Coordination control method and device for active front wheel steering and torque vector of electric automobile

Abstract

The invention discloses a coordinated control method and device for active front wheel steering and torque vector of an electric vehicle, which can efficiently coordinate an active front wheel steering technology and torque vector control, give full play to the advantages of active front wheel steering and torque vector control, and improve the control effect of vehicle handling stability. The method comprises the following steps: (1) based on a monorail vehicle model, constructing a two-degree-of-freedom vehicle model containing two degrees of freedom of vehicle lateral deviation and yaw; (2) establishing an ideal reference model according to the two-degree-of-freedom vehicle model in the step (1); (3) designing an active front wheel steering controller according to the two-degree-of-freedom vehicle model in the step (1); (4) designing a torque vector controller; and (5) a deep reinforcement learning controller is introduced, and coordinated output is conducted on an active front wheel steering and torque vector controller.

Description

technical field [0001] The invention relates to the technical field of vehicle active safety control, in particular to a coordinated control method for active front wheel steering and torque vectoring of electric vehicles, and a coordinated control device for active front wheel steering and torque vectoring of electric vehicles. Background technique [0002] Vehicle active safety control technology is the research focus of vehicle control, which is related to people's life safety. Distributed drive electric vehicles have independently controllable four-wheel torque, and a torque vectoring controller can be used to generate the additional yaw moment needed to maintain vehicle stability. Torque vector control technology works well in extreme conditions, but the control of the center of mass slip angle is limited and cannot form an effective constraint, which affects the accuracy of vehicle trajectory tracking. On the other hand, the torque vector control technology has a grea...

AI Technical Summary

Problems solved by technology

The above method only performs proportional coordinated output of the additional front wheel angle and additional yaw moment control amount according to the stability of the vehicle or the saturation degree of the front wheel cornering force, and does not fundamentally analyze the impact of active front wheel steering and torque vectoring on vehicle handling. Influence of stability control effect

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