The invention provides a vehicle running transverse stability control method, device and equipment and a storage medium, in upper layer control, a side slip angle and a yaw velocity are taken as control targets, and calculation of additional yaw moment of a whole vehicle is realized based on a sliding mode controller; in the lower-layer control, based on the additional yawing moment obtained by the upper-layer control, the vehicle tire moment is distributed by taking the minimum tire attachment utilization rate as an optimization target; wherein in the upper-layer control, the value of a weight coefficient is determined by using a fuzzy rule through the deviation of a side slip angle and a yaw velocity, so that the weight coefficient is adaptively adjusted along with the motion state of the vehicle, and the transverse stability of the distributed electric drive vehicle during running can be effectively improved.
本发明提出了一种车辆行驶横向稳定性控制方法、装置、设备及存储介质,上层控制中,以质心侧偏角和横摆角速度为控制目标基于滑模控制器实现整车附加横摆力矩的计算;下层控制中,基于上层控制得到的附加横摆力矩,以轮胎附着利用率最小为优化目标,对车辆轮胎力矩进行分配;其中,在上层控制中,通过质心侧偏角和横摆角速度的偏差,利用模糊规则确定权重系数取值,实现权重系数随车辆的运动状态而自适应调整,能够有效提高了分布式电驱动车辆行驶时的横向稳定性。
Vehicle driving transverse stability control method, device and equipment and storage medium
车辆行驶横向稳定性控制方法、装置、设备及存储介质
2024-11-15
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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