Vehicle lateral and longitudinal stability control method under extreme conditions considering the control area

Abstract

The invention relates to a method for controlling lateral and longitudinal stability of a vehicle under extreme working conditions considering a control area, and belongs to the technical field of vehicle safety control. The purpose of the present invention is to consider different stability control requirements according to the different regions where the vehicle state is located, design a stability controller under the framework of model predictive control, obtain additional torque to act on the wheel hub motor, and adjust the vehicle driving posture, thereby The vehicle lateral and longitudinal stability control method under the extreme working conditions of the control area is considered to ensure the lateral and longitudinal stability of the vehicle. The steps of the present invention: build extreme driving conditions; in different areas need to meet different control requirements for driving safety; map to different control objectives and constraints in the design of the stability controller; act on the hub motor to form a closed-loop system . The invention guarantees the real-time solution of the controller while ensuring the accurate description of the characteristics of the model.

Description

Vehicle lateral and longitudinal stability control method under extreme conditions considering control area technical field [0001] The present invention belongs to the technical field of vehicle safety control. Background technique [0002] With the increase of car ownership, the emergence of electric vehicles has effectively improved the problems of energy shortage and environmental pollution. Four-wheel hub drive electric vehicles, because each wheel is independently controllable, additional drive / brake can be separately controlled by vehicle dynamics torque, has greater potential in vehicle stability control. Under extreme conditions, the vehicle can easily become unstable and cause traffic In an accident, the coupled vehicle transverse and longitudinal dynamics interact with each other, making it difficult for existing active safety systems to develop. To play its control function, it is necessary to use the control algorithm to improve the lateral and longitudina...

AI Technical Summary

Problems solved by technology

[0004] 1. Even though the state of the vehicle may be in different control areas at different moments during the driving process, most control methods still consider the same control requirements in each area, rather than changing in real time according to the stability control requirements required by the current state. More effective control, but not fully exert its control performance, which limits the application potential of the control area in vehicle stability control

[0005] 2. Most of the existing four-wheel drive electric vehicle lateral and longitudinal stability control methods do not consider the composite slip characteristics of tires under extreme conditions when using tire models to fit tire forces, and ignore the longitudinal and lateral stability. The coupling nonlinear relationship between force and slip rate and slip angle, which makes the calculation of tire force inaccurate and affects the prediction model accuracy

[0006] 3. In order to accurately describe vehicle and tire dynamics, most existing vehicle stability control methods under extreme conditions use more complex nonlinear models, which increases the complexity of the solution, so that the solution of the controller can only choose complex Solving tools, and the real-time performance of the control system cannot be guaranteed

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