The invention relates to a vehicle trajectory tracking and stability control method for extreme working conditions. The method comprises the steps of determining a target control strategy according to an obtained target rotation angle interval where a front wheel rotation angle is located; and under the condition that the target control strategy comprises yaw moment control, total yaw moment is determined based on a pre-established system controller established based on the stability constraint and the transverse constraint of the vehicle system. And finally, determining the yawing moment of each wheel according to the total yawing moment, and controlling the vehicle to run according to the front wheel turning angle and the yawing moment of each wheel. The influence of the uncertainty of the system is considered, the system controller based on the stability constraint and the transverse constraint is constructed, so that the control of the vehicle is more accurate, the trajectory tracking stability of the vehicle under the limiting working condition can be ensured by obtaining the control strategy for the front wheel turning angle, and the driving safety is ensured. Furthermore, the yaw moment of the vehicle is optimally distributed, and the reasonability of longitudinal force distribution of the tires is guaranteed.
本申请涉及一种面向极限工况的车辆轨迹跟踪及稳定性控制方法。所述方法包括:根据获取到的前轮转角所在的目标转角区间,确定目标控制策略;在目标控制策略包括横摆力矩控制的情况下,基于预先建立的基于车辆系统的稳定性约束和横向约束建立的系统控制器确定总横摆力矩。最后,根据总横摆力矩确定各车轮的横摆力矩,并根据前轮转角和各车轮的横摆力矩控制车辆行驶。本申请考虑系统所受不确定性的影响,构建基于稳定性约束和横向约束的系统控制器使得车辆的控制更为精确,并且通过对前轮转角得到控制策略进行可以保证车辆在极限工况下轨迹跟踪的稳定性,使得驾驶安全性有了保障。进一步地,对车辆横摆力矩进行最优分配,保证了轮胎纵向力分配的合理性。
Vehicle trajectory tracking and stability control method for extreme working conditions
一种面向极限工况的车辆轨迹跟踪及稳定性控制方法
2024-09-03
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 |
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