The invention relates to a distributed driving vehicle chassis cooperative control method based on variable steering characteristics, and belongs to the technical field of vehicle dynamics control, and the method comprises the following steps: S1, generating a reference vehicle state based on target steering characteristics and a two-degree-of-freedom two-wheeled vehicle transverse dynamics model; and S2, generating an AFS front wheel steering angle and a DYC additional yaw moment based on MPC control. And S3, distributing the wheel driving or braking torque based on the tire utilization rate minimization and the target additional yaw moment. According to the invention, the steering characteristics of the controlled vehicle can be adjusted on the premise of not changing the hardware characteristics; constraint setting is facilitated, and the control precision is improved; the present invention improves lateral stability of a vehicle by minimizing tire utilization.
本发明涉及一种基于可变转向特性的分布式驱动车辆底盘协同控制方法,属于车辆动力学控制技术领域,包括以下步骤:S1:基于目标转向特性和二自由度两轮车辆横向动力学模型生成参考车辆状态;S2:基于MPC控制生成AFS前轮转向角和DYC附加横摆力矩。S3:基于轮胎利用率最小化和目标附加横摆力矩分配车轮驱动或制动转矩。本发明可以在不改变硬件特性的前提下调整被控车辆的转向特性;本发明有利于设置约束、提高控制精度;本发明通过最小化轮胎利用率而提高车辆横向稳定性。
Distributed driving vehicle chassis cooperative control method based on variable steering characteristics
基于可变转向特性的分布式驱动车辆底盘协同控制方法
16.05.2025
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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