CN106515716A - Coordination control device and method for chassis integrated control system of wheel driving electric vehicle - Google Patents

Abstract

The invention provides a coordination control device and method for a chassis integrated control system of a wheel driving electric vehicle and belongs to the field of electric vehicles. The device comprises a driver manipulation platform, an attitude parameter ideal value generating unit, a vehicle side-deviation observation unit, a yaw angular speed sensor, a vehicle speed sensor, a left front wheel speed sensor, a right front wheel speed sensor, a left rear wheel speed sensor, a right rear wheel speed sensor, a coordination control unit, an AFS controller, an ABS controller and a DYC controller. According to the device and method, different working conditions of vehicle driving are analyzed, the control working conditions suitable for all subsystems are judged, the coordination control system is designed, the responsibilities of the subsystems are allocated reasonably, the subsystems can give play to respective advantages, the vehicle stability is improved, the problem that the subsystems in a chassis integrated system are coupled to one another is solved, and functions of the subsystems are brought into play to the greatest extent.

Description

In-wheel driving electric automobile chassis integrated control system cooperative control device and method

Technical field

The invention belongs to electric automobile field, and in particular to a kind of in-wheel driving electric automobile chassis integrated control system association Adjust control device and method.

Background technology

In-wheel driving four wheels of electric automobile independence drive characteristic causes traditional chassis control technology to be difficult in adapt to, while four Individual driving wheel and steering collective effect, each can be with separately adjustable, and the also raising for automobile control performance provides bigger Space.

Active front wheel steering controls (AFS) existing more ripe application on conventional fuel oil automobile, and system is by adjusting The steering of vehicle provides a lateral balancing force for automobile, corrects the side slip angle of automobile, lifts the handling of vehicle；But For in-wheel driving electric automobile, due to two front-wheel torque independent controls, wheel steering system is caused with four-wheel traction system The association of system is more direct, only controls steering and is difficult to obtain the handling compared favourably with orthodox car；AFS is in difference Under front wheel angle, the extra yaw moment that can be generated describes function model during AFS subsystem independent controls well Enclose, AFS is greater than understeer to the control ability of negative understeer situation；When front wheel angle increases to certain value, front-wheel is mended The increase for repaying angle cannot produce bigger yaw moment increment, illustrate that now tire has reached saturation state, relative to less The change of front wheel angle almost side force is not affected.In sum, AFS (linear zones in the range of the less front wheel angle In domain), weaving that can be effectively to vehicle is modified, and for the correction effect of negative understeer is better than understeer Correction effect；But when front wheel steering angle is excessive (in nonlinear area), the capability for correcting of AFS is extremely limited.

Direct yaw moment control (DYC) then adjusts vehicular four wheels tractive force, prevents whipping.DYC can produce sufficiently large Yaw moment increment, and limited by front-wheel steer size and influence degree is less, illustrate which for negative understeer and deficiency Steering has preferable capability for correcting, and the weaving of dynamic regulation vehicle improves intact stability, controls under limiting condition Effect very well, but due to being that longitudinal direction of car power is controlled, will certainly affect larger to vehicle longitudinal movement, cause speed The problems such as reducing, affect ride comfort.

Braking anti-lock control (ABS) is controlled to vehicle braking force according to tyre skidding rate, improves vehicle braking peace Quan Xing, shortens vehicle braking distance.

The content of the invention

For the deficiencies in the prior art, the present invention proposes that a kind of in-wheel driving electric automobile chassis integrated control system is coordinated Control device and method, improves the control stability of vehicle, and what is intercoupled between each subsystem in solution chassis integrated system asks Topic, plays each subsystem function to greatest extent.

A kind of in-wheel driving electric automobile chassis integrated control system cooperative control device, the device include：Driver grasps Vertical platform, attitude parameter ideal value signal generating unit, vehicle yaw observing unit, yaw-rate sensor, vehicle speed sensor, a left side Front-wheel wheel speed sensors, off-front wheel wheel speed sensors, left rear wheel wheel speed sensors, off hind wheel wheel speed sensors, coordination control are single Unit, AFS controller, abs controller and DYC controllers, wherein,

Pilot control platform：For driver control instruction is converted into vehicle target rate signal and target rotation angle letter Number, target rotation angle signal is sent simultaneously to attitude parameter ideal value signal generating unit and coordinates control unit, target velocity is believed Number send to attitude parameter ideal value signal generating unit；

Attitude parameter ideal value signal generating unit：For according to the attachment of target speed signal, target rotation angle signal and road surface being Number, obtains the target slip rate value of yaw velocity desired value, side slip angle desired value and vehicle, and sends to coordination control Unit；

Vehicle yaw observing unit：For real-time monitored side slip angle, and send to coordination control unit；

Yaw-rate sensor：For acquisition testing yaw rate, and send to coordination control unit；

Vehicle speed sensor：For gathering speed, and send to coordination control unit；

The near front wheel wheel speed sensors：For collection vehicle the near front wheel wheel speed, and send to coordination control unit；

Off-front wheel wheel speed sensors：For collection vehicle off-front wheel wheel speed, and send to coordination control unit；

Left rear wheel wheel speed sensors：For collection vehicle left rear wheel wheel speed, and send to coordination control unit；

Off hind wheel wheel speed sensors：For collection vehicle off hind wheel wheel speed, and send to coordination control unit；

Coordinate control unit：For the speed according to collection and target rotation angle signal, front-wheel lateral deviation power and AFS controls are obtained The state control signal of device, abs controller and DYC controllers；And according to front-wheel lateral deviation power and the vehicle centroid side drift angle of observation, Obtain the fuzzy control output weight of AFS controller, abs controller and DYC controllers；Further according to AFS controller, ABS controls The state control signal and fuzzy control output weight of device and DYC controllers, obtains control weight values, the ABS controls of AFS controller The control weight values of the control weight values and DYC controllers of device processed, are respectively sent to AFS controller, abs controller and DYC control In device processed；It is final right according to the speed for gathering, yaw rate, vehicle centroid side drift angle, vehicle the near front wheel wheel speed, vehicle Front-wheel wheel speed, vehicle left rear wheel wheel speed, vehicle off hind wheel wheel speed, yaw velocity desired value, side slip angle desired value and car The target slip rate value of four wheels, obtains the slip rate of yaw velocity deviation, side slip angle deviation and four wheels Deviation, and yaw velocity deviation and side slip angle deviation are sent into AFS controller, will be the slip rate of four wheels inclined Difference is sent into abs controller, and yaw velocity deviation is sent into DYC controllers；

AFS controller：For according to attitude parameter side slip angle deviation, yaw velocity deviation and the correspondence for receiving Control weight values, obtain vehicle front-wheel compensation angle, and send it to the helping in angle electrical machinery of vehicle；

Abs controller：For the slip rate deviation according to four wheels of vehicle for receiving and correspondence control weight values, obtain Vehicle the near front wheel, off-front wheel, left rear wheel, off hind wheel tire brake force, and be respectively sent to vehicle the near front wheel brake apparatus, In off-front wheel brake apparatus, left rear wheel brake apparatus, off hind wheel brake apparatus；

DYC controllers：For according to the yaw velocity deviation and correspondence control weight values for receiving, obtaining four wheels Motor target torque value, and be respectively sent to the near front wheel wheel hub motor and its control system of vehicle, off-front wheel wheel hub motor and In its control system, left rear wheel wheel hub motor and its control system, off hind wheel wheel hub motor and its control system.

Described coordination control unit, including：Vehicle-state identification unit, fuzzy coordinated control device, control logic unit With deviation signal generating unit；Wherein,

Vehicle-state identification unit：For the speed according to collection and target rotation angle signal, front-wheel lateral deviation power and AFS are obtained The state control signal of controller, abs controller and DYC controllers, and front-wheel lateral deviation power is sent to fuzzy coordinated control device In, the state control signal of AFS controller, abs controller and DYC controllers is sent into control logic unit；

Fuzzy coordinated control device：For the vehicle centroid side drift angle according to front-wheel lateral deviation power and observation, AFS controls are obtained The fuzzy control output weight of device, abs controller and DYC controllers, and send into control logic unit；

Control logic unit：For state control signal and mould according to AFS controller, abs controller and DYC controllers Paste controlled output weight, obtains the control of the control weight values, the control weight values of abs controller and DYC controllers of AFS controller Weighted value processed, and be respectively sent in AFS controller, abs controller and DYC controllers；

Deviation signal generating unit：It is left for the speed according to collection, yaw rate, vehicle centroid side drift angle, vehicle Front-wheel wheel speed, vehicle off-front wheel wheel speed, vehicle left rear wheel wheel speed, vehicle off hind wheel wheel speed, yaw velocity desired value, barycenter side The target slip rate value of drift angle desired value and vehicle, obtains yaw velocity deviation, side slip angle deviation and four wheels Slip rate deviation, and yaw velocity deviation and side slip angle deviation are sent into AFS controller, by the cunning of four wheels Shifting rate deviation is sent into abs controller, and yaw velocity deviation is sent into DYC controllers.

The control method carried out using in-wheel driving electric automobile chassis integrated control system cooperative control device, including with Lower step：

Driver control instruction is converted into vehicle target rate signal and target rotation angle letter by step 1, pilot control platform Number, target rotation angle signal is sent simultaneously to attitude parameter ideal value signal generating unit and coordinates control unit, target velocity is believed Number send to attitude parameter ideal value signal generating unit；

Step 2, attitude parameter ideal value signal generating unit according to the attachment of target speed signal, target rotation angle signal and road surface are Number, obtains the target slip rate value of yaw velocity desired value, side slip angle desired value and vehicle, and sends to coordination control Unit；

Step 3, using vehicle yaw observing unit real-time monitored side slip angle, and send to coordinate control unit；

Step 4, using yaw-rate sensor acquisition testing yaw rate, using vehicle speed sensor collecting vehicle Speed, using the near front wheel wheel speed sensors collection vehicle the near front wheel wheel speed, using off-front wheel wheel speed sensors collection vehicle off-front wheel Wheel speed, using left rear wheel wheel speed sensors collection vehicle left rear wheel wheel speed, behind the off hind wheel wheel speed sensors collection vehicle right side Wheel wheel speed, the parameter of above-mentioned collection is sent to coordination control unit；

Speed and target rotation angle signal of the vehicle-state identification unit inside step 5, coordination control unit according to collection, The state control signal of front-wheel lateral deviation power and AFS controller, abs controller and DYC controllers is obtained, and front-wheel lateral deviation power is sent out Deliver in the fuzzy coordinated control device inside coordination control unit, by the state of AFS controller, abs controller and DYC controllers Control signal is sent into the control logic unit coordinated inside control unit；

The vehicle centroid side drift angle of step 6, fuzzy coordinated control device according to front-wheel lateral deviation power and observation, obtains AFS controls The fuzzy control output weight of device, abs controller and DYC controllers, and send into control logic unit；

Step 7, control logic unit according to AFS controller, the state control signal of abs controller and DYC controllers and Fuzzy control exports weight, obtains control weight values, the control weight values of abs controller and the DYC controllers of AFS controller Control weight values, and be respectively sent in AFS controller, abs controller and DYC controllers；

Deviation signal generating unit inside step 8, coordination control unit is according to the speed, yaw rate, car for gathering Side slip angle, vehicle the near front wheel wheel speed, vehicle off-front wheel wheel speed, vehicle left rear wheel wheel speed, vehicle off hind wheel wheel speed, yaw The target slip rate value of angular speed desired value, side slip angle desired value and vehicle, obtains yaw velocity deviation, barycenter lateral deviation The slip rate deviation of angular displacement and four wheels, and yaw velocity deviation and side slip angle deviation are sent to AFS controls In device, the slip rate deviation of four wheels is sent into abs controller, yaw velocity deviation is sent to DYC controllers In；

Step 9, AFS controller are according to the yaw velocity deviation, side slip angle deviation and correspondence control for receiving Weight values, obtain vehicle front-wheel compensation angle, and send it to the helping in angle electrical machinery of vehicle；

Step 10, abs controller are obtained according to the slip rate deviation and correspondence control weight values of four wheels for receiving Vehicle the near front wheel, off-front wheel, left rear wheel, off hind wheel tire brake force, and it is respectively sent to the near front wheel brake apparatus of vehicle, the right side In front wheel brake device, left rear wheel brake apparatus, off hind wheel brake apparatus；

Step 11, DYC controllers obtain four cars according to the yaw velocity deviation and correspondence control weight values that receive Turbin generator torque target value, and it is respectively sent to the near front wheel wheel hub motor and its control system of vehicle, off-front wheel wheel hub motor And its in control system, left rear wheel wheel hub motor and its control system, off hind wheel wheel hub motor and its control system.

Attitude parameter ideal value signal generating unit described in step 2 is according to target speed signal, target rotation angle signal and road surface Attachment coefficient, obtains the target slip rate value of four wheels of yaw velocity desired value and vehicle, and sends single to control is coordinated Unit；

When vehicle turns left, i.e. δ_d＞ 0, the concrete formula of yaw velocity desired value are as follows：

When vehicle is turned right, i.e. δ_d＜ 0, the concrete formula of yaw velocity desired value are as follows：

Wherein, K is expressed as stability factor, γ^*Represent yaw velocity desired value, v_dRepresent target speed signal, δ_dTable Show target rotation angle signal, μ is expressed as coefficient of road adhesion, and g is expressed as acceleration of gravity, l=l_r+l_f, l_rRepresent barycenter to front axle Distance, l_fRepresent barycenter to the distance of rear axle, β^*Represent side slip angle desired value, C_fRepresent front tyre stiffness coefficient, C_r Represent rear tyre stiffness coefficient；M represents complete vehicle quality；

The target slip rate value of described four wheels of vehicle：According to four wheel slips of vehicle and coefficient of road adhesion Between Relation acquisition.

Speed and target rotation angle of the vehicle-state identification unit inside coordination control unit described in step 5 according to collection Signal, obtains the state control signal of front-wheel lateral deviation power and AFS controller, abs controller and DYC controllers, and by front wheel side Power is sent into the fuzzy coordinated control device coordinated inside control unit, by AFS controller, abs controller and DYC controllers partially State control signal send to coordinate control unit inside control logic unit in；

Obtain front-wheel lateral deviation powerSpecifically it is calculated as follows：

The construction force differential equation：

Wherein, m represents complete vehicle quality, v_xThe longitudinal velocity of vehicle is represented, β represents the side slip angle of observation, and γ is represented Yaw velocity, F_yflRepresent the near front wheel side force, F_yfrRepresent off-front wheel side force, F_yrlRepresent left rear wheel side force, F_yrrTable Show off hind wheel side force, J represents the rotary inertia of wheel electrical machine, l_rRepresent barycenter to the distance of front axle, l_fRepresent barycenter to rear axle Distance, M represents external influence yaw moment；

Formula (3) and (4) are simplified, is madeF_yf=F_yfl+F_yfr, F_yr=F_yrl+F_yrr, obtain：

ma_y=F_yf+F_yr (5)

Wherein, a_yRepresent the side acceleration of vehicle, F_yfRepresent the front tyre side force of single track model, F_yrRepresent single track mould The rear tyre side force of type；

To the F in formula (5) and formula (6)_yfEstimated, obtained equation below：

Wherein,For F_yfEstimator；

Wherein, m_f=ml_r/ l, l=l_r+l_f；

The state control signal of AFS controller, abs controller and DYC controllers is obtained, it is specific as follows：

Acceleration and Vehicular turn characteristic are subtracted according to front wheel angle, longitudinal direction of car, vehicle running state, such as table 1 is judged：

1 vehicle running state of table recognizes logic

In table 1, δ represents front wheel angle, δ_thresRepresent front wheel angle threshold value, a_xThe longitudinal acceleration of vehicle is represented, a_xthresRepresent the threshold value of longitudinal acceleration, v_chRepresent characteristic speed；

According to the vehicle running state in table 1, the state control of AFS controller, abs controller and DYC controllers is obtained Signal η, such as table 2：

The state control signal table of table 2AFS controllers, abs controller and DYC controllers

The state control signal η of output AFS controller, abs controller and DYC controllers：With eight kinds of shapes of binary representation State is converted into the decimal system for 000,001,010,011,100,101,110,111 and is respectively 0～7, in table 2,1 expression controller work Make, 0 expression controller does not work, and state signal value is the binary coding of each subsystem work state according under different operating modes Be converted to decimal system decision.

Fuzzy coordinated control device described in step 6 obtains AFS controls according to front-wheel lateral deviation power and the side slip angle of observation The fuzzy control output weight of device, abs controller and DYC controllers, and send into control logic unit；

It is specific as follows：

By front-wheel side forceHistorical data and side slip angle β historical data as fuzzy controller input, Fuzzy control exports weights omega as the output of fuzzy controller, obtains front-wheel laterally less by emulatingSide slip angle β and fuzzy control export the domain of weights omega, draw fuzzy control rule, according to the front-wheel side force in fuzzy control ruleWith side slip angle β, correspondence fuzzy control output weights omega is obtained.

Control logic unit described in step 7 is believed according to the control of the state of AFS controller, abs controller and DYC controllers Number and fuzzy control export weight, obtain the control weight values of AFS controller, the control weight values of abs controller and DYC control The control weight values of device, and be respectively sent in AFS controller, abs controller and DYC controllers；

According to eight kinds of states and fuzzy control output weight of the output of vehicle recognition unit, the control of AFS controller is obtained Weighted value η_AFS, abs controller control weight values η_ABSWith control weight values η of DYC controllers_DYC, it is concrete such as table 3, table 4：

The control weight table of table 3AFS controllers, DYC controllers

Table 4ABS controller control weight tables

Wherein, ω represents fuzzy control output weight.

Speed, Vehicular yaw angle speed of the deviation signal generating unit inside coordination control unit described in step 8 according to collection Degree, vehicle centroid side drift angle, vehicle the near front wheel wheel speed, vehicle off-front wheel wheel speed, vehicle left rear wheel wheel speed, vehicle off hind wheel wheel The target slip rate value of speed, yaw velocity desired value, side slip angle desired value and four wheels of vehicle, obtains yaw angle speed The slip rate deviation of degree deviation, side slip angle deviation and four wheels, and will be yaw velocity deviation and side slip angle inclined Difference is sent into AFS controller, the slip rate deviation of four wheels is sent into abs controller, by yaw velocity deviation Send into DYC controllers；

Concrete formula is as follows：

S_ij=(w_ijR-v)/v (11)

Wherein, Δ γ represents yaw velocity deviation, and γ * represent yaw velocity desired value, and γ represents yaw velocity The yaw velocity that sensor draws, Δ S_ijThe slip rate deviation of four wheels is represented, i is f or r, j are r or l, s^*Represent car The target slip rate value of four wheels, S_ijRepresent that four wheel road surfaces track slip rate, Δ β represents side slip angle deviation, β^*Side slip angle desired value is represented, β represents the side slip angle that vehicle yaw observing unit draws, w_ijRepresent four wheels Wheel speed, R represent tire radius, and v represents speed.

Advantage of the present invention：

The present invention proposes a kind of in-wheel driving electric automobile chassis integrated control system cooperative control device and method, this The bright different operating modes to vehicle traveling are analyzed, and judge each subsystem (AFS controller, abs controller and DYC controllers) institute Suitable controlled load case, Design coordination control system make each subsystem reasonable distribution each responsibility, display one's respective advantages, and improve Intact stability；AFS controller and DYC controllers can lift the control stability of vehicle, both main bodies of integrated advantage When increasing to certain value now with front wheel steering angle, DYC controllers have amendment well to make to oversteering and understeer With, but AFS controller capability for correcting is limited；Both are integrated, chassis integrated control system is constituted, both are complementary, can Vehicle is made to obtain higher performance；The control of DYC controllers is therefore the meeting come the longitudinal force needed for producing by abs controller The braking effect of control and vehicle on abs controller produces uncertain impact；Equally, the braking of vehicle also can be controlled to DYC The control of device processed has been limited；So being also required to carry out integrated control between DYC controllers and abs controller；

Chassis integrated control system of the present invention comprising AFS controller, DYC controllers, abs controller is capable of achieving to vehicle The longitudinally, laterally control with weaving, improves control stability；But when multiple control systems are integrated in automobile chassis simultaneously Can produce and influence each other, couple, therefore several systems are had being organized in for logic using a kind of control method for coordinating by the present invention Together, display one's respective advantages to greatest extent, solve the problem that intercouples.

Description of the drawings

Fig. 1 is tied for the in-wheel driving electric automobile chassis integrated control system cooperative control device of an embodiment of the present invention Structure block diagram；

Coordination control unit internal structure block diagrams of the Fig. 2 for an embodiment of the present invention；

In-wheel driving electric automobile chassis integrated control system control method for coordinating streams of the Fig. 3 for an embodiment of the present invention Cheng Tu；

Membership function schematic diagrames of the Fig. 4 for the front-wheel side force of an embodiment of the present invention；

Membership function schematic diagrames of the Fig. 5 for the side drift angle of an embodiment of the present invention；

Membership function schematic diagrames of the Fig. 6 for the weights ω of an embodiment of the present invention；

Vehicle speed and front wheel angle given schematic diagrames of the Fig. 7 for an embodiment of the present invention, wherein, figure (a) is front-wheel Corner gives schematic diagram, and figure (b) is the given schematic diagram of speed；

Yaw rate correlation curve schematic diagrames of the Fig. 8 for an embodiment of the present invention；

Vehicle each wheel slip schematic diagrames of the Fig. 9 for an embodiment of the present invention；

Vehicular status signal schematic diagrames of the Figure 10 for an embodiment of the present invention；

Each subsystem controls weights schematic diagrames of the Figure 11 for an embodiment of the present invention.

Specific embodiment

Below in conjunction with the accompanying drawings an embodiment of the present invention is described further.

In the embodiment of the present invention, as shown in figure 1, in-wheel driving electric automobile chassis integrated control system coordinates control dress Put, including：Pilot control platform, attitude parameter ideal value signal generating unit, vehicle yaw observing unit, yaw velocity sensing Device, vehicle speed sensor, the near front wheel wheel speed sensors, off-front wheel wheel speed sensors, left rear wheel wheel speed sensors, off hind wheel wheel speed are passed Sensor, coordination control unit, AFS controller, abs controller and DYC controllers；

In the embodiment of the present invention, vehicle speed sensor, the near front wheel wheel speed sensors, off-front wheel wheel speed sensors, left rear wheel wheel Fast sensor, off hind wheel wheel speed sensors adopt CM18-65D-3-24V models speed and wheel speed sensors.

In the embodiment of the present invention, pilot control platform：For driver control instruction is converted into vehicle target speed letter Number and target rotation angle signal, target rotation angle signal is simultaneously sent to attitude parameter ideal value signal generating unit and to coordinate control single Unit, target speed signal is sent to attitude parameter ideal value signal generating unit；Attitude parameter ideal value signal generating unit：For basis Target speed signal, target rotation angle signal and coefficient of road adhesion, obtain yaw velocity desired value, side slip angle desired value With the target slip rate value of vehicle, and send to coordinate control unit；Vehicle yaw observing unit：For real-time monitored barycenter side Drift angle, and send to coordination control unit；Yaw-rate sensor：For acquisition testing yaw rate, and send To coordination control unit；Vehicle speed sensor：For gathering speed, and send to coordination control unit；The near front wheel wheel speed sensors： For collection vehicle the near front wheel wheel speed, and send to coordination control unit；Off-front wheel wheel speed sensors：Before the collection vehicle right side Wheel wheel speed, and send to coordination control unit；Left rear wheel wheel speed sensors：For collection vehicle left rear wheel wheel speed, and send to Coordinate control unit；Off hind wheel wheel speed sensors：For collection vehicle off hind wheel wheel speed, and send to coordination control unit；

In the embodiment of the present invention, as shown in Fig. 2 described coordination control unit includes：It is vehicle-state identification unit, fuzzy Tuning controller, control logic unit and deviation signal generating unit；Wherein, vehicle-state identification unit：For the car according to collection Speed and target rotation angle signal, obtain the state control letter of front-wheel lateral deviation power and AFS controller, abs controller and DYC controllers Number, and front-wheel lateral deviation power is sent into fuzzy coordinated control device, by the shape of AFS controller, abs controller and DYC controllers State control signal is sent into control logic unit；Fuzzy coordinated control device：For the vehicle according to front-wheel lateral deviation power and observation Side slip angle, obtains the fuzzy control output weight of AFS controller, abs controller and DYC controllers, and sends to control In logical block；Control logic unit：For the state control signal according to AFS controller, abs controller and DYC controllers Weight is exported with fuzzy control, control weight values, the control weight values of abs controller and the DYC controllers of AFS controller is obtained Control weight values, and be respectively sent in AFS controller, abs controller and DYC controllers；Deviation signal generating unit：For root According to the speed of collection, yaw rate, vehicle centroid side drift angle, vehicle the near front wheel wheel speed, vehicle off-front wheel wheel speed, vehicle Left rear wheel wheel speed, vehicle off hind wheel wheel speed, yaw velocity desired value, the cunning of four wheels of side slip angle desired value and vehicle Shifting rate desired value, obtains the slip rate deviation of yaw velocity deviation, side slip angle deviation and four wheels, and by yaw angle Velocity deviation and side slip angle deviation are sent into AFS controller, and the slip rate deviation of four wheels is sent to ABS controls In device, yaw velocity deviation is sent into DYC controllers.

In the embodiment of the present invention, AFS controller：For according to the attitude parameter side slip angle deviation, yaw for receiving Angular speed deviation and correspondence control weight values, obtain vehicle front-wheel compensation angle, and send it to the helping in angle electrical machinery of vehicle； Abs controller：For the slip rate deviation according to four wheels of vehicle for receiving and correspondence control weight values, vehicle is obtained left Front-wheel, off-front wheel, left rear wheel, off hind wheel tire brake force, and it is respectively sent to the near front wheel brake apparatus of vehicle, off-front wheel system In dynamic device, left rear wheel brake apparatus, off hind wheel brake apparatus；DYC controllers：For inclined according to the yaw velocity for receiving Difference and correspondence control weight values, obtain four wheel motor torque desired values, and are respectively sent to the near front wheel wheel hub electricity of vehicle Machine and its control system, off-front wheel wheel hub motor and its control system, left rear wheel wheel hub motor and its control system, off hind wheel wheel In hub electric motor and controller system；

In the embodiment of the present invention, help angle electrical machinery, the near front wheel brake apparatus of vehicle, the off-front wheel of described vehicle are braked Device, left rear wheel brake apparatus, off hind wheel brake apparatus, the near front wheel wheel hub motor of vehicle and its control system, off-front wheel wheel Hub electric motor and controller system, left rear wheel wheel hub motor and its control system and off hind wheel wheel hub motor and its control system, Belong to the controlled device of vehicle interior, belong to existing technology.

In the embodiment of the present invention, carried out using in-wheel driving electric automobile chassis integrated control system cooperative control device Control method, method flow diagram is as shown in figure 3, comprise the following steps：

Driver control instruction is converted into vehicle target rate signal v by step 1, pilot control platform_dAnd target rotation angle Signal δ_d, by target rotation angle signal δ_dSent to attitude parameter ideal value signal generating unit simultaneously and coordinate control unit, by target speed Degree signal v_dSend to attitude parameter ideal value signal generating unit；

Step 2, attitude parameter ideal value signal generating unit are according to target speed signal v_d, target rotation angle signal δ_dIt is attached with road surface Coefficient μ, yaw velocity target value gamma is obtained^*, side slip angle desired value β^*With target slip rate value s of vehicle^*, concurrently Deliver to coordination control unit；

In the embodiment of the present invention, according to the steady-state quantities principle of two-freedom model, given vacation is carried out to yaw velocity Determine when vehicle turns left for positive direction, i.e. δ_d＞ 0, preferable yaw velocity are expressed as：

When vehicle is turned right, i.e. δ_d＜ 0, the concrete formula of yaw velocity desired value are as follows：

Wherein, K is expressed as stability factor, and γ * represent yaw velocity desired value, v_dRepresent target speed signal, δ_dTable Show target rotation angle signal, μ is expressed as coefficient of road adhesion, and g is expressed as acceleration of gravity, l=l_r+l_f, l_rRepresent barycenter to front axle Distance, l_fRepresent barycenter to the distance of rear axle, β^*Represent side slip angle desired value, C_fRepresent front tyre stiffness coefficient, C_r Represent rear tyre stiffness coefficient；M represents complete vehicle quality；

In the embodiment of the present invention, the target slip rate value of four wheels of vehicle：According to four wheel slips of vehicle and road Relation acquisition between the attachment coefficient of face；

Step 3, using vehicle yaw observing unit real-time monitored side slip angle β, and send to coordinate control unit；

Step 4, using yaw-rate sensor acquisition testing yaw rate γ, gathered using vehicle speed sensor Speed v, using the near front wheel wheel speed sensors collection vehicle the near front wheel wheel speed ω_fl, using off-front wheel wheel speed sensors collection vehicle Off-front wheel wheel speed ω_fr, using left rear wheel wheel speed sensors collection vehicle left rear wheel wheel speed ω_rl, using off hind wheel wheel speed sensors Collection vehicle off hind wheel wheel speed ω_rr, the parameter of above-mentioned collection is sent to coordination control unit；

Speed v and target rotation angle signal of the vehicle-state identification unit inside step 5, coordination control unit according to collection δ_d, obtain front-wheel lateral deviation powerAnd the state control signal η of AFS controller, abs controller and DYC controllers, and by front-wheel Lateral deviation powerSend into the fuzzy coordinated control device coordinated inside control unit, by AFS controller, abs controller and DYC The state control signal η of controller is sent into the control logic unit coordinated inside control unit；

Obtain front-wheel lateral deviation powerSpecifically it is calculated as follows：

The construction force differential equation：

Wherein, m represents complete vehicle quality, v_xThe longitudinal velocity of vehicle is represented, β represents the side slip angle of observation, and γ is represented Yaw velocity, F_yflRepresent the near front wheel side force, F_yfrRepresent off-front wheel side force, F_yrlRepresent left rear wheel side force, F_yrrTable Show off hind wheel side force, J represents the rotary inertia of wheel electrical machine, l_rRepresent barycenter to the distance of front axle, l_fRepresent barycenter to rear axle Distance, M represents external influence yaw moment；

Formula (5) and (6) are simplified, is madeF_yf=F_yfl+F_yfr, F_yr=F_yrl+F_yrr, obtain：

ma_y=F_yf+F_yr (7)

Wherein, a_yRepresent the side acceleration of vehicle, F_yfRepresent the front tyre side force of single track model, F_yrRepresent single track mould The rear tyre side force of type；

To the F in formula (7) and formula (8)_yfEstimated, obtained equation below：

Wherein,For F_yfEstimator；

Wherein, m_f=ml_r/ l, l=l_r+l_f；

In the embodiment of the present invention, ignore the Kinetic differences such as corner and tire force between left and right wheelses, by tire force letter The product of equivalent cornering stiffness and tyre slip angle is turned to, i.e.,：

Wherein, slip angle of tire is as follows：

Then two degrees of freedom vehicle lateral dynamic model can be reduced to：

It is expressed as with state equation form：

Wherein,

According to the equation of state (15) of reference model, can try to achieve its characteristic equation by det (sI-A)=0 is：

s²+K₁s+K₀=0 (16)

Wherein：

In the embodiment of the present invention, according to Hurwitz stability criterias, the necessary constant term of system stability and Monomial coefficient are equal More than 0, i.e. K₀＞ 0, K₁＞ 0；Due to K₁Middle items are positive number, therefore set up all the time, only need to consider K₀＞ 0, i.e. molecule are more than 0, Stability condition can be obtained is：

Wherein,It is defined as characteristic speed (v_ch≠0)；

The formula is using the judgment basis as the stability of a system：

Vehicle stabilization

Vehicle neutrality

Vehicle is unstable

When generally characteristic velocity is considered driving cycle in constant, but vehicle actual moving process and changes, tire Parameter can also change, and cause characteristic speed also change；It is therefore desirable to characteristic speed is calculated according to car status information, When vehicle is steady-state quantities, steady-state yaw rate is represented by：

Then according to car status informations such as vehicle speed, yaw velocity, tire corners, characteristic speed expression formula is：

Under steady state condition, yaw velocity can approximate representation be γ=v_x/ ρ, wherein v_xFor vehicular longitudinal velocity, ρ is vehicle Turning radius, carries it into formula (19) and obtains：

On the premise of motor turning radius is certain, definition speed is very low, side acceleration is approximately zero (characteristic speed v_ch → ∞) when front wheel steering angle be δ₀, and under certain speed, have front wheel angle during certain side acceleration to be δ, then there is steering Angle ratio is：

Consider steering characteristic and stability condition, steering characteristic is divided into shown in five kinds of situations：

(1) whenWhen, vehicle is in big negative understeer unstable region；

(2) whenWhen, vehicle is in the conservative stability region of little negative understeer；

(3) whenWhen, vehicle is neutral steer；

(4) whenWhen, vehicle is in little understeer stability region；

(5) whenWhen, in big deficiency turn-around zone, according to stability criteria, the operating mode is stable to vehicle Situations such as excessively curved easy generation track of vehicle high-speed deviates in operating mode, but actual conditions, therefore it is considered as a kind of limit dangerous working condition；

In the embodiment of the present invention, it is the particular state in definitely definition and clear identification vehicle travel process, is based on Threshold value according to Vehicular turn characteristic and stability criteria, judges vehicle running state, and such as table 1 summarizes vehicle traveling shape The identification logic of state：

1 vehicle running state of table recognizes logic

In table 1, δ represents front wheel angle, δ_thresRepresent front wheel angle threshold value, a_xThe longitudinal acceleration of vehicle is represented, a_xthresRepresent the threshold value of longitudinal acceleration, v_chRepresent characteristic speed；

According to the vehicle running state in table 1, the state control of AFS controller, abs controller and DYC controllers is obtained Signal η, such as table 2：

The state control signal table of table 2AFS controllers, abs controller and DYC controllers

The state control signal η of output AFS controller, abs controller and DYC controllers：With eight kinds of shapes of binary representation State is converted into the decimal system for 000,001,010,011,100,101,110,111 and is respectively 0～7, (middle three hurdle), 1 table in table 2 Show that controller works, 0 expression controller does not work, state signal value be according under different operating modes, each subsystem work state Binary coding is converted to decimal system decision；

The vehicle centroid side drift angle of step 6, fuzzy coordinated control device according to front-wheel lateral deviation power and observation, obtains AFS controls The fuzzy control output weight of device, abs controller and DYC controllers, and send into control logic unit；It is specific as follows：

In the embodiment of the present invention, fuzzy coordinated control device is by lateral deviation angle beta, front-wheel lateral deviation powerAs input, by a large amount of Emulation, can drawDomain be [0,10], the domain of β is [0,10], and the domain of ω is [0,1]；Input variable's Fuzzy subset is：{ Fy1, Fy2, Fy3, Fy4, Fy5, Fy6 }, the fuzzy subset of input variable β is：B1, B2, B3, B4, B5, B6 }, the fuzzy subset of output variable fuzzy control output weights omega is { w1, w2, w3, w4, w5 }；Inputβ and output ω Membership function respectively as shown in figures 4-6, table 5 is fuzzy control rule table；

Table 5

Step 7, control logic unit according to AFS controller, the state control signal of abs controller and DYC controllers and Fuzzy control exports weight, obtains control weight values, the control weight values of abs controller and the DYC controllers of AFS controller Control weight values, and be respectively sent in AFS controller, abs controller and DYC controllers；

According to eight kinds of states and fuzzy control output weight of the output of vehicle recognition unit, the control of AFS controller is obtained Weighted value η_AFS, abs controller control weight values η_ABSWith control weight values η of DYC controllers_DYC, it is concrete such as table 3, table 4：

The control weight table of table 3AFS controllers, DYC controllers

Table 4ABS controller control weight tables

Wherein, ω represents fuzzy control output weight.

Deviation signal generating unit inside step 8, coordination control unit is according to the speed, yaw rate, car for gathering Side slip angle, vehicle the near front wheel wheel speed, vehicle off-front wheel wheel speed, vehicle left rear wheel wheel speed, vehicle off hind wheel wheel speed, yaw The target slip rate value of angular speed desired value, four wheels of side slip angle desired value and vehicle, obtains yaw velocity deviation Slip rate deviation delta s of Δ γ, side slip angle deviation delta β and four wheels, and by yaw velocity deviation delta gamma and barycenter Side drift angle deviation delta β is sent into AFS controller, and slip rate deviation delta s of four wheels is sent into abs controller, will Yaw velocity deviation delta gamma is sent into DYC controllers；

Concrete formula is as follows：

S_ij=(w_ijR-v)/v (11)

Wherein, Δ γ represents yaw velocity deviation, and γ * represent yaw velocity desired value, and γ represents yaw velocity The yaw velocity that sensor draws, Δ S_ijThe slip rate deviation of four wheels is represented, i is f or r, j are r or l, s^*Represent car The target slip rate value of four wheels, S_ijRepresent that four wheel road surfaces track slip rate, Δ γ represents side slip angle deviation, β^*Side slip angle desired value is represented, β represents the side slip angle that vehicle yaw observing unit draws, w_ijRepresent four wheels Wheel speed, R represent tire radius, and v represents speed；

Step 9, AFS controller are according to the yaw velocity deviation, side slip angle deviation and correspondence control for receiving Weight values, obtain vehicle front-wheel compensation angle, and send it to the helping in angle electrical machinery of vehicle；

Step 10, abs controller are obtained according to the slip rate deviation and correspondence control weight values of four wheels for receiving Vehicle the near front wheel, off-front wheel, left rear wheel, off hind wheel tire brake force, and it is respectively sent to the near front wheel brake apparatus of vehicle, the right side In front wheel brake device, left rear wheel brake apparatus, off hind wheel brake apparatus；

Step 11, DYC controllers obtain four cars according to the yaw velocity deviation and correspondence control weight values that receive Turbin generator torque target value, and it is respectively sent to the near front wheel wheel hub motor and its control system of vehicle, off-front wheel wheel hub motor And its in control system, left rear wheel wheel hub motor and its control system, off hind wheel wheel hub motor and its control system.

Simulating, verifying

Step signal is input into Reduced Speed Now operating mode：

In the embodiment of the present invention, it is the above-mentioned design chassis integrated control system validity of checking, emulation point is carried out to system Analysis；Simulated conditions are：

Vehicle 0s proceeds by Reduced Speed Now, and 0～7s speeds reduce to 10m/s by 20m/s, and during 2s, vehicle starts to turn to, front Wheel corner is step signal, and speed and front wheel angle are given as shown in figure (a) in Fig. 7 and figure (b), and coefficient of road adhesion is 0.4；

Vehicle is without control and adopts the yaw velocity curve of designed scheme control as shown in figure 8, can be with from figure Find out, when the steering deceleration of vehicle Stepped Impedance Resonators is not controlled, its yaw velocity does not follow ideal value very well, and more satisfactory value is inclined It is little, illustrate that Vehicular turn is not enough；Using the integrated control program in chassis, yaw velocity follows ideal value very well, basic zero deflection, Ensure the lateral riding stability of vehicle very well.The slip rate of vehicle each wheel is as shown in figure 9, it can be seen that each car Wheel slip rate illustrates that vehicle longitudinal movement has good stability between -0.08 to 0.

As shown in Figure 10, each subsystem controls weights are as shown in figure 11 for coordinated control system output Vehicular status signal；From As can be seen that vehicle switches to 4 in 0.6s rotating platform signals in figure, now AFS, DYC, ABS weight is followed successively by 0,0,1, During 2.4s, status signal switches to 5, and now AFS, DYC, ABS weight is followed successively by 1,0,1.As can be seen from the above analysis, The final front wheel angle of vehicle is 0.12rad, and vehicle is little steering in operating mode residing for understeer, i.e. vehicle when not adding control Not enough operating mode, is consistent with identification result.

Claims (8)

1. a kind of in-wheel driving electric automobile chassis integrated control system cooperative control device, it is characterised in that the device includes： Pilot control platform, attitude parameter ideal value signal generating unit, vehicle yaw observing unit, yaw-rate sensor, speed Sensor, the near front wheel wheel speed sensors, off-front wheel wheel speed sensors, left rear wheel wheel speed sensors, off hind wheel wheel speed sensors, association Control unit, AFS controller, abs controller and DYC controllers are adjusted, wherein,

Pilot control platform：For driver control instruction is converted into vehicle target rate signal and target rotation angle signal, will Target rotation angle signal sends to attitude parameter ideal value signal generating unit simultaneously and coordinates control unit, and target speed signal is sent To attitude parameter ideal value signal generating unit；

Attitude parameter ideal value signal generating unit：For according to target speed signal, target rotation angle signal and coefficient of road adhesion, obtaining The target slip rate value of yaw velocity desired value, side slip angle desired value and vehicle is obtained, and is sent to coordination control unit；

Vehicle yaw observing unit：For real-time monitored side slip angle, and send to coordination control unit；

Yaw-rate sensor：For acquisition testing yaw rate, and send to coordination control unit；

Vehicle speed sensor：For gathering speed, and send to coordination control unit；

The near front wheel wheel speed sensors：For collection vehicle the near front wheel wheel speed, and send to coordination control unit；

Off-front wheel wheel speed sensors：For collection vehicle off-front wheel wheel speed, and send to coordination control unit；

Left rear wheel wheel speed sensors：For collection vehicle left rear wheel wheel speed, and send to coordination control unit；

Off hind wheel wheel speed sensors：For collection vehicle off hind wheel wheel speed, and send to coordination control unit；

Coordinate control unit：For speed and target rotation angle signal according to collection, obtain front-wheel lateral deviation power and AFS controller, The state control signal of abs controller and DYC controllers；And according to front-wheel lateral deviation power and the vehicle centroid side drift angle of observation, obtain Obtain the fuzzy control output weight of AFS controller, abs controller and DYC controllers；Further according to AFS controller, abs controller With the state control signal and fuzzy control output weight of DYC controllers, control weight values, the ABS controls of AFS controller are obtained The control weight values of the control weight values and DYC controllers of device, are respectively sent to AFS controller, abs controller and DYC control In device；Before speed finally according to collection, yaw rate, vehicle centroid side drift angle, vehicle the near front wheel wheel speed, vehicle are right Wheel wheel speed, vehicle left rear wheel wheel speed, vehicle off hind wheel wheel speed, yaw velocity desired value, side slip angle desired value and vehicle The target slip rate value of four wheels, the slip rate for obtaining yaw velocity deviation, side slip angle deviation and four wheels are inclined Difference, and yaw velocity deviation and side slip angle deviation are sent into AFS controller, by the slip rate deviation of four wheels Send into abs controller, yaw velocity deviation is sent into DYC controllers；

AFS controller：For being controlled according to the attitude parameter side slip angle deviation, yaw velocity deviation and correspondence that receive Weighted value, obtains vehicle front-wheel compensation angle, and sends it to the helping in angle electrical machinery of vehicle；

Abs controller：For the slip rate deviation according to four wheels of vehicle for receiving and correspondence control weight values, car is obtained The near front wheel, off-front wheel, left rear wheel, off hind wheel tire brake force, and be respectively sent to the near front wheel brake apparatus of vehicle, before the right side In wheel brake apparatus, left rear wheel brake apparatus, off hind wheel brake apparatus；

DYC controllers：For according to the yaw velocity deviation and correspondence control weight values for receiving, obtaining four wheel electrical machines Torque target value, and it is respectively sent to the near front wheel wheel hub motor and its control system, off-front wheel wheel hub motor and its control of vehicle In system processed, left rear wheel wheel hub motor and its control system, off hind wheel wheel hub motor and its control system.

2. in-wheel driving electric automobile chassis integrated control system cooperative control device according to claim 1, its feature It is, described coordination control unit, including：Vehicle-state identification unit, fuzzy coordinated control device, control logic unit and partially Difference signal generating unit；Wherein,

Vehicle-state identification unit：For the speed according to collection and target rotation angle signal, front-wheel lateral deviation power and AFS controls are obtained The state control signal of device, abs controller and DYC controllers, and front-wheel lateral deviation power is sent into fuzzy coordinated control device, will The state control signal of AFS controller, abs controller and DYC controllers is sent into control logic unit；

Fuzzy coordinated control device：For the vehicle centroid side drift angle according to front-wheel lateral deviation power and observation, AFS controller, ABS are obtained The fuzzy control output weight of controller and DYC controllers, and send into control logic unit；

Control logic unit：For state control signal and Fuzzy Control according to AFS controller, abs controller and DYC controllers System output weight, obtains the control of the control weight values, the control weight values of abs controller and DYC controllers of AFS controller Weight values, and be respectively sent in AFS controller, abs controller and DYC controllers；

Deviation signal generating unit：For the speed according to collection, yaw rate, vehicle centroid side drift angle, vehicle the near front wheel Wheel speed, vehicle off-front wheel wheel speed, vehicle left rear wheel wheel speed, vehicle off hind wheel wheel speed, yaw velocity desired value, side slip angle The target slip rate value of four wheels of desired value and vehicle, obtains yaw velocity deviation, side slip angle deviation and four cars The slip rate deviation of wheel, and yaw velocity deviation and side slip angle deviation are sent into AFS controller, by four wheels Slip rate deviation send into abs controller, yaw velocity deviation is sent into DYC controllers.

3. the control for being carried out using the in-wheel driving electric automobile chassis integrated control system cooperative control device described in claim 1 Method processed, it is characterised in that comprise the following steps：

Driver control instruction is converted into vehicle target rate signal and target rotation angle signal by step 1, pilot control platform, will Target rotation angle signal sends to attitude parameter ideal value signal generating unit simultaneously and coordinates control unit, and target speed signal is sent To attitude parameter ideal value signal generating unit；

Step 2, attitude parameter ideal value signal generating unit according to target speed signal, target rotation angle signal and coefficient of road adhesion, The target slip rate value of yaw velocity desired value, side slip angle desired value and vehicle is obtained, and sends single to control is coordinated Unit；

Step 3, using vehicle yaw observing unit real-time monitored side slip angle, and send to coordinate control unit；

Step 4, using yaw-rate sensor acquisition testing yaw rate, speed is gathered using vehicle speed sensor, Using the near front wheel wheel speed sensors collection vehicle the near front wheel wheel speed, using off-front wheel wheel speed sensors collection vehicle off-front wheel wheel Speed, using left rear wheel wheel speed sensors collection vehicle left rear wheel wheel speed, using off hind wheel wheel speed sensors collection vehicle off hind wheel Wheel speed, the parameter of above-mentioned collection is sent to coordination control unit；

Vehicle-state identification unit inside step 5, coordination control unit is obtained according to the speed and target rotation angle signal of collection The state control signal of front-wheel lateral deviation power and AFS controller, abs controller and DYC controllers, and by front-wheel lateral deviation power send to Coordinate, in the fuzzy coordinated control device inside control unit, the state of AFS controller, abs controller and DYC controllers to be controlled Signal is sent into the control logic unit coordinated inside control unit；

The vehicle centroid side drift angle of step 6, fuzzy coordinated control device according to front-wheel lateral deviation power and observation, acquisition AFS controller, The fuzzy control output weight of abs controller and DYC controllers, and send into control logic unit；

Step 7, control logic unit are according to AFS controller, the state control signal of abs controller and DYC controllers and obscure Controlled output weight, obtains the control of the control weight values, the control weight values of abs controller and DYC controllers of AFS controller Weighted value, and be respectively sent in AFS controller, abs controller and DYC controllers；

Deviation signal generating unit inside step 8, coordination control unit is according to the speed, yaw rate, vehicle matter for gathering Heart side drift angle, vehicle the near front wheel wheel speed, vehicle off-front wheel wheel speed, vehicle left rear wheel wheel speed, vehicle off hind wheel wheel speed, yaw angle speed Degree desired value, the target slip rate value of four wheels of side slip angle desired value and vehicle, obtain yaw velocity deviation, barycenter The slip rate deviation of lateral deviation angular displacement and four wheels, and yaw velocity deviation and side slip angle deviation are sent to AFS In controller, the slip rate deviation of four wheels is sent into abs controller, yaw velocity deviation is sent to DYC and is controlled In device processed；

Step 9, AFS controller are according to the yaw velocity deviation, side slip angle deviation for receiving and correspond to control weight values, Obtain vehicle front-wheel compensation angle, and send it to the helping in angle electrical machinery of vehicle；

Step 10, abs controller obtain vehicle according to the slip rate deviation and correspondence control weight values of four wheels for receiving The near front wheel, off-front wheel, left rear wheel, off hind wheel tire brake force, and it is respectively sent to the near front wheel brake apparatus of vehicle, off-front wheel In brake apparatus, left rear wheel brake apparatus, off hind wheel brake apparatus；

Step 11, DYC controllers obtain four wheel electricity according to the yaw velocity deviation and correspondence control weight values that receive Machine torque target value, and be respectively sent to the near front wheel wheel hub motor and its control system of vehicle, off-front wheel wheel hub motor and its In control system, left rear wheel wheel hub motor and its control system, off hind wheel wheel hub motor and its control system.

4. control method according to claim 3, it is characterised in that the attitude parameter ideal value described in step 2 generates single Unit obtains yaw velocity desired value and four, vehicle according to target speed signal, target rotation angle signal and coefficient of road adhesion The target slip rate value of wheel, and send to coordination control unit；

When vehicle turns left, i.e. δ_d＞ 0, the concrete formula of yaw velocity desired value are as follows：

${\mathrm{\γ}}^{*}=min(\frac{v_d}{l(1+{\mathrm{Kv}}_d^2)}{\mathrm{\δ}}_d,\mathrm{\μ}g/v_d)---\left(1\right)$

When vehicle is turned right, i.e. δ_d＜ 0, the concrete formula of yaw velocity desired value are as follows：

${\mathrm{\γ}}^{*}=max(\frac{v_d}{l(1+{\mathrm{Kv}}_d^2)}{\mathrm{\δ}}_d,\mathrm{\μ}g/v_d)---\left(2\right)$

${\mathrm{\β}}^{*}=\frac{v_d{C}_f{\mathrm{\δ}}_d-({{\mathrm{mv}}_d}^2+l_f{C}_f-l_r{C}_r){\mathrm{\γ}}^{*}}{(C_f+C_r)v_d}---\left(3\right)$

Wherein, K is expressed as stability factor, and γ * represent yaw velocity desired value, v_dRepresent target speed signal, δ_dRepresent mesh Mark angular signal, μ are expressed as coefficient of road adhesion, and g is expressed as acceleration of gravity, l=l_r+l_f, l_rRepresent barycenter to front axle away from From l_fRepresent barycenter to the distance of rear axle, β^*Represent side slip angle desired value, C_fRepresent front tyre stiffness coefficient, C_rRepresent Rear tyre stiffness coefficient；M represents complete vehicle quality；

The target slip rate value of described four wheels of vehicle：According to four, vehicle between wheel slip and coefficient of road adhesion Relation acquisition.

5. control method according to claim 3, it is characterised in that the car inside coordination control unit described in step 5 State identification unit speed and target rotation angle signal according to collection, obtain front-wheel lateral deviation power and AFS controller, ABS controls The state control signal of device and DYC controllers, and front-wheel lateral deviation power is sent to the Fuzzy coordination control coordinated inside control unit In device processed, the state control signal of AFS controller, abs controller and DYC controllers is sent to coordination control unit In control logic unit；

Obtain front-wheel lateral deviation powerSpecifically it is calculated as follows：

The construction force differential equation：

${\mathrm{mv}}_x(\stackrel{\·}{\mathrm{\β}}+\mathrm{\γ})=F_{yfl}+F_{yfr}+F_{yrl}+F_{yrr}---\left(3\right)$

$J\stackrel{\·}{\mathrm{\γ}}=l_f(F_{yfl}+F_{yfr})-l_r(F_{yrl}+F_{yrr})+M---\left(4\right)$

Wherein, m represents complete vehicle quality, v_xThe longitudinal velocity of vehicle is represented, β represents the side slip angle of observation, and γ represents yaw angle Speed, F_yflRepresent the near front wheel side force, F_yfrRepresent off-front wheel side force, F_yrlRepresent left rear wheel side force, F_yrrAfter representing the right side Wheel side force, J represent the rotary inertia of wheel electrical machine, l_rRepresent barycenter to the distance of front axle, l_fRepresent barycenter to rear axle away from From M represents external influence yaw moment；

Formula (3) and (4) are simplified, is madeF_yf=F_yfl+F_yfr, F_yr=F_yrl+F_yrr, obtain：

ma_y=F_yf+F_yr (5)

$J\stackrel{\·}{\mathrm{\γ}}=l_f{F}_{yf}-l_r{F}_{yr}+M---\left(6\right)$

Wherein, a_yRepresent the side acceleration of vehicle, F_yfRepresent the front tyre side force of single track model, F_yrRepresent single track model Rear tyre side force；

To the F in formula (5) and formula (6)_yfEstimated, obtained equation below：

${\hat{F}}_{yf}=\frac{{\mathrm{ma}}_y{l}_r+J\stackrel{\·}{\mathrm{\γ}}-M}{2l}---\left(7\right)$

Wherein,For F_yfEstimator；

${\hat{F}}_{Nyf}=\frac{{\hat{F}}_{yf}}{m_f}---\left(8\right)$

Wherein, m_f=ml_r/ l, l=l_r+l_f；

The state control signal of AFS controller, abs controller and DYC controllers is obtained, it is specific as follows：

Acceleration and Vehicular turn characteristic are subtracted according to front wheel angle, longitudinal direction of car, vehicle running state, such as table 1 is judged：

1 vehicle running state of table recognizes logic

In table 1, δ represents front wheel angle, δ_thresRepresent front wheel angle threshold value, a_xRepresent the longitudinal acceleration of vehicle, a_xthresTable Show the threshold value of longitudinal acceleration, v_chRepresent characteristic speed；

$v_{ch}=\frac{C_f{C}_r{(l_f+l_r)}^2}{m(l_r{C}_r-l_f{C}_f)}---\left(9\right)$

According to the vehicle running state in table 1, the state control signal of AFS controller, abs controller and DYC controllers is obtained η, such as table 2：

The state control signal table of 2 AFS controller of table, abs controller and DYC controllers

The state control signal η of output AFS controller, abs controller and DYC controllers：With eight kinds of states of binary representation it is 000th, 001,010,011,100,101,110,111 are converted into the decimal system respectively 0～7, and in table 2,1 represents that controller works, and 0 Represent that controller does not work, state signal value is that the binary coding of each subsystem work state is changed according under different operating modes Determine for the decimal system.

6. control method according to claim 3, it is characterised in that the fuzzy coordinated control device described in step 6 is according to front Wheel lateral deviation power and the side slip angle of observation, obtain the fuzzy control output power of AFS controller, abs controller and DYC controllers Weight, and send into control logic unit；

It is specific as follows：

By front-wheel side forceHistorical data and side slip angle β historical data as fuzzy controller input, obscure Output of the controlled output weights omega as fuzzy controller, obtains front-wheel side force by emulatingSide slip angle β and Fuzzy control exports the domain of weights omega, draws fuzzy control rule, according to the front-wheel side force in fuzzy control rule With side slip angle β, correspondence fuzzy control output weights omega is obtained.

7. control method according to claim 3, it is characterised in that the control logic unit described in step 7 is controlled according to AFS Device processed, the state control signal of abs controller and DYC controllers and fuzzy control output weight, obtains the control of AFS controller The control weight values of weighted value, the control weight values of abs controller and DYC controllers, and it is respectively sent to AFS controller, ABS In controller and DYC controllers；

According to eight kinds of states and fuzzy control output weight of the output of vehicle recognition unit, the control weight of AFS controller is obtained Value η_AFS, abs controller control weight values η_ABSWith control weight values η of DYC controllers_DYC, it is concrete such as table 3, table 4：

The control weight table of 3 AFS controller of table, DYC controllers

4 abs controller control weight table of table

Wherein, ω represents fuzzy control output weight.

8. control method according to claim 3, it is characterised in that inclined inside the coordination control unit described in step 8 Difference signal generating unit is right according to the speed, yaw rate, vehicle centroid side drift angle, vehicle the near front wheel wheel speed, vehicle for gathering Front-wheel wheel speed, vehicle left rear wheel wheel speed, vehicle off hind wheel wheel speed, yaw velocity desired value, side slip angle desired value and car The target slip rate value of four wheels, obtains the slip rate of yaw velocity deviation, side slip angle deviation and four wheels Deviation, and yaw velocity deviation and side slip angle deviation are sent into AFS controller, will be the slip rate of four wheels inclined Difference is sent into abs controller, and yaw velocity deviation is sent into DYC controllers；

Concrete formula is as follows：

$\left\{\begin{array}{c}\mathrm{\Δ}\mathrm{\γ}={\mathrm{\γ}}^{*}-\mathrm{\γ}\\ {\mathrm{\ΔS}}_{ij}=S^{*}-S_{ij}\\ \mathrm{\Δ}\mathrm{\β}={\mathrm{\β}}^{*}-\mathrm{\β}\end{array}\right.---\left(10\right)$

S_ij=(w_ijR-v)/v (11)

Wherein, Δ γ represents yaw velocity deviation, and γ * represent yaw velocity desired value, and γ represents that yaw velocity is sensed The yaw velocity that device draws, Δ S_ijThe slip rate deviation of four wheels is represented, i is f or r, j are r or l, s^*Represent vehicle four The target slip rate value of individual wheel, S_ijRepresent that four wheel road surfaces track slip rate, Δ β represents side slip angle deviation, β^*Table Show side slip angle desired value, β represents the side slip angle that vehicle yaw observing unit draws, w_ijRepresent the wheel of four wheels Speed, R represent tire radius, and v represents speed.