Layered control vehicle anti-rollover method and multi-axle distributive driving vehicle

Abstract

The invention discloses a layered control vehicle anti- rollover method and a multi-axle distributive driving vehicle. A layered control structure is adopted; an upper-layer controller performs combined control on a driving lateral inclination moment and differentiated braking based on a slip-form variable-structure method; a lateral inclination angle is selected as a main reference index for anti-rollover control; difference between an ideal lateral inclination angle and a real lateral inclination angle and difference between an ideal horizontal swinging angle and a real horizontal swinging angle are adopted as inputs; the driving lateral inclination moment and a differentiated braking rotation torque value are output; a middle-layer controller realizes reasonable distribution of the driving lateral inclination moment among each hanging rack execution mechanisms based on an effective set method; finally, a lower-layer controller performs driving anti-slipping control special for a wheel slipping condition which can be caused by middle-layer control; and negative influence to wheel longitudinal stress caused by vehicle force change is eliminated. By adopting the layered control structure, advantages of two anti-rollover methods can be fully exerted; and meanwhile, the driving stability of the vehicle can be further improved by combining with vehicle anti-slipping control.

Description

technical field [0001] The invention belongs to the technical field of active safety of electric vehicles, and in particular relates to a layered control vehicle rollover prevention method and a multi-axis distributed drive vehicle. [0002] technical background [0003] With the development of the economy, the number of cars in the world continues to increase, the roads become congested, and the danger of car travel becomes greater. According to statistics, there were 15,285 rollover accidents of heavy-duty trucks in the United States in 2016, accounting for only 3.04% of the total number of accidents of this type in the year, but there were as many as 7,285 casualties in rollover accidents, accounting for a high proportion of the total accidents. 47.66%, it is enough to see that the heavy vehicle rollover casualty rate is quite high, as long as rollover occurs, there will be almost half of the possibility of casualties. [0004] The lateral stability of the vehicle is an i...

AI Technical Summary

Problems solved by technology

[0004] The lateral stability of the vehicle is an important factor affecting the driving safety of the vehicle. Rollover accidents are prone to occur in the case of lateral instability of the vehicle. It is particularly dangerous. The additional sprung mass brought about by the strong carrying capacity means that the handling stability of the vehicle is reduced, making it prone to rollover accidents when faced with extreme working conditions

[0005] Patent CN109733382A proposes a vehicle anti-rollover method based on model predictive control, but this method is only suitable for anti-rollover control of two-axle vehicles; patent CN107499271A proposes a passenger car based on electronically controlled air suspension and electronically controlled braking system An anti-rollover control system and method, the method effectively controls the rollover of the passenger car through the coordinated control of the suspension system and the braking system, and improves the anti-rollover performance of the passenger car, but for the active suspension of the multi-axis distributed drive vehicle The distribution of vertical forces and the possible slippage of the vehicle due to changes in vertical forces are not stabilized

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