Off-road vehicle dynamic stability evaluation and multi-actuator cooperative control method

Abstract

The application discloses a kind of off-road vehicle dynamic stability evaluation and multi-actuator collaborative control method, comprising the following steps: establishing three degrees of freedom nonlinear dynamics model;Based on the model, the comprehensive evaluation index of fusion steady-state Lyapunov index and instantaneous Lyapunov index is calculated;According to the index and in combination with tire mechanics characteristics, the vehicle state is divided into stable domain, transition domain and critical instability domain;According to the state domain, the weight distribution relationship of active steering and yaw moment control is determined, which continuously changes with the comprehensive evaluation index between adjacent state domains;According to the weight distribution relationship, the control command is revised and output to each actuator.The application can accurately quantify dynamic stability margin and combine with tire physical limit to determine the state, realize multi-actuator smooth collaborative control, and improve the steering stability and driving safety under extreme conditions.