High-dimensional dynamic model resolving device and method of intelligent vehicle chassis domain controller

Abstract

The invention discloses a high-dimensional dynamic model resolving device and method of an intelligent vehicle chassis domain controller. A driving-braking-steering input module obtains an acceleration signal instruction, a braking signal instruction and/or a steering signal instruction; a power assembly module determines an input parameter according to the obtained instruction, and obtains a driving torque acting on each driving wheel in combination with a wheel speed signal of the vehicle, a system parameter of a power transmission system, a wheel acceleration and a power output torque; a tire longitudinal and vertical module calculates tire longitudinal and vertical dynamic state parameters of each driving wheel according to the driving torque; and a vehicle body high-dimensional dynamics module obtains 15-degree-of-freedom vehicle real-time state parameters of the vehicle by using a high-dimensional model in the intelligent vehicle chassis domain controller and based on the longitudinal and vertical dynamics state parameters of tires of each driving wheel, and the 15-degree-of-freedom vehicle real-time state parameters are used for decision making and execution of a chassis domain controller coordination control module. The precision of the motion state of the whole intelligent vehicle, the digitalization of the drive-by-wire chassis and the collaboration of the intelligent driving domain and the chassis domain are realized.

Description

technical field [0001] The invention relates to the technical field of vehicles, in particular to a high-dimensional dynamics model solving device and method for a chassis domain controller of an intelligent vehicle. Background technique [0002] Existing vehicle dynamics models are mainly divided into two categories, namely simplified models for specific purposes (such as 2-DOF bicycle models, etc.) and more comprehensive high-dimensional models. The complexity of the simplified model is insufficient, and the scene adaptability is not strong. If the research scene does not meet the model assumptions, the calculation accuracy is difficult to guarantee; although the high-dimensional model is significantly enhanced in integrity, versatility and accuracy, compared with the simplified model Its complexity is significantly increased, and a large amount of information on intrinsic parameters of the vehicle (such as suspension system parameters) is required. Therefore, the princip...

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Problems solved by technology

As another example, the 7-DOF vehicle handling stability model includes vehicle longitudinal motion, lateral motion, yaw motion, and four-wheel rotational motion, which can meet the simulation requirements of tire slip rate or slip rate, and can reflect the steering of intelligent vehicles. The yaw rate response effect in the process can be used to study the vehicle handling stability under normal conditions such as smooth roads and large steering radius, but it does not consider the impact of the vertical motion of the vehicle body on the ride comfort caused by the excitation of the unevenness of the ground. The effect of rolling and pitching dynamics related to the KC characteristics of the suspension on the vertical load transfer of each wheel is not considered

It can be seen that the low-dimensional vehicle dynamics model has higher requirements on vehicle driving scenarios, more restrictions, and poor adaptability to multiple working conditions. Sacrificing part of the calculation accuracy leads to model inaccuracy, which may even cause control mismatch, which endangers the stability and safety performance of the car when driving at high speed and the flexibility when responding to emergencies or complex situations

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