Vehicle stability self-adaptive control method under low attached road surface multi-source interference

Through the adaptive control method of multimodal data fusion and dynamic torque distribution, the vehicle stability problem under multi-source interference on low-adhesion roads is solved, high-precision adhesion coefficient estimation and interference source observation are achieved, the stability and response speed of the vehicle on low-adhesion roads are improved, and the lateral control of L4 autonomous driving is supported.

CN120645939AActive Publication Date: 2025-09-16GELUBO TECH CO LTD
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Patent Information

Application Number
CN202511164871.1
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-08-20
Publication Date
2025-09-16
Estimated Expiration
2045-08-20

AI Technical Summary

Technical Problem

On low-adhesion roads, vehicles face stability issues caused by multiple sources of interference (such as crosswinds, sudden changes in road adhesion, and brake hydraulic delays). Existing control systems find it difficult to balance path tracking accuracy and yaw stability, and traditional models and perception methods have errors and insufficient redundancy design.

Method used

Multimodal environmental data fusion and spatiotemporal convolutional network are used to predict road adhesion coefficient, dynamically correct tire stiffness, and estimate disturbance sources using an enhanced extended state observer. Lyapunov stability theory is combined to allocate control priorities, and torque distribution is optimized through a quadratic programming algorithm to achieve dynamic torque collaborative control.

Benefits of technology

It achieves high-precision adhesion coefficient estimation and interference source observation, improves the vehicle's stability and response speed on low-adhesion roads, reduces the risk of sideslip and control errors, and supports the lateral control requirements of L4 autonomous driving.

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Abstract

The invention discloses a vehicle stability adaptive control method under low attachment road surface multi-source interference, and belongs to the field of vehicle control, and the method comprises the following steps: S1, multi-source interference perception and attachment coefficient prediction; s2, dynamic correction of tire dynamic parameters: correcting tire cornering stiffness and slippage stiffness on line; s3, multi-source interference collaborative observation and estimation: dynamically estimating an interference source by using an enhanced extended state observer; s4, phase plane stability envelope analysis and weight adjustment: dynamically allocating control priorities; and S5, on the premise of considering an interference source, performing dynamic torque distribution and actuator cooperative control: optimizing four-wheel torque by using a quadratic programming algorithm to obtain a torque distribution result. By adopting the vehicle stability adaptive control method under the low-attached road surface multi-source interference, the problems of insufficient modeling precision, weak interference suppression, target conflict and redundancy deficiency in low-attached road surface vehicle stability control are solved, and the trajectory tracking precision and the yaw stability are remarkably improved.
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