A time-varying stiffness automobile stability control method based on road information and lateral acceleration prediction is characterized in that a reference path module, an LTV-MPC controller, a lateral acceleration prediction module, a GVC calculation module and a CarSim vehicle model module are included; the reference path module is used for determining expected lateral deviation, course deviation, lateral speed and road curvature; the lateral acceleration prediction module predicts lateral acceleration at a future moment; the GVC calculation module solves the total braking torque according to the predicted lateral acceleration and inputs the total braking torque to the LTV-MPC controller for constraint, and the CarSim vehicle model is used for outputting the actual state quantity of the vehicle, including the horizontal and vertical coordinates, the horizontal and vertical vehicle speed, the course angle and the yaw velocity of the vehicle; and the LTV-MPC controller performs time varying on the tire cornering stiffness according to the expected lateral speed, lateral deviation, course deviation and road curvature, optimizes and solves the front wheel turning angle and the braking torque of the automobile, and inputs the front wheel turning angle and the braking torque to the CarSim vehicle model, so that the stability control of the automobile is realized.
基于道路信息和侧向加速度预测的时变刚度汽车稳定性控制方法,其特征在于,该方法包括参考路径模块、LTV‑MPC控制器、侧向加速度预测模块、GVC计算模块以及CarSim车辆模型模块;参考路径模块用于确定期望的侧向偏差、航向偏差、侧向速度以及道路曲率;侧向加速度预测模块预测未来时刻的侧向加速度;GVC计算模块根据预测出的侧向加速度,求解出总的制动力矩输入给LTV‑MPC控制器进行约束,CarSim车辆模型用于输出汽车的实际状态量,包括汽车的横纵坐标、横纵向车速、航向角、横摆角速度;LTV‑MPC控制器根据期望的侧向速度、侧向偏差、航向偏差、道路曲率对轮胎侧偏刚度进行时变,优化求解出汽车的前轮转角以及制动力矩输入给CarSim车辆模型,实现汽车的稳定性控制。
Time-varying stiffness automobile stability control method based on road information and lateral acceleration prediction
基于道路信息和侧向加速度预测的时变刚度汽车稳定性控制方法
2024-03-12
Patent
Electronic Resource
Chinese
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 |
Automobile lateral stability control method based on lateral acceleration prediction model
European Patent Office | 2022
|Automobile lateral stability improving method based on stable state prediction
European Patent Office | 2021
|Intelligent automobile stability control system based on tire cornering stiffness estimation
European Patent Office | 2024
|