12 results about "Yaw stability control" patented technology

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 a commercial vehicle longitudinal and transverse cooperative anti-yaw stability control system and method, and aims to solve the problem that a traditional vehicle stability control system is lagged in response and cannot actively prevent the risk of instability. The method comprises the following steps: firstly, constructing a self-adaptive digital twinborn model which can be synchronized with a physical vehicle in real time through an online parameter identification technology; then, forward simulation is carried out based on the high-fidelity model, and the future state trajectory of the vehicle is converted into a quantified stability risk potential field containing multi-dimensional information such as yawing, rollover and hinge folding; the core of the method is that by analyzing the gradient of the risk potential field in the state space, the instability risk mode playing a leading role at present is accurately and dynamically identified. According to the method, fundamental transformation from passive response to active prevention is achieved, and the driving safety and stability of the commercial vehicle under the limiting working condition are remarkably improved through accurate prediction and risk classification.

The invention discloses a robust control method for the stability of a special vehicle on a soft and rugged road surface, and relates to the technical field of vehicle control. Comprising the steps that driver input is acquired, and reference input of a controller is generated based on a reference generation model in combination with vehicle kinematics and dynamics principles; a linear form model is constructed as a control-oriented basic model, model error estimation is performed by using real-time online data generated by operation of a real vehicle system, a model based on interference estimation is constructed, and real-time correction and compensation of a vehicle dynamics model are realized; and on the basis of the corrected and compensated off-road vehicle dynamics model, control quantities are generated and sent to the vehicle through yaw stability control based on MPC and torque distribution based on optimization, and stability control over the vehicle is achieved. The method can dynamically adapt to complex working conditions of soft and rugged road surfaces, so that a vehicle dynamics model is more accurate, and a reliable foundation is laid for subsequent control.

The application provides a distributed steer-by-wire vehicle stability control method, which comprises the following steps: a distributed steer-by-wire vehicle dynamics model, a two-degree-of-freedom reference model and a four-wheel steering angle distribution model are established; in the design of a yaw stability controller, a hybrid sensitivity robust control method is adopted, and the system uncertainty is fully considered, so that the target tracking performance and the system robustness can be ensured at the same time.

The application discloses a kind of wheel hub motor driven automobile yaw stability control system and control method, the system includes information perception module, state estimation module, state monitoring module, control module and lower execution module;Information perception module obtains vehicle actual state information and is transmitted to state estimation module, state estimation module calculates the ideal yaw angular velocity of vehicle and mass center side angle, and estimates vehicle mass center side angle and mass center side angle change rate;State monitoring module monitors and judges the yaw state where current vehicle is located, and according to different yaw state, the corresponding steering control, torque control and integrated control module are started;Steering and torque control module uses non-singular fast terminal sliding mode control method, realizes active front wheel steering and direct yaw torque control, integrated control module uses sliding mode control method based on linear matrix inequality, realizes the integrated control of both;The application can improve the robustness of control strategy to parameter uncertainty and external interference.

A stability control method and system for MPC with adaptive weight coefficients. The method comprises: using an MPC algorithm to calculate the wheel angular velocity of a vehicle within a prediction horizon; on the basis of the wheel angular velocity of the vehicle within the prediction horizon, calculating a slip ratio within the prediction horizon; on the basis of the slip ratio, an additional yaw moment, and the additional torque of four-wheel electric motors, constructing an objective function; and minimizing the objective function within the prediction horizon to obtain the optimal additional torque of the four-wheel electric motors. A constructed objective function has a slip ratio control objective and an energy consumption objective, such that when a vehicle slips, a control quantity can be controlled, and when the vehicle meets stability conditions, the output of the control quantity is reduced to lower actuation energy, thereby improving the stability and safety of the vehicle and reducing the energy consumption of the vehicle; and by combining stability indicators with slip ratio errors, parameters of a vehicle model predictive controller are adjusted in real time on the basis of the requirements of the current vehicle state, thereby improving the adaptability of vehicle yaw stability control.

The present invention discloses a yaw stability control method for a four-wheel drive vehicle and a four-wheel drive vehicle. The method comprises: calculating a unilaterally required additional yaw torque; calculating a left and right wheel torque change direction flag; calculating the remaining available torque of each motor and each brake caliper; calculating the maximum additional yaw torque generated by the remaining available torque of each left and right motor and brake caliper; calculating a selection coefficient; calculating the maximum remaining available torque that can be executed by each motor and each brake caliper; calculating the maximum additional yaw torque superimposed on the same side; calculating a scaling coefficient of the remaining available torque of each motor and each brake caliper; calculating the torque increase or decrease executed by each motor and each brake caliper; and calculating the target torque ultimately output by each motor and each brake caliper. During the yaw stability control process, the present invention ensures that the brake caliper and wheel hub motor both operate within their capabilities to avoid the risk of damage; the brake caliper and wheel hub motor coordinate with each other to effectively avoid vehicle instability.

The invention provides a torque vector distribution method and device, electronic equipment and a storage medium, and relates to the technical field of vehicles. The method comprises the steps that the real-time temperature of a brake disc is determined according to vehicle operation parameters; determining a target yawing moment of the vehicle according to the vehicle state parameters; and a cost function is constructed according to the real-time temperature and the target yawing moment, and a distribution strategy of the braking force and / or the driving torque of each wheel of the vehicle is determined according to the cost function. Load allocation can be carried out in advance when the temperature of the brake disc does not reach the dangerous level, heat management is converted into active optimization control from passive protection, and therefore heat fade of the brake disc is obviously delayed, continuity and consistency of vehicle yaw stability control can be maintained, and the service life of the vehicle is prolonged. And the sustainable working capacity of torque vector control under the continuous intense driving working condition can be improved, the sudden performance reduction phenomenon caused by overheating of a braking system is reduced, and the reliability and durability of a vehicle dynamic stability control system are improved.

The present invention relates to a system for vehicle motion control (100) of a vehicle with at least a steering system and one or more of a brake system (24) and a torque vectoring system, a number of sensors (11.21) for sensing at least vehicle speed or wheel speed, yaw rate and wheel angle, said vehicle motion control system comprising a Yaw Stability Control (YSC) functionality comprising an oversteer control function, wherein the YSC function is arranged to be fail-operational.

The invention specifically discloses a cooperative control method of a distributed automobile, the distributed automobile and a product, and relates to the technical field of intelligent driving control. According to the method, the stability of the vehicle is subjected to multi-state grading by adopting Gaussian mixture model clustering, and the real-time stability state of the vehicle is determined according to the minimum Euclidean distance criterion, so that intervention opportunities and intervention weights of model prediction control and yaw stability control are reasonably distributed according to intervention rules to realize cooperative control; it is ensured that the vehicle has enough yaw stability while maintaining good path tracking precision under the high-speed working condition, and extra energy consumption caused by frequent intervention of invalid stability control under the low-speed working condition of the vehicle can be greatly reduced.

The application discloses a kind of soft rugged terrain under special vehicle stability robust control method, it is related to vehicle control technical field. Including: obtaining driver input, based on reference generation model, combine vehicle kinematics and dynamics principle, generate the reference input of controller;Linear form model is constructed as the basic model for control, real-time online data generated by real vehicle system operation is used, model error estimation is carried out, model based on disturbance estimation is constructed, real-time correction and compensation of vehicle dynamics model are realized;Based on the off-road vehicle dynamics model after correction and compensation, respectively through the yaw stability control based on MPC, based on optimization torque distribution, control quantity is generated and sent to vehicle, and the stability control of vehicle is realized.The application can dynamically adapt the complex working conditions of soft rugged terrain, make the vehicle dynamics model more accurate, and lay a reliable foundation for subsequent control.

The invention belongs to the technical field of automobile brake control, and particularly relates to a layered EHB fault-tolerant control method based on constraint reconstruction, and the method comprises the steps: building a generalized control model of a vehicle mass center longitudinal force and a yaw moment, and building a mapping relation between a four-wheel longitudinal force vector and a generalized control quantity; constructing a unified optimization objective function, and updating and generating a fault reconstruction control matrix and a new feasible region constraint set in real time when failure or capability reduction of any actuator is detected; on the premise that the control mode is not switched, the optimization problem is solved again, and an optimal wheel end longitudinal force distribution result is output; the yaw stability control capability of the system is judged through full-rank judgment, the control weight is adjusted, and meanwhile yaw moment compensation is conducted on the remaining available wheels according to the yaw moment loss amount of the failure wheels. According to the method, fault-tolerant control is realized through continuous optimization and reconstruction, the step change of braking force is avoided, and the stability and control continuity of the distributed brake-by-wire system under the complex fault working condition are improved.