Rollover prevention control method for electric vehicle based on model predictive control algorithm

Abstract

The invention discloses a rollover prevention control method for an electric vehicle based on a model predictive control algorithm, which comprises the steps of establishing a kinetic model for vehicle state observation and control based on vehicle plane kinetic model data and vehicle rollover kinetic model data; calculating the cornering stiffness of a tire in real time based on a transverse motion and yawing motion kinetic equation of the vehicle; meanwhile, estimating the vehicle state quantity in real time through an unscented Kalman filter method; designing a vehicle rollover prevention controller based on the model predictive control algorithm, specifically, establishing a state equation and an output equation of a prediction model, and performing linearization and discretization processing on the state equation and the output equation; establishing an objective function; constraining the input and the output; and converting the objective function into a standard quadratic programming form to be solved, and performing corresponding operation according to the comparison result of the detected rollover index of the vehicle and the set threshold, so that the rollover risk of thefour-wheel independent drive vehicle under certain limit working conditions is reduced, and the driving safety of the vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of vehicle stability control, in particular to an electric vehicle anti-rollover control method based on a model predictive control algorithm. Background technique [0002] In recent years, due to the increase of vehicle ownership and the continuous improvement of driving speed, the casualty rate of vehicle traffic accidents has increased greatly. Moreover, vehicle rollover accidents are more harmful than other traffic accidents, so the research on vehicle rollover prevention has attracted more and more attention at home and abroad. In recent years, researchers have made a lot of research results in the field of vehicle active anti-rollover technology, these technologies mainly include: active steering technology, differential braking technology, active suspension technology. Active steering technology is based on the driver's steering, by generating an additional corner to adjust the wheel angle. The chan...

AI Technical Summary

Problems solved by technology

However, these technologies have certain limitations: when the force on the tire reaches saturation, the control effect of the active steering technology will be weakened

At the same time, this technology will change the driver's driving intention, which is not applicable in some working conditions, such as emergency obstacle avoidance conditions

Differential braking technology will reduce the speed of the vehicle and affect the ride comfort of the vehicle

At the same time, this technology requires a lot of braking force. When the wheels are locked, this technology cannot provide the torque required to prevent rollover.

Active suspension technology is difficult to adjust accurately due to the characteristics of the suspension, and the suspension response time is long, which will affect the real-time performance of anti-rollover control

Four-wheel independent drive vehicles have the advantages of the in-wheel motor torque can quickly respond to commands, and the required torque can be accurately and independently controlled. However, at this stage, the application of torque vectoring active safety control vehicle rollover is less

Images