351 results about "Yaw moment" patented technology

A method of controlling drift of a vehicle in which the vehicle more easily enters, maintains, releases, and transitions drift behavior, includes determining, by a controller, whether a current driving situation of the vehicle is a drift entry situation or a release situation based on vehicle driving information, and generating a drift index configured to indicate a current degree of drift from a determination result, determining, by the controller, a target yaw moment for left and right speed control depending on a driving situation or a braking situation of the vehicle and target yaw moments for drift assistance control depending on a driver input and a vehicle state in the drift entry situation, based on the vehicle driving information, and generating and outputting, by the controller, a target torque of a motor configured to drive each wheel of the vehicle based on the determined target yaw moments.

The invention discloses a chassis coordination control method and system based on tire side deviation state evaluation, and relates to the technical field of four-wheel steering four-wheel drive vehicle dynamics control. The method comprises the steps that an expected front wheel rotation angle is determined based on an expected steering wheel rotation angle input by a driver, and a front wheel rotation angle is determined; further determining a feed-forward front wheel steering angle, a feed-forward rear wheel steering angle and an additional yaw moment based on feed-forward control and feedback control, determining a first tire slip angle and a second tire slip angle based on a road adhesion coefficient, and further determining a wheel torque control weight, a feedback front wheel steering angle control weight and a feedback rear wheel steering angle control weight; and further determining a driving yaw moment, a feedback front wheel steering angle and a feedback rear wheel steering angle, determining a total longitudinal force based on an expected longitudinal acceleration input by a driver, and performing four-wheel torque distribution based on the total longitudinal force and the driving yaw moment to obtain a four-wheel driving torque. The driving stability of the vehicle under the limiting working condition can be improved.

A vehicle, a vehicle stability control method and apparatus, and a medium. The method comprises: establishing a lateral stability linear model of a vehicle, wherein in the lateral stability linear model, an additional yaw moment is used as a control quantity, both a mass-center sideslip angle and a yaw rate are used as state quantities correlated with a tire lateral force, and the tire lateral force is linearly correlated with a tire sideslip angle within a preset sideslip angle range; using, as a first optimization objective, the objective of the additional yaw moment meeting a target mass-center sideslip angle and a target yaw rate, and constructing a constraint condition of the first optimization objective on the basis of an additional torque capability range of each motor of the vehicle; and using, as a second optimization objective, the objective of enabling the output energy of each motor to be minimum, and decomposing the additional yaw moment into the additional torque of each motor on the basis of the second optimization objective and the first optimization objective having the constraint condition. The vehicle stability control can be realized with the minimum motor energy output, thereby improving the energy-saving effect.

The invention belongs to the field of vehicle stability control, and particularly relates to a control method suitable for integration of four-wheel independent drive and active rear wheel steering. Comprising the steps of establishing a whole vehicle dynamics model suitable for controller design, performing stable region division by combining front and rear wheel side slip angle phase planes, setting an ideal yaw velocity and an ideal side slip angle, designing a feedforward and PID feedback integrated controller, performing torque distribution and the like. According to steering wheel rotation angle input, corresponding parameters of the vehicle are combined, the vehicle stability coefficient, the ideal yaw velocity and the side slip angle are calculated, the feedforward and PID feedback integrated controller inputs the calculated rear wheel rotation angle into the controlled vehicle, the calculated additional yaw moment obtains the basic driving moment based on pedal information, and the vehicle stability coefficient, the ideal yaw velocity and the side slip angle are calculated. Torques corresponding to four wheels are input to a controlled vehicle through torque distribution, so that the purpose of integrated control is achieved, and the vehicle handling stability is improved.

The application discloses a kind of distributed drive electric vehicle stability control method and system, desired centroid side slip angle and yaw angular velocity are calculated as control target according to vehicle dynamics model, actual centroid side slip angle and yaw angular velocity are estimated in real time by Kalman filtering.Further through stability judging law, vehicle state is identified using phase plane method.According to vehicle state, it is divided into: stable domain, coordination domain and non-stable domain.Further control target value and actual value are input into model reference adaptive controller, and the size of additional yaw moment and front wheel angle is respectively solved.The weight size of the two is calculated by the vehicle stability region determined in stability law.Additional front wheel angle can be directly input into vehicle actuator, if direct torque control is needed, additional yaw moment size needs to be input into torque distribution module for real-time solution, and finally left and right wheel torque value of front axle is output to vehicle actuator.

Disclosed in the present application is a torque vectoring control system for an in-wheel-motor four-wheel-drive vehicle. In the torque vectoring control system, a driving style identification module determines the driving style of a driver during the travel of an in-wheel-motor four-wheel-drive vehicle; a vehicle state sensing module acquires a steering wheel angle and a longitudinal vehicle speed in real time, and performs fault state monitoring on the in-wheel-motor four-wheel-drive vehicle; a vehicle motion control module calculates an ideal yaw rate target of the in-wheel-motor four-wheel-drive vehicle; and a torque vectoring control module calculates an additional yaw moment on the basis of the ideal yaw rate target and an actual yaw rate, executes a corresponding fault handling strategy on the basis of a fault state monitoring result, and then performs torque distribution on the basis of the additional yaw moment combined with the fault state monitoring result to generate an additional driving torque and an additional braking torque of each wheel. The present application realizes self-adaptive yaw stability control for drivers having different driving styles.

The invention discloses an unmanned aerial vehicle path planning method and system in an unknown obstacle environment, and particularly relates to the technical field of unmanned aerial vehicle autonomous navigation and path planning. Constructing an observation space containing a relative target position, a speed, an attitude angle, an angular speed and an obstacle; designing a continuous action space comprising total lift force, rolling moment, pitching moment and yawing moment; constructing a multi-dimensional award function fusing a task end award, a distance target award, a forward efficiency award and an obstacle avoidance safety award, and guiding an intelligent agent to optimize a path; on the basis of observation space and reward feedback, an intelligent agent control strategy is continuously optimized through exploration and development of a self-adaptive entropy regularization balance strategy in an SAC algorithm, and collision-free and short-path real-time path planning is achieved.

The embodiment of the invention provides a vehicle steering control method, a controller, a vehicle, a medium and a program product, and the method comprises the steps: obtaining a steering wheel rotation angle and a vehicle longitudinal speed of the vehicle when the vehicle is controlled to steer; according to the steering wheel angle and the vehicle longitudinal speed, target steering control parameters are determined, and control is conducted according to the target steering control parameters; actual steering control parameters of the vehicle are obtained; according to the target steering control parameter and the actual steering control parameter, fast terminal sliding mode control is carried out, and yawing moment and a rear wheel steering angle are generated; according to the yawing moment and the steering angle of the rear wheels, the two first wheels are controlled, and the control stability of the vehicle can be improved through the embodiment of the invention.

The invention relates to the technical field of closed-loop drift control, and particularly discloses a closed-loop drift control method and system for an autonomous vehicle in an uncertain environment, and the method comprises the steps: building a vehicle kinematic model based on a Frenet coordinate system, and constructing an MPC path tracking controller with a preview mechanism; establishing a three-degree-of-freedom vehicle dynamics model with additional yawing moment; the method comprises the following steps: establishing a UniTile-Ctrl tire dynamic model; designing a robust drift controller by combining LQR and integral sliding mode control on the basis of the whole vehicle dynamic model and the tire dynamic model, designing a torque distribution module by taking minimization of distribution error and tire load utilization rate as targets on the basis of ideal rear wheel rotating speed and additional yawing moment output by the robust controller, and outputting a torque distribution model; according to the drifting vehicle tracking control method, closed-loop drifting control can be achieved, the drifting vehicle tracking control performance and robustness are improved, and safety guarantee is provided for limit control over the uncertain road surface of the vehicle.

The invention belongs to the technical field of wind driven generator main bearing test equipment, and discloses a five-degree-of-freedom wind driven generator main bearing test bench for simulating real working conditions, which comprises a loading system, a test system and a driving system. The loading system adopts a sliding bearing loading disc to simulate a hub of the wind driven generator, and adopts a hydraulic cylinder array to simulate five-degree-of-freedom hub loads of three-direction forces including axial force, radial force and vertical force and two-direction moments including pitching moment and yawing moment. The test system adopts a two-point supported tapered roller bearing main shaft system to simulate the main shaft configuration of the wind driven generator, and can be independently disassembled to replace the model of a test bearing. The driving system adopts a variable-frequency and variable-speed motor, the rotating speed range is 0-200 rpm, and the requirements of various working conditions such as frequent start and stop, performance tests and strengthening tests can be met. According to the invention, through multi-dimensional load loading and multi-working-condition simulation, a key platform is provided for reliability test and failure mechanism research of the wind power main bearing.

A vehicle and a control method and apparatus therefor, a storage medium, and a computer program product, relating to the technical field of vehicles. The control method for a vehicle comprises: correcting an ideal yaw rate on the basis of desired steering characteristic information; obtaining an additional yaw moment on the basis of an ideal sideslip angle, the corrected ideal yaw rate, and an actual sideslip angle and an actual yaw rate of a vehicle; and performing torque distribution on the basis of the additional yaw moment. In the method, the ideal yaw rate is corrected on the basis of the desired steering characteristic information, so that, on the basis of the ideal sideslip angle, the corrected ideal yaw rate, and the actual sideslip angle and the actual yaw rate of the vehicle, variable steering characteristics of the vehicle are achieved by means of torque control, thereby enabling the vehicle to obtain higher steering sensitivity.

This invention is applicable to the field of vehicle stability control technology and provides a coordinated stability control method and system for distributed, drive-by-wire vehicles. The method comprises the following steps: constructing a vehicle dynamics model; collecting vehicle state information based on a state recognition layer and a driving intention recognition layer, calculating and correcting the ideal yaw rate and ideal center-of-mass sideslip angle; allocating control variable weights using a KDPC algorithm; calculating the values ​​of the vehicle's control variables, namely, the rear wheel angle and the additional yaw moment; and allocating wheel drive torque based on the vehicle force, the additional yaw moment, the ratio of front and rear axle loads, the wheel radius, and the wheelbase. Through its electronic and dynamic control strategy, the invention achieves multi-dimensional advantages in flexibility, stability, energy efficiency, and intelligence, extending the vehicle chassis' extreme performance and vehicle handling stability.

The invention relates to the technical field of vehicles, in particular to a distributed driving vehicle transverse stability control method and device, a vehicle and a medium, and the method comprises the steps that the state parameter, the road adhesion coefficient and the actual yaw velocity of the current vehicle are acquired; calculating an expected yaw velocity of the vehicle based on the state parameter and the road adhesion coefficient; the expected yaw moment of the vehicle is calculated based on the expected yaw velocity and the actual yaw velocity, the wheel vertical load of the vehicle is obtained, and according to the expected yaw moment and the wheel vertical load, the driving torques, meeting the transverse stability, of the multiple motors of the vehicle are determined; and a plurality of motors of the vehicle are controlled to work based on the driving torque meeting the transverse stability. Therefore, the driving force of the wheel corresponding to each motor is always matched with the available road surface adhesive force, the utilization of the overall adhesive force is maximized, and the transverse stability of the vehicle is ensured and the loss of the longitudinal speed of the vehicle can be reduced through the control of the driving torque on the yawing moment.

The invention discloses a distributed driving ideal yaw target setting and stability control method, which comprises the following steps of: establishing a whole vehicle dynamics model suitable for controller design, inputting related parameters through a vehicle, combining front and rear wheel side slip angle phase planes, carrying out region division of a stable state, and carrying out target setting and stability control on the whole vehicle dynamics model. According to the method, maneuverability and stability analysis and setting are carried out on the yaw velocity, the yaw velocity is fused, steady state control and feed-forward control are generated through the first step and the second step of a three-step method, then feedback control is carried out through an LQR controller, finally, the three quantities are superposed to obtain the needed additional yaw moment, reasonable distribution control is carried out based on the additional yaw moment, and the control precision is improved. The method aims at minimizing the distribution error and reducing the tire load utilization rate, adopts a multi-target optimization torque distribution strategy to distribute the four-wheel torque, and controls the four-wheel torque of the vehicle so as to achieve the purpose of distributed driving control.

A vehicle control method for improving a driving stability of a vehicle includes: obtaining road information and determining a friction coefficient of road surface according to the road information; obtaining first vehicle parameters and a first yaw rate of the vehicle, the first vehicle parameters including a turning angle of steering wheel, and a longitudinal speed, and a lateral speed; determining a second yaw rate of the vehicle according to the first vehicle parameters, the first yaw rate, and the friction coefficient of road surface; determining a yaw moment of the vehicle according to a difference value between the first yaw rate and the second yaw rate; and distributing the yaw moment to a four-wheel driver, the four-wheel driver including four independent drivers for driving wheels. A computing device and a non-transitory storage medium are also provided.

The embodiment of the invention provides a vehicle control method and device and a vehicle, and relates to the technical field of motor control technologies and auxiliary driving, and the method comprises the steps that driving state data and driving operation data of the vehicle are acquired; performing tire burst state detection on the vehicle by using the driving state data to obtain a detection result; determining target threshold data by using the driving state data, the driving operation data and the detection result; and a target reverse yaw moment is determined based on a multiple control mode, the driving state data, the driving operation data and the target threshold data, the multiple control mode is constructed based on a self-adaptive feedforward control rule and a feedback control rule, and the target reverse yaw moment is used for controlling a driving moment or a braking moment of an execution assembly in the vehicle. The technical problems of high delay and poor accuracy of a vehicle control method in the prior art are solved.

A coordinated control method and apparatus for the lateral stability of an electric vehicle and a storage medium. The method comprises: acquiring the current yaw velocity, the current sideslip angle, the current longitudinal velocity and a steering angle input by a driver; on the basis of the current yaw velocity, the current sideslip angle, the current longitudinal velocity and the steering angle, using a preset hybrid control rule to determine an additional yaw moment and an additional front wheel steering angle; sending the additional yaw moment to a DYC system, so that the DYC system allocates the additional yaw moment on the basis of a preset allocation rule, so as to obtain respective longitudinal braking forces of four hubs; and sending the additional front wheel steering angle to an AFWS system, so that the AFWS system allocates the additional front wheel steering angle on the basis of a preset steering control rule, so as to obtain respective steering angles of the four hubs. The present application avoids a lack of driving comfort and stability during single-system yaw control, ultimately remarkably improving the lateral control stability of vehicles.

The invention relates to a vehicle control method, device and system, a vehicle and computer equipment. The method comprises the steps that driver operation input data and vehicle running state data are obtained, driving required torque is determined based on the driver operation input data and the vehicle running state data, and under the condition that it is monitored that a vehicle has an instability risk, the driving required torque is determined; the additional yawing moment of the vehicle and the maximum allowable driving torque of each wheel under the current road adhesion condition are determined, the driving demand torque and the additional yawing moment are used as driving targets, the maximum allowable driving torque of each wheel under the current road adhesion condition is used as a constraint condition, and the execution torque distributed to each wheel is determined; and vehicle operation is controlled based on the execution torque of each wheel. By adopting the method, the stability of the vehicle under various working conditions can be remarkably improved.

The invention relates to the technical field of vehicle control, and discloses a steering-braking cooperative control method, system and equipment during brake-by-wire failure, and the method comprises the steps that running state information of a vehicle is acquired; on the basis of the running state information, whether electronic mechanical brake wheels fail or not is judged; if yes, the braking force deviation of the failed wheel is determined according to the running state information; yawing moment deviation is generated according to the braking force deviation; generating a feed-forward compensation rotation angle based on the yawing moment deviation; determining a feedback compensation rotation angle according to the operation state information; and generating a steering compensation angle for steer-by-wire based on the feedforward compensation rotation angle and the feedback compensation rotation angle. The control system has the beneficial effect that the safety performance and the control reliability of the whole vehicle are improved.

The invention discloses a layered vehicle stability brake control system and a brake control method. A layered vehicle stability braking control system is applied to a vehicle provided with a brake-by-wire system and a steering-by-wire system and comprises a chassis dynamics analysis module and a yawing moment instruction distribution module. The invention discloses a layered vehicle stability braking control method. The braking control step sequentially comprises the steps of determining the corrected yaw moment of a target vehicle, evaluating the availability and the permissibility of active steering control, determining a wheel steering control angle based on the availability and the permissibility of the active steering control, determining the steering corrected yaw moment based on the wheel steering control angle, and conducting braking control. Determining a residual corrected yaw moment based on the target vehicle corrected yaw moment and the steering corrected yaw moment, and determining a brake control instruction based on the residual corrected yaw moment; according to the method, the optimal distribution of the target correction yaw moment can be realized through the synergistic effect of active steering and brake-by-wire.

The invention discloses a steering fault-tolerant control strategy suitable for a three-axis modular distributed electric drive heavy-duty vehicle. Determining a six-wheel rotation angle of the health system according to the steering multi-model set, and establishing a model; the input quantity is the front wheel turning angle of the three shafts, and the vehicle yaw velocity is solved by combining the longitudinal velocity of the vehicle; parsing driver pedal input as a target longitudinal speed; setting total driving force and total yawing moment control quantity, and obtaining total driving force and total yawing moment by using a model predictive control algorithm; according to the relation between the longitudinal force and the slip rate and between the lateral force and the slip rate of the tire, the lateral force borne by the fault wheel is minimized, the rotating speed and the driving torque of the fault wheel are calculated, and a cost function is set with the tracking error of the total driving force and the total yawing torque and the attachment rate of the healthy wheel as soft constraints; the maximum torque and the minimum torque which can be output by the hub motor serve as hard constraints, and a multi-objective optimization problem is established and solved; and finally issuing the control quantity. According to the method, steering fault-tolerant control of the three-axle six-wheel vehicle is realized.

The invention discloses a fault diagnosis and fault-tolerant control method for in-situ steering of a distributed driving vehicle on a wet and slippery road surface, and aims to solve the problem of instability of the vehicle when a driving unit has faults such as driving failure, mechanical locking or excessive slipping. According to the method, the vehicle state is obtained in real time, the initial torque instruction is calculated, and online diagnosis and accurate recognition of the fault mode are achieved. Aiming at hardware faults such as driving failure, the system breaks and isolates a fault wheel; and aiming at excessive slipping, the torque is preferentially and actively reduced to recover the adhesive force, and temporary isolation is carried out after recovery failure. Once the fault unit is confirmed to be isolated, the system immediately starts a torque reconstruction module based on quadratic programming (QP), and the driving task is optimally redistributed to the remaining healthy wheels in real time so as to maintain the expected yaw moment of the whole vehicle. According to the strategy adopted by the invention, faults with different properties can be effectively distinguished and processed in a differentiated manner, and the control stability and active safety of the vehicle under the conditions of severe work and partial failure are remarkably improved.

A model predictive lane centering (MPLC) control system with reference switching and disturbance rejection includes: an MPLC application having control logic that utilizes model predictive control (MPC) for selectively tracking static and dynamic references, adapts MPC weights and constraints for trajectory tracking when the system switches between static and dynamic references. A Kalman filter estimates a lateral force disturbance, a yaw moment disturbance acting upon a vehicle, and a measurement bias corrupting a measured yaw rate. The system detects anomalies in MPC reference trajectory and adjusts actuator constraints in response to detected anomalies. The system actively and continuously adjusts actuator outputs, causing the vehicle to track and follow a current lane center, and on receiving a lane change command, smoothly changes lanes using vehicle actuators to alter position and alter a vehicle trajectory to enter an adjacent lane before returning to tracking and following a center of the adjacent lane.

The invention relates to the technical field of vehicle chassis cooperative control, in particular to a distributed driving special vehicle severe road condition chassis cooperative control method, which comprises the following steps: estimating the whole vehicle mass through a recursive least square method, and estimating a road adhesion coefficient in combination with unscented Kalman filtering and a tire model; dividing into three types of no-load, half-load and full-load according to the mass of the whole vehicle, and dividing into three types of high-attachment, middle-attachment and low-attachment according to a road adhesion coefficient, so as to obtain nine types of driving working conditions; the yaw velocity, the side slip angle and the roll control threshold value based on the transverse load transfer rate are adjusted in a self-adaptive mode according to different working conditions; additional yawing moment is calculated through a PID controller; in combination with a four-wheel vertical force distribution result, a four-wheel independent torque distribution algorithm is used for determining driving torque or braking torque of four wheels, and a corresponding instruction is output through a drive-by-wire chassis interface; the problems of insufficient model precision, poor parameter adaptability and fixed control threshold value existing in the traditional control of the distributed driving special vehicle under the severe road condition are solved.

An aircraft having a plurality of independent yaw control mechanisms includes an airframe having a central fuselage sized to hold at least one operator or payload and a wing extending from the fuselage. The aircraft includes a distributed thrust array coupled to the airframe, the thrust array having at least a first, second, and third pair of propulsion assemblies. Each propulsion assembly includes a rotor and is operable for at least single-axis thrust vectoring. The aircraft further includes a flight control system operable to independently control and combine each yaw mechanism of the propulsion assemblies. The yaw mechanisms for inducing a yaw moment include: canting at least one pair of propulsion assemblies away from the fuselage, selectively tilting at least one pair of propulsion assemblies forwards and backwards, varying an aerodynamic control surface of at least one propulsion assembly, and varying a rotational speed of at least one propulsion assembly.

An apparatus of determining a target steering angle, may include: a feedforward steering angle calculator configured for determining a feed forward steering angle reflecting a yaw moment generated by torque vectoring during turning driving of an electric vehicle in autonomous driving; and an adder configured for obtaining a target steering angle by adding the determined feedforward steering angle to a feedback steering angle, the feedback steering angle being a steering angle measured through a steering angle sensor.

The invention discloses an electric vehicle stability control method based on steady-state lateral acceleration gain. The method comprises a steady-state yaw reference model, a steady-state lateral acceleration gain model, a feedback control module, a feedforward control module, a rear wheel differential yaw moment distribution module and a vehicle module. The steady-state yaw reference model and the steady-state lateral acceleration gain model are respectively used for calculating an expected yaw velocity and an ideal steering transmission ratio yaw velocity; the vehicle module is used for outputting actual state quantities of the vehicle, including longitudinal vehicle speed, yaw velocity and steering wheel angle; the feedback control module and the feed-forward control module determine feedback yawing moment and feed-forward yawing moment respectively, the feedback yawing moment and the feed-forward yawing moment are added to determine total yawing moment, and the rear wheel differential yawing moment distribution module distributes the total yawing moment according to steady-state characteristic categories of a vehicle and transmits the total yawing moment to the vehicle module for control. Therefore, the lateral stability and the maneuvering performance of the automobile are improved.

The invention provides an active yaw control method for a single-point mooring floating type draught fan platform, and belongs to the technical field of offshore wind power. A wind direction angle is obtained in real time through a wind direction sensor, and the deviation between the wind direction angle and the azimuth angle of a platform main shaft is judged; the system calculates the average wind direction in a set time window so as to suppress the influence of high-frequency wind direction disturbance. The controller dynamically calls a model predictive control (MPC) algorithm according to wind direction deviation, outputs a target rotation angle of the flow guide rudder, drives the flow guide rudder to adjust the direction of the flow guide rudder, generates a yaw moment acting on the platform, and guides the platform to rotate around a single-point mooring rotor to realize active wind facing; the guide rudder assembly and the hydraulic driving system are arranged between the vertical columns with the heaving plates in cooperation with the platform, accurate and rapid attitude control can be achieved, and the wind facing capacity and the structural stability of the draught fan are remarkably improved. According to the wind turbine platform, the wind facing posture can be adjusted in real time according to the change of the wind direction, so that the wind energy utilization efficiency is improved, and the power generation requirement under the deep and far sea complex environment is met.

A self-adaptive cruise and torque distribution cooperative control method for a distributed driving electric vehicle comprises the following steps: establishing a two-degree-of-freedom vehicle dynamics model, combining a nonlinear tire model and a longitudinal load transfer effect, establishing a longitudinal motion control model, adopting a permanent magnet synchronous motor, introducing a motor efficiency MAP graph, and predicting a control algorithm by using a multi-target optimization model. And constructing a multi-state variable optimization model, dynamically adjusting a weight coefficient, introducing a relaxation factor, converting a problem into a quadratic programming problem, and generating an optimization control instruction. And designing a nonlinear model predictive controller to calculate an optimal direct yaw moment, determining a torque distribution coefficient, solving a target function for minimizing the total loss power of the motor through quadratic programming, and finding an optimal torque distribution coefficient to be applied to the motor. And a dynamic model, a longitudinal motion control model and a nonlinear model predictive controller are integrated to form a comprehensive vehicle control system and realize closed-loop control iteration, so that the safety, comfort and energy efficiency of the vehicle under complex working conditions are improved.

The invention belongs to the technical field of automatic driving automobiles, and particularly relates to an electric automobile chassis cooperative control method considering lateral stability and roll stability. Comprising the following steps: step 1, constructing a multi-cell body linear parameter variable model based on a longitudinal vehicle speed auxiliary parameter and a tire cornering stiffness correction coefficient; step 2, on the basis of the multi-cell-body linear parameter variable vehicle model, designing an electric vehicle chassis cooperative controller by applying an online optimization solution robust model predictive control method; thirdly, according to the additional yaw moment and the anti-roll moment output by the chassis cooperative controller, optimal distribution of the additional yaw moment is achieved by solving the problem of minimization of the attachment utilization rate of four-wheel tires, and distribution of the anti-roll moment of the front active suspension and the anti-roll moment of the rear active suspension is adjusted according to the difference value of the actual yaw velocity and the reference quantity. According to the invention, a good solution can be provided for cooperative control of the intelligent automobile chassis in the future.