Four-wheel independent drive automobile stability control method based on model prediction algorithm

Abstract

The invention discloses a four-wheel independent drive vehicle stability control method based on a model prediction algorithm. The method comprises the steps of establishing a vehicle model based on monorail model data; performing state-space equation conversion and discretization processing on the vehicle model; calculating the tire cornering stiffness in real time based on a two-degree-of-freedom kinetic equation of transverse motion and yawing motion of the vehicle; performing constraint control on input and output of the vehicle model; carrying out matrix form conversion on the output of the vehicle lateral speed in the prediction time domain; and converting the target function into a standard quadratic programming form for solving. When it is detected that the lateral speed of the vehicle is high, the lateral stability controller reduces the lateral speed of the vehicle through differential driving and additional front wheel active steering, then the side slip angle is reduced, and the safety and stability of vehicle driving are guaranteed; and when it is detected that the transverse speed of the vehicle is within the safety range, the transverse stability controller does notintervene in driver operation control, and normal and safe driving of a driver is guaranteed.

Description

technical field [0001] The invention relates to the technical field of vehicle stability control, in particular to a method for controlling the stability of a four-wheel independent drive vehicle based on a model prediction algorithm. Background technique [0002] In recent years, the research on the lateral stability and safety of vehicles has been paid more and more attention at home and abroad. More and more automotive active safety products have entered the commercial level, such as ABS (Anti-lock braking system) anti-lock braking system, electronic stability ESP program (Electronic stability program) system, driving anti-skid ASR (Anti-slipRegulation) system, and Active front steering AFS (Active front steering) system. These active safety control systems have effectively reduced the occurrence of traffic accidents. Among them, the electronic stability system changes the direct yaw moment (DYC) of the car by controlling the longitudinal moment of the tire, so that the...

AI Technical Summary

Problems solved by technology

AFS active steering control can also improve extreme working conditions, but when the tire reaches the limit state of adhesion, the effect of AFS active steering control is weakened because the tire lateral force is not enough to provide the centripetal force required for turning

At present, there are still many problems in the stability control of four-wheel independent drive vehicles: there are certain limitations for fully using active steering to control the lateral stability of the vehicle. When the tires work in their own nonlinear region, they cannot provide the centripetal force required for steering. , lose the ability to turn, and easily cause traffic safety accidents

There are certain limitations in using differential braking or differential drive (DYC) or active front steering (AFS) alone, and the effective application of combined differential braking or differential drive (DYC) and active steering in practical applications (AFS) with fewer active safety controls

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