The invention provides a vehicle stability integrated control method based on double stability envelopes, which comprises the following steps of: constructing a double stability envelope control framework through a vehicle state soft constraint and an actuator stability hard constraint, and mapping a vehicle instability working condition to an actuator stability limit value as an actuator hard constraint. And determining a dual stability envelope range by combining with vehicle state soft constraint considering wheel attitude dynamic update and a stability boundary correction function, thereby balancing the vehicle stability performance and the calculated amount of a controller. A wheel posture dynamic updating method and a stability boundary correction function are provided, the vehicle stability boundary is adjusted in real time according to driving working conditions, a driver and active safety system control input, and the accuracy of description of the vehicle stability boundary is improved; an actuator stability limit value formula is deduced according to the vehicle stability boundary, the vehicle instability working condition is mapped to an actuator stability limit value to determine the actuator stability envelope range, vehicle instability is avoided from the angle of control input, and the vehicle stability boundary is expanded to the maximum extent.
本发明提供一种基于双重稳定包络的车辆稳定性集成控制方法,通过车辆状态软约束和执行器稳定硬约束,构建双重稳定包络控制框架,将车辆失稳工况映射到执行器稳定极限值作为执行器硬约束,结合考虑车轮姿态动态更新和稳定边界修正函数的车辆状态软约束确定双重稳定包络范围,进而均衡车辆稳定性能和控制器计算量。本发明提出车轮姿态动态更新方法和稳定边界修正函数,根据行驶工况、驾驶员和主动安全系统控制输入对车辆稳定边界实时调整,提高车辆稳定边界描述的准确性;根据车辆稳定边界推导执行器稳定极限值公式,将车辆失稳工况映射到执行器稳定极限值以确定执行器稳定包络范围,从控制输入角度避免车辆失稳,最大限度地扩大车辆稳定边界。
Vehicle stability integrated control method based on double stability envelopes
一种基于双重稳定包络的车辆稳定性集成控制方法
2024-09-27
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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