The invention discloses a longitudinal speed control method and system for a front-axle steering rear-wheel distributed driving vehicle. Based on an integral longitudinal control framework, vehicle speed tracking control, driving anti-slip control and electronic differential control are integrated, and a unified state-space equation and an optimization control problem are established through inter-wheel speed coupling constraint modeling, slip rate dynamic control and a driving wheel dynamic model. And a model predictive control algorithm is adopted to solve the optimal driving torque in real time, so that high-precision tracking and dynamic stability control of the longitudinal speed of the vehicle are realized. The system comprises a vehicle state acquisition unit, an inter-wheel speed reference calculation unit, a driving anti-skid constraint generation unit, a driving wheel dynamics modeling unit, an overall optimization control unit and a motor execution unit, and closed-loop optimization of a control strategy is achieved. Compared with an existing decoupling control method, the longitudinal control precision and the stability and safety of the vehicle under the complex working condition are remarkably improved, and the high dynamic performance requirement of the automatic driving vehicle is met.
本发明公开了一种前轴转向后轮分布式驱动车辆的纵向速度控制方法及系统。基于整体式纵向控制架构,集成车辆速度跟踪控制、驱动防滑控制与电子差速控制,通过轮间速度耦合约束建模、滑转率动态控制和驱动轮动力学模型,建立统一的状态空间方程和优化控制问题。采用模型预测控制算法,实时求解最优驱动转矩,实现车辆纵向速度高精度跟踪和动态稳定性控制。系统包括车辆状态采集单元、轮间速度参考计算单元、驱动防滑约束生成单元、驱动轮动力学建模单元、整体优化控制单元及电机执行单元,实现控制策略闭环优化。相比现有解耦控制方法,本发明显著提升纵向控制的精度和车辆在复杂工况下的稳定性和安全性,满足自动驾驶车辆高动态性能需求。
Longitudinal control method and system for front-axle steering rear-wheel distributed driving vehicle
一种前轴转向后轮分布式驱动车辆的纵向控制方法及系统
09.05.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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