practice, it is impossible to maintain the optimum, and sometimes even cause a serious decline in quality

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