Vehicle transverse stability control method based on heuristic algorithm

Abstract

The invention discloses a vehicle transverse stability control method based on a heuristic algorithm. The method comprises the following steps: parameters of a vehicle are collected, wherein the parameters needing to be collected comprise intrinsic parameters and real-time parameters, and the intrinsic parameters comprise the total mass m of the vehicle, the rotational inertia Iz, the distances lfand lr from a front axle and a rear axle to the gravity center of the vehicle, and the cornering stiffnesses Cf and Cr of a front wheel and a rear wheel, and the parameters are inherent to the vehicle and can be collected and stored in advance. The heuristic algorithm is adopted to solve the output feedback controller, so that complex iteration in a traditional solving method is avoided; the longitudinal speed of the vehicle and the cornering stiffness of the tire are considered as uncertain parameters; the controller designed by the invention is better in robustness, can calculate an appropriate yawing moment, controls the side slip angle and the yawing angular velocity to be within an appropriate range, improves the maneuverability of an vehicle, improves the transverse stability of thevehicle, and reduces the possibility of dangerous situations in the operation process of the vehicle.

Description

technical field [0001] The invention relates to the technical field of vehicle stability control, in particular to a vehicle lateral stability control method based on a heuristic algorithm. Background technique [0002] With the continuous improvement of people's living standards, China's car ownership has risen rapidly, and with the increase in the number of cars, traffic safety has become a social problem. China is one of the countries with the highest rate of traffic accidents in the world, which has aroused people's great attention to the safety performance of automobiles. Automobile safety protection can be divided into two aspects: passive safety and active safety according to the difference in its action time: passive safety protection is equipped with airbags, high-strength body and other protective measures, and achieves the protective effect by reducing the impact damage to passengers in the event of an accident Active safety technology includes chassis dynamics c...

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Problems solved by technology

[0003] In the prior art, Chinese patent CN107215329A discloses an ATSM-based distributed drive electric vehicle lateral stability control method, which is also a control method for vehicle lateral dynamic stability, and the method used is a second-order sliding mode variable structure algorithm The spiral sliding mode control algorithm in , however, does not take into account the uncertainty of vehicle parameters, so the designed controller cannot guarantee stability when the vehicle speed changes greatly

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