CN108909705A - A kind of control method for vehicle and device - Google Patents
A kind of control method for vehicle and device Download PDFInfo
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- CN108909705A CN108909705A CN201810959834.3A CN201810959834A CN108909705A CN 108909705 A CN108909705 A CN 108909705A CN 201810959834 A CN201810959834 A CN 201810959834A CN 108909705 A CN108909705 A CN 108909705A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/22—Suspension systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Abstract
This application provides a kind of control method for vehicle and devices, wherein this method includes：The sensed parameter detected by the sensor installed on vehicle is obtained first, wherein the sensed parameter is used to react the driving status of the vehicle；Then according to the sensed parameter and vehicle attribute value, rollover evaluation of estimate is calculated；Further, when the calculated rollover evaluation of estimate is more than preset threshold, according to the sensed parameter, the vehicle attribute value, active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces are calculated；Finally according to the calculated active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces are adjusted the driving status of vehicle.In this way, it is possible to reduce when mathematical model is built with controller design, because of the influence caused by model uncertainty and external interference, improve the fault-tolerance of system, vehicle rollover can be effectively prevented.
Description
Technical field
This application involves automatic control technology fields, more particularly, to a kind of control method for vehicle and device.
Background technique
Vehicle plays a crucial role in public transport, with the development of transportation, caused by automobile
Traffic accident takes place frequently, and causes great life and property loss and severe social influence.According to National Highway Traffic Safety pipe
Reason office (NHTSA) statistics, because of traffic accident caused by dead case in there are about 33% case occurrence cause be vehicle rollover.
Therefore, the active safety for improving vehicle reinforces the anti-rollover ability of automobile, can effectively prevent traffic accident.
The prior art mainly passes through proportional-integral-differential (Proportion- in terms of active anti-rollover control
Integral-Derivative, PID) control and fuzzy control, however carry out mathematical model build with controller design when,
The two can not effectively eliminate because parameter inaccuracy or mathematical model build it is inaccurate caused by model uncertainty and outer
Interfere influence caused by the vibration such as ground, lateral wind interference etc. in boundary.How to effectively eliminate that model is uncertain and external interference
Caused influence is that people want to solve the problems, such as always.
Summary of the invention
In view of this, the application's is designed to provide a kind of control method for vehicle and device, taken with reducing mathematical model
When building with controller design, because of the influence caused by model uncertainty and external interference, it effectively prevent vehicle rollover.
In a first aspect, the embodiment of the present application provides a kind of control method for vehicle, this method includes：
Obtain the sensed parameter detected by the sensor installed on vehicle, wherein above-mentioned sensed parameter is for reacting
The driving status of above-mentioned vehicle；
According to above-mentioned sensed parameter and vehicle attribute value, rollover evaluation of estimate is calculated；
When calculated above-mentioned rollover evaluation of estimate is more than preset threshold, according to above-mentioned sensed parameter, active front is calculated
Additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces；
According to calculated above-mentioned active front additional rotation angle, the row of four-wheel braking power and four-wheel suspension manipulating forces to vehicle
The state of sailing is adjusted.
With reference to first aspect, the embodiment of the present application provides the first possible embodiment of first aspect, wherein on
Stating sensed parameter includes at least one of following parameter：
The vehicle body lateral velocity that is detected by vehicle body lateral velocity sensor is detected by the gyroscope of vehicle configuration
Body roll angular speed and vehicle body yaw velocity and vehicle roll angle, the vehicle body that is detected by longitudinal vehicle speed sensor
Longitudinal speed, the steering wheel angle detected by steering wheel angle sensor, the wheel detected by vertical velocity sensor
The vertical velocity of the heart；
Above-mentioned vehicle attribute value includes：Suspension rate, suspension damping, wheelspan, wheel vertical stiffness and vehicle mass.
The possible embodiment of with reference to first aspect the first, the embodiment of the present application provide second of first aspect
Possible embodiment, wherein according to above-mentioned sensed parameter and vehicle attribute value, rollover evaluation of estimate is calculated, including：
According to longitudinal speed detected by the longitudinal vehicle speed sensor being mounted on the suspension of left and right, it is vertical to calculate left and right suspension
To displacement difference, and, left and right tire is calculated according to vertical velocity detected by the vertical velocity sensor of wheel in the heart is mounted on
Vertical change amount is poor；
Using above-mentioned vehicle roll angle, above-mentioned body roll acceleration, above-mentioned left and right suspension length travel be poor, above-mentioned left and right
Tire vertical change amount is poor, above-mentioned vehicle attribute value and preset model uncertainty parameter and preset left and right suspension control
The difference of power processed calculates above-mentioned rollover evaluation of estimate.
With reference to first aspect or the first possible embodiment of first aspect, the embodiment of the present application provide first party
The third possible embodiment in face, wherein it is above-mentioned according to above-mentioned sensed parameter, calculate active front additional rotation angle, four-wheel
Brake force and four-wheel suspension manipulating forces, including：
According to above-mentioned sensed parameter, the state space equation under continuous time state is constructed, and determines state space equation
Coefficient matrix, above-mentioned state space equation is for characterizing above-mentioned sensed parameter and above-mentioned front-wheel additional rotation angle, four-wheel braking power
With the incidence relation of four-wheel suspension manipulating forces；
State space equation under above-mentioned continuous time state is converted to the state space equation under discrete-time state；
Based on the state space equation under above-mentioned discrete-time state, robust controller is constructed；
According to above-mentioned robust controller, active front additional rotation angle, four-wheel braking power and four-wheel Suspension control is calculated
Power.
With reference to first aspect, the embodiment of the present application provides the 4th kind of possible embodiment of first aspect, wherein on
State the driving status according to calculated above-mentioned active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces to vehicle
It is adjusted, including：
The current front wheel angle of vehicle is adjusted according to above-mentioned active front additional rotation angle；And according to above-mentioned four-wheel braking
Power adjusts the current four-wheel braking power size of vehicle；And the current Suspension control of vehicle is adjusted according to above-mentioned suspension manipulating forces
Power.
Second aspect, the embodiment of the present application also provide a kind of controller of vehicle, including：
Module is obtained, the sensed parameter detected for obtaining the sensor for passing through and installing on vehicle, wherein above-mentioned induction
Parameter is used to react the driving status of above-mentioned vehicle；
First computing module, for calculating rollover evaluation of estimate according to above-mentioned sensed parameter and vehicle attribute value；
Second computing module is used for when calculated above-mentioned rollover evaluation of estimate is more than preset threshold, according to above-mentioned induction
Parameter calculates active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces；
State adjusts module, for according to calculated above-mentioned active front additional rotation angle, four-wheel braking power and four-wheel to be outstanding
Frame control force is adjusted the driving status of vehicle.
In conjunction with second aspect, the embodiment of the present application provides the first possible embodiment of second aspect, wherein on
Stating sensed parameter includes at least one of following parameter：
The vehicle body lateral velocity that is detected by vehicle body lateral velocity sensor is detected by the gyroscope of vehicle configuration
Body roll angular speed and vehicle body yaw velocity and vehicle roll angle, the vehicle body that is detected by longitudinal vehicle speed sensor
Longitudinal speed, the steering wheel angle detected by steering wheel angle sensor, the wheel detected by vertical velocity sensor
The vertical velocity of the heart；
Above-mentioned vehicle attribute value includes：Suspension rate, suspension damping, wheelspan, wheel vertical stiffness and vehicle mass.
In conjunction with the first possible embodiment of second aspect, the embodiment of the present application provides second of second aspect
Possible embodiment, wherein above-mentioned first computing module calculates rollover according to above-mentioned sensed parameter and vehicle attribute value
When evaluation of estimate, it is specifically used for：
According to longitudinal speed detected by the longitudinal vehicle speed sensor being mounted on the suspension of left and right, it is vertical to calculate left and right suspension
To displacement difference, and, left and right tire is calculated according to vertical velocity detected by the vertical velocity sensor of wheel in the heart is mounted on
Vertical change amount is poor；
Using above-mentioned vehicle roll angle, above-mentioned body roll acceleration, above-mentioned left and right suspension length travel be poor, above-mentioned left and right
Tire vertical change amount is poor, above-mentioned vehicle attribute value and preset model uncertainty parameter and preset left and right suspension control
The difference of power processed calculates above-mentioned rollover evaluation of estimate.
In conjunction with the possible embodiment of the first of second aspect or second aspect, the embodiment of the present application provides second party
The third possible embodiment in face, wherein above-mentioned second computing module, according to above-mentioned sensed parameter, before calculating active
Additional rotation angle is taken turns, when four-wheel braking power and four-wheel suspension manipulating forces, is specifically used for：
According to above-mentioned sensed parameter, the state space equation under continuous time state is constructed, and determines state space equation
Coefficient matrix, above-mentioned state space equation is for characterizing above-mentioned sensed parameter and above-mentioned front-wheel additional rotation angle, four-wheel braking power
With the incidence relation of four-wheel suspension manipulating forces；
State space equation under above-mentioned continuous time state is converted to the state space equation under discrete-time state；
Based on the state space equation under above-mentioned discrete-time state, robust controller is constructed；
According to above-mentioned robust controller, active front additional rotation angle, four-wheel braking power and four-wheel Suspension control is calculated
Power.
In conjunction with second aspect, the embodiment of the present application provides the 4th kind of possible embodiment of second aspect, wherein on
State adjustment module is stated, according to calculated above-mentioned active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces
When being adjusted to the driving status of vehicle, it is specifically used for：
The current front wheel angle of vehicle is adjusted according to above-mentioned active front additional rotation angle；And according to above-mentioned four-wheel braking
Power adjusts the current four-wheel braking power size of vehicle；And the current Suspension control of vehicle is adjusted according to above-mentioned suspension manipulating forces
Power.
The third aspect, the embodiment of the present application also provides a kind of electronic equipment, which includes：Processor, memory and
Bus, memory are stored with the executable machine readable instructions of processor, when electronic equipment operation, processor and memory it
Between by bus communication, above-mentioned first aspect is executed when machine readable instructions are executed by processor and first aspect is arbitrarily possible
In embodiment the step of above-mentioned control method for vehicle.
Fourth aspect, the embodiment of the present application also provides a kind of computer readable storage medium, the computer-readable storages
It is stored with computer program on medium, such as above-mentioned first aspect and first party are executed when which is run by processor
In the arbitrarily possible embodiment in face the step of above-mentioned control method for vehicle.
Control method for vehicle and device provided by the embodiments of the present application are examined by obtaining by the sensor installed on vehicle
The sensed parameter measured, wherein above-mentioned sensed parameter is used to react the driving status of above-mentioned vehicle；Then joined according to above-mentioned induction
Several and vehicle attribute value calculates rollover evaluation of estimate；Further, when calculated above-mentioned rollover evaluation of estimate is more than preset threshold
When, according to above-mentioned sensed parameter, calculate active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces；Last basis
Calculated above-mentioned active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces adjust the driving status of vehicle
It is whole.Rollover evaluation of estimate is calculated in this way, it is possible to reduce when mathematical model is built with controller design, because model is uncertain
Influence caused by property and external interference, and when the driving status to vehicle is adjusted, while to front-wheel additional rotation angle, four
Wheel brake force and four-wheel suspension manipulating forces are adjusted, in the case where any adjustment mode breaks down, in addition two kinds
Vehicle rollover can be effectively prevented in adjustment mode, increases the fault-tolerance of system, effectively prevent vehicle rollover.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of configuration diagram of vehicle control system provided by the embodiment of the present application；
Fig. 2 shows the flow diagrams of control method for vehicle provided by the embodiment of the present application；
Fig. 3 shows a kind of specific implementation process for realizing control method for vehicle provided by the embodiment of the present application；
Fig. 4 shows the simulation result diagram of the application provided by the embodiment of the present application；
Fig. 5 shows the configuration diagram of controller of vehicle 500 provided by the embodiment of the present application；
Fig. 6 shows the structural schematic diagram of electronic equipment 600 provided by the embodiment of the present application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
Middle attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
It is some embodiments of the present application, instead of all the embodiments.The application being usually described and illustrated herein in the accompanying drawings is real
The component for applying example can be arranged and be designed with a variety of different configurations.Therefore, below to the application's provided in the accompanying drawings
The detailed description of embodiment is not intended to limit claimed scope of the present application, but is merely representative of the selected reality of the application
Apply example.Based on embodiments herein, those skilled in the art institute obtained without making creative work
There are other embodiments, shall fall in the protection scope of this application.
With the development of transportation, in motor traffic accidents, because caused by vehicle side turning traffic accident account for it is very big
Specific gravity, traditional anti-rollover research can not be eliminated because the model caused by parameter is inaccurate or mathematical model is built inaccurately is not true
The influence such as caused by vibration, the lateral wind interference on ground etc. of qualitative and external interference.In the embodiment of the present application in order to solve with
Upper problem provides a kind of control method for vehicle and device.
Firstly, it is shown in Figure 1, for a kind of framework signal of possible vehicle control system provided by the embodiments of the present application
Figure, the vehicle control system include：Sensor module, electronic control module (Electronic Control Unit, ECU) with
And state adjusts module.Wherein, sensor module can be used for detecting that the sensed parameter of vehicle, sensor module specifically include
Vehicle body lateral velocity sensor, gyroscope, vertical velocity sensor, longitudinal vehicle speed sensor and steering wheel angle sensor；
ECU can get the sensed parameter of vehicle by each sensor from sensor module, and pass through above-mentioned sensed parameter, Yi Jiche
Attribute value calculates active front additional rotation angle, four-wheel braking power and Active suspension control power；State adjusts module deployment
In vehicle, state adjustment module can use the active front additional rotation angle being calculated, four-wheel braking power and actively hang
Frame control force respectively adjusts the active front steering system of vehicle, pneumatic/hydraulic braking system and active suspension system.
For convenient for understanding the present embodiment, first to a kind of control method for vehicle disclosed in the embodiment of the present application into
Row is discussed in detail.
Embodiment one
It is shown in Figure 2, it is the flow diagram of control method for vehicle provided by the embodiments of the present application, including following step
Suddenly：
S201, the sensed parameter detected by the sensor installed on vehicle is obtained.
In this step, above-mentioned sensed parameter includes at least one of following parameter：
The vehicle body lateral velocity that is detected by vehicle body lateral velocity sensor is detected by the gyroscope of vehicle configuration
Body roll angular speed and vehicle body yaw velocity and vehicle roll angle, the vehicle body that is detected by longitudinal vehicle speed sensor
Longitudinal speed, the steering wheel angle detected by steering wheel angle sensor, the wheel detected by vertical velocity sensor
The vertical velocity of the heart.
S202, according to sensed parameter and vehicle attribute value, calculate rollover evaluation of estimate.
In this step, above-mentioned vehicle attribute value includes：Suspension rate, suspension damping, wheelspan, wheel vertical stiffness and vehicle
Quality.
It, can be according to being mounted on when according to sensed parameter and vehicle attribute value, calculating rollover evaluation of estimate in specific implementation
Longitudinal speed detected by longitudinal vehicle speed sensor on the suspension of left and right, calculate the length travel of left and right suspension it is poor and according to
It is poor to be mounted on vertical velocity calculating left and right tire vertical change amount detected by the vertical velocity sensor of wheel in the heart.
Specifically, when calculating left and right suspension length travel difference, it can be respectively according to the longitudinal direction being mounted on the suspension of left and right
Speed detected by vehicle speed sensor calculates the longitudinal acceleration of left and right suspension, then respectively to the longitudinal acceleration of left and right suspension
It is integrated to obtain the length travel of left and right suspension, the length travel of suspension is finally subtracted with the length travel of left suspension, is obtained
It is poor to left and right suspension displacement.
Specifically, basis can be mounted on the tire core wheel of left and right respectively when calculating left and right tire vertical change amount difference
Vertical velocity sensor detected by vertical velocity calculate the vertical acceleration of left and right tire, then respectively to left and right tire
Vertical acceleration is integrated to obtain the vertical deviation of left and right tire, finally subtracts hanging down for right wheel tire with the vertical deviation of left tire
To displacement, it is poor to obtain left and right tire vertical change amount.
It, can vehicle side detected by the gyroscope to vehicle configuration specifically, when calculating body roll acceleration
Inclination angle speed carries out derivation, obtains vehicle roll acceleration.
It is possible to further using vehicle roll angle, body roll acceleration, left and right suspension length travel be poor, left and right wheels
Tire vertical change amount is poor, vehicle attribute value and preset model uncertainty parameter and preset left and right suspension manipulating forces it
Difference, calculates rollover evaluation of estimate, and calculation formula is specific as follows：
In above formula, LTRmFor turn on one's side evaluation of estimate,For vehicle roll angle, p is body roll acceleration, and K is that 1/4 suspension is rigid
Degree, C are 1/4 suspension damping, and T is wheelspan, ktFor wheel vertical stiffness, Zul-ZurPoor, the Z for left and right suspension length travelrl-ZrrFor
Left and right tire vertical change amount is poor, and d is preset model uncertainty parameter, Δ FcFor preset left and right suspension manipulating forces it
Difference.
In a kind of possible embodiment, the value range of model uncertainty parameter d is [- 0.01,0.01], when
So, it in practical application, can also adjust according to actual needs and setting model uncertain parameters.In this application, it uses
Uncertain parameters come replace building because of parameter inaccuracy or mathematical model it is inaccurate caused by model uncertainty caused by
Error.
S203, when calculated rollover evaluation of estimate is more than preset threshold, according to sensed parameter, it is additional to calculate active front
Corner, four-wheel braking power and four-wheel suspension manipulating forces.
In a kind of possible embodiment, preset threshold for example can be 0.9, can also carry out according to actual needs
Adjustment.
In one example, ifBecause model is not
The value range of deterministic parameter be [- 0.01,0.01], 0.895+0.01=0.905,0.905>0.9,0.895-0.01=
0.885,0.885<0.9, it still needs to carry out anti-rollover control in this case.It can be seen that by setting uncertain parameter,
Influence of the error to rollover evaluation of estimate accuracy can be reduced.
In specific implementation, according to sensed parameter, active front additional rotation angle, four-wheel braking power and four-wheel suspension control are calculated
When power processed, the state space equation under continuous time state can be constructed, and determine state space side according to above-mentioned sensed parameter
The coefficient matrix of journey, above-mentioned state space equation is for characterizing above-mentioned sensed parameter and above-mentioned front-wheel additional rotation angle, four-wheel braking
The incidence relation of power and four-wheel suspension manipulating forces.It is possible to further by the state space equation under above-mentioned continuous time state
Be converted to the state space equation under discrete-time state.Later, based on the state space equation under above-mentioned discrete-time state,
Construct robust controller.Finally, according to above-mentioned robust controller, be calculated active front additional rotation angle, four-wheel braking power and
Four-wheel suspension manipulating forces.Wherein, above-mentioned specific calculating process will describe in detail in example 2, wouldn't go to live in the household of one's in-laws on getting married herein
It states.
S204, according to calculated active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces are to vehicle
Driving status is adjusted.
Wherein, the driving status of above-mentioned vehicle includes the front wheel angle of vehicle, the size of four-wheel braking power and suspension control
The size of power processed.
In specific implementation, it can be adjusted in the following way：It is current that vehicle is adjusted according to active front additional rotation angle
Front wheel angle；And the current four-wheel braking power size of vehicle is adjusted according to four-wheel braking power；And according to Suspension control
Power adjusts the current suspension manipulating forces of vehicle.
Rollover evaluation of estimate is calculated using aforesaid way, it is possible to reduce when mathematical model is built with controller design, because of mould
Influence caused by type uncertainty and external interference.Also, when the driving status to vehicle is adjusted, while to front-wheel
Additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces are adjusted, the case where any adjustment mode breaks down
Under, in addition vehicle rollover can be effectively prevented in two kinds of adjustment modes, increases the fault-tolerance of system, effectively prevent vehicle rollover.
Embodiment two
To in control method for vehicle provided by embodiment one, according to sensed parameter, active front additional rotation angle, four are calculated
The specific calculating step of brake force and four-wheel suspension manipulating forces is taken turns, is understood for convenience, will be carried out in the present embodiment specifically
It is bright.
The state space equation under continuous time state is initially set up, in a kind of possible embodiment, can be passed through
Establishing the freedom degree under continuous time is that (in an example, N can be vehicle dynamic model 7), the kinetic model with value to N
It is integrated with actively transition, differential braking, Active suspension, which includes lateral speed, yaw velocity, body side tilt
Angle, body side tilt acceleration, left and right suspension longitudinal direction variable is poor, left and right suspension longitudinal velocity is poor, left and right tire vertical change amount, side
To parameters such as disk corners.
According to above-mentioned vehicle dynamic model, state space equation is established, state space equation is as follows：
Wherein,
In above formula (1-2), VyFor lateral speed, γ be yaw velocity,It is that body roll accelerates for vehicle roll angle, p
Degree, Zul-ZurFor left and right suspension longitudinal direction variable it is poor,For left and right suspension longitudinal velocity is poor, Zrl-ZrrIt hangs down for left and right tire
Straight variable quantity is poor, θswFor steering wheel angle, Δ δfTo add steering wheel angle, Δ MγFor additional yaw moment,It is additional
Moment resulting from sidesway；
Wherein, left and right suspension longitudinal velocity difference is to be detected by being mounted on longitudinal vehicle speed sensor of left and right vehicle wheel suspension
Left and right suspension longitudinal velocity difference；Additional transition wheel corner, additional yaw moment, additional moment resulting from sidesway are to be obtained by calculating
?.
In above formula (1-2), lateral speed, yaw velocity, vehicle roll angle, body roll acceleration, left and right suspension are vertical
State variable X is collectively formed to variable difference and left and right suspension longitudinal velocity difference, the variation of numerical value is with vehicle driving state
Change and changes；Left and right tire vertical change amount is poor, and steering wheel angle constitutes disturbance variable w, adds steering wheel angle, additional cross
Torque, additional moment resulting from sidesway composition control variable u are put,For the derivative of X.
A is systematic observation matrix, B1For system interference input matrix, B2Input matrix is controlled for system, according to lateral and vertical
To kinetics equation and the state variable X of system, disturbance variable w, control variable u calculate can reach state space equation be
Matrix number A, B1、B2, specific as follows：
WhereinKf、KrIt is front and rear wheel cornering stiffness, k respectivelytFor tire vertical stiffness, h is spring
Vertical distance of the mounted mass roll center away from vehicle mass center, m, mu、msRespectively complete vehicle quality, nonspring carried mass and spring carried mass,
IzIt is Vehicular yaw rotary inertia, Ix is the rotary inertia of spring carried mass, and a, b are distance of the axle to vehicle mass center respectively,
Above-mentioned parameter is to survey measured numerical value in advance, can be considered known input.
Because sensor output signal be discrete signal, the state space equation under continuous time state from
The state space equation of dispersion, discretization is as follows：
X (k+1)=A1X(k)+B11u(k)+B12w(k) (1-3)
Meanwhile by the coefficient matrices A of state space equation, B1、B2Discretization, discretization process are as follows：
Then robust controller is designed, in a kind of possible embodiment, robust controller can be H2/H∞Robust control
Device processed, wherein H2/H∞It is the calculation method of controller, the design of specific robust controller is as follows：
U (k)=KX (k) (1-4)
Wherein, K is feedback oscillator vector matrix；The relationship of Z (k) and w (k) needs to meet | | Z (k) | |2<η1||w(k)||2||
Z(k)||∞<η2||w(k)||2, | | Z (k) | |2For 2 norms of Z (k)；Wherein, η1For H∞Disturbance Rejection level and η2For broad sense
H2Disturbance Rejection is horizontal；
Work as η1And η2Meet such as lower inequality, system asymptotically stability respectively, then finding out makes the asymptotically stable control input of system
u：
In above formula, P is symmetrical matrix, and I is unit battle array, the order and A of P1Line number be consistent.
The value of feedback oscillator vector matrix K can be determined according to the relationship of Z (k) in formula (1-5) He w (k), it is specific as follows：
K=YM-1 (1-6)
Wherein, matrix Y and M can be calculated by such as lower inequality：
Wherein, Ω1、Ω2For positive definite symmetric parameter matrix, and meet Ω1 -1=P1Ω2 -1=P2；
Feedback oscillator vector matrix K is calculated by formula (1-6), K is brought into formula (1-3), by mutually multiplied with X (k)
It is obtained additional steering wheel angle, additional yaw moment and additional moment resulting from sidesway to u (k), u (k).
Further, it is calculated separately by above-mentioned additional steering wheel angle, additional yaw moment and additional moment resulting from sidesway
It is then attached according to the active front being calculated to active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces
Corner, four-wheel braking power and four-wheel suspension manipulating forces are added to carry out anti-rollover processing to automobile.
Embodiment three
In conjunction with the description of above-described embodiment one and embodiment two, a kind of specific implementation for realizing vehicle control is now provided
Process includes the following steps referring to shown in Fig. 3：
The sensed parameter that S301, input are obtained from sensor.
In this step, above-mentioned sensed parameter includes at least one of following parameter：
The vehicle body lateral velocity that is detected by vehicle body lateral velocity sensor is detected by the gyroscope of vehicle configuration
Body roll angular speed and vehicle body yaw velocity and vehicle roll angle, the vehicle body that is detected by longitudinal vehicle speed sensor
Longitudinal speed, the steering wheel angle detected by steering wheel angle sensor, the wheel detected by vertical velocity sensor
The vertical velocity of the heart.
S302, according to sensed parameter and vehicle attribute value, calculate and current roll index.
In this step, above-mentioned vehicle attribute value includes：Suspension rate, suspension damping, wheelspan, wheel vertical stiffness and vehicle
Quality.
According to sensed parameter and vehicle attribute value, rollover evaluation of estimate is calculated, including：
According to longitudinal speed detected by the longitudinal vehicle speed sensor being mounted on the suspension of left and right, it is vertical to calculate left and right suspension
To displacement difference, specifically：The speed according to detected by the longitudinal vehicle speed sensor being mounted on the suspension of left and right calculates left respectively
The longitudinal acceleration of right suspension, then the longitudinal acceleration of left and right suspension is integrated to obtain longitudinal position of left and right suspension respectively
It moves, the length travel of suspension is finally subtracted with the length travel of left suspension, it is poor to obtain left and right suspension displacement；
And it hangs down according to longitudinal speed calculating left and right wheels tire detected by the longitudinal vehicle speed sensor of wheel in the heart is mounted on
Straight variable quantity is poor, specifically：The vertical velocity according to detected by the vertical sensor being mounted on the tire core wheel of left and right respectively
The vertical acceleration of left and right tire is calculated, then the vertical acceleration of left and right tire is integrated to obtain hanging down for left and right tire respectively
To displacement, the vertical deviation of right wheel tire is finally subtracted with the vertical deviation of left tire, and it is poor to obtain left and right tire vertical change amount.
Using above-mentioned vehicle roll angle, above-mentioned body roll acceleration, above-mentioned left and right suspension length travel be poor, above-mentioned left and right
Tire vertical change amount is poor, above-mentioned vehicle attribute value and preset model uncertainty parameter and preset left and right suspension control
The difference of power processed calculates above-mentioned rollover evaluation of estimate.
S303, judge whether the current rollover evaluation of estimate calculated is greater than preset threshold.
If being less than preset threshold, return step 301 re-enters sensed parameter, and calculates rollover evaluation of estimate；If more than
Threshold value thens follow the steps 304, carries out anti-rollover processing.
S304, anti-rollover control is carried out.
Vehicle dynamic model is established according to the parameter of current sensor first, and the kinetic model is organized into continuously
State space equation under time signal；Because the output signal of sensor is discrete signal, will be under continuous time signal
State equation discretization；Design considers the robust controller of noise jamming and model uncertainty, and according to above-mentioned discretization
State equation afterwards adopts number by the induction of input pickup, and output calculates active front additional rotation angle, sideway stabilizing moment
And roll stable control moment；Finally according to vehicle geometric parameter distribute control force it is poor, obtain active front additional rotation angle,
Four-wheel control force and four-wheel Active suspension control power.
S305, adjustment vehicle running state.
According to dynamic front-wheel additional rotation angle, four-wheel control force and the four-wheel Active suspension control power being calculated to vehicle
Driving status is adjusted.
Specifically, adjusting the current front wheel angle of vehicle according to the active front additional rotation angle；And according to described four
Take turns the current four-wheel braking power size of brake force adjustment vehicle；And it is hanged according to suspension manipulating forces adjustment vehicle is current
Frame control force.
It is shown in Figure 4, it is the simulation result diagram of the application：
Curve 3 and curve 1 are control group, and curve 3 indicates the inclination index for being equipped with the vehicle of integrated anti-rollover system, bent
Line 1 indicates the inclination index for not installing the vehicle of integrated anti-rollover system, and control group vehicle is in normal condition always；Curve 2
It is experimental group, indicates to be equipped with the vehicle of integrated anti-rollover system, experimental group vehicle active steering Actuators Failures in 3s,
4.5s the near front wheel Active suspension Actuators Failures, 6s off hind wheel brake actuator fail, and the record of index is rolled in the case of three kinds
As shown in Figure 4.
As shown in Figure 4, in 3s, active steering control system failure, but curve 2 illustrates the collection always close to curve 3
At system when triangular web fails, there is fabulous compensation effect.After 4.5s, Active suspension control thrashing is bent
Line 2 is slightly offset from curve 3.After 6s, the failure of differential braking control system, the degree of 2 deflection curve 3 of curve still very little.
At any time, the LTR of curve 2mValue is far smaller than the LTR of curve 1mValue, illustrates when one or more thrashings, system
Still there is good control effect, which has good compensating action, increases the fault-tolerance of system, reduces side
Turn over a possibility that accident occurs.
Example IV
The embodiment of the present application provides a kind of controller of vehicle, is vehicle provided by the embodiments of the present application referring to Figure 5
The configuration diagram of control device 500, the device 500 include obtain module 501, the first computing module 502, second calculates mould
Block 503 and state adjust module 504.
Specifically, module 501 is obtained, the sensed parameter detected for obtaining the sensor for passing through and installing on vehicle,
In, above-mentioned sensed parameter is used to react the driving status of above-mentioned vehicle；
First computing module 502, for calculating rollover evaluation of estimate according to above-mentioned sensed parameter and vehicle attribute value；
Second computing module 503 is used for when calculated above-mentioned rollover evaluation of estimate is more than preset threshold, according to above-mentioned sense
Parameter is answered, active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces are calculated；
State adjusts module 504, for according to calculated above-mentioned active front additional rotation angle, four-wheel braking power and four-wheel
Suspension manipulating forces are adjusted the driving status of vehicle.
In a kind of possible embodiment, sensed parameter includes at least one of following parameter：
The vehicle body lateral velocity that is detected by vehicle body lateral velocity sensor is detected by the gyroscope of vehicle configuration
Body roll angular speed and vehicle body yaw velocity and vehicle roll angle, the vehicle body that is detected by longitudinal vehicle speed sensor
Longitudinal speed, the steering wheel angle detected by steering wheel angle sensor, the wheel detected by vertical velocity sensor
The vertical velocity of the heart；
Above-mentioned vehicle attribute value includes：Suspension rate, suspension damping, wheelspan, wheel vertical stiffness and vehicle mass.
In addition, in a kind of possible embodiment, above-mentioned first computing module 502, according to above-mentioned sensed parameter and
Vehicle attribute value is specifically used for when calculating rollover evaluation of estimate：
According to longitudinal speed detected by the longitudinal vehicle speed sensor being mounted on the suspension of left and right, it is vertical to calculate left and right suspension
To displacement difference, and, left and right wheels tire is calculated according to longitudinal speed detected by the longitudinal vehicle speed sensor of wheel in the heart is mounted on
Vertical change amount is poor；
Using above-mentioned vehicle roll angle, above-mentioned body roll acceleration, above-mentioned left and right suspension length travel be poor, above-mentioned left and right
Tire vertical change amount is poor, above-mentioned vehicle attribute value and preset model uncertainty parameter and preset left and right suspension control
The difference of power processed calculates above-mentioned rollover evaluation of estimate.
In a kind of possible embodiment, the second computing module 503, according to above-mentioned sensed parameter, before calculating active
Additional rotation angle is taken turns, when four-wheel braking power and four-wheel suspension manipulating forces, is specifically used for：
According to above-mentioned sensed parameter, the state space equation under continuous time state is constructed, and determines state space equation
Coefficient matrix, above-mentioned state space equation is for characterizing above-mentioned sensed parameter and above-mentioned front-wheel additional rotation angle, four-wheel braking power
With the incidence relation of four-wheel suspension manipulating forces；
State space equation under above-mentioned continuous time state is converted to the state space equation under discrete-time state；
Based on the state space equation under above-mentioned discrete-time state, robust controller is constructed；
According to above-mentioned robust controller, active front additional rotation angle, four-wheel braking power and four-wheel Suspension control is calculated
Power.
Further, in a kind of possible embodiment, above-mentioned state adjusts module 504, according on calculated
Active front additional rotation angle is stated, when four-wheel braking power and four-wheel suspension manipulating forces are adjusted the driving status of vehicle, specifically
For：
The current front wheel angle of vehicle is adjusted according to above-mentioned active front additional rotation angle；And according to above-mentioned four-wheel braking
Power adjusts the current four-wheel braking power size of vehicle；And the current Suspension control of vehicle is adjusted according to above-mentioned suspension manipulating forces
Power.
Embodiment five
As shown in fig. 6, the structural schematic diagram of a kind of electronic equipment 600 provided by the embodiment of the present application five, including：Processing
Device 601, memory 602 and bus 603；
Above-mentioned memory 602 is stored with the executable machine readable instructions of above-mentioned processor 601 (for example, including in Fig. 3
Module 501, the first computing module 502, the second computing module 503 and the corresponding execution of state adjustment module 504 is obtained to refer to
Enable), when electronic equipment 600 is run, communicated between above-mentioned processor 601 and above-mentioned memory 602 by bus 603, it is above-mentioned
Following processing is executed when machine readable instructions are executed by above-mentioned processor 601：
Obtain the sensed parameter detected by the sensor installed on vehicle, wherein above-mentioned sensed parameter is for reacting
The driving status of above-mentioned vehicle；
According to above-mentioned sensed parameter and vehicle attribute value, rollover evaluation of estimate is calculated；
When calculated above-mentioned rollover evaluation of estimate is more than preset threshold, according to above-mentioned sensed parameter, above-mentioned vehicle attribute
Value calculates active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces；
According to calculated above-mentioned active front additional rotation angle, the row of four-wheel braking power and four-wheel suspension manipulating forces to vehicle
The state of sailing is adjusted.
Further, in the operation that above-mentioned processor 601 is handled, stating sensed parameter includes at least one in following parameter
Kind：
The vehicle body lateral velocity that is detected by vehicle body lateral velocity sensor is detected by the gyroscope of vehicle configuration
Body roll angular speed and vehicle body yaw velocity and vehicle roll angle, the vehicle body that is detected by longitudinal vehicle speed sensor
Longitudinal speed, the steering wheel angle detected by steering wheel angle sensor, the wheel detected by vertical velocity sensor
The vertical velocity of the heart；
Above-mentioned vehicle attribute value includes：Suspension rate, suspension damping, wheelspan, wheel vertical stiffness and vehicle mass.
In addition, according to above-mentioned sensed parameter and vehicle attribute value, calculating rollover in the processing that above-mentioned processor 601 executes
Evaluation of estimate, including：
According to longitudinal speed detected by the longitudinal vehicle speed sensor being mounted on the suspension of left and right, it is vertical to calculate left and right suspension
To displacement difference, and, left and right wheels tire is calculated according to longitudinal speed detected by the longitudinal vehicle speed sensor of wheel in the heart is mounted on
Vertical change amount is poor；
Using above-mentioned vehicle roll angle, above-mentioned body roll acceleration, above-mentioned left and right suspension length travel be poor, above-mentioned left and right
Tire vertical change amount is poor, above-mentioned vehicle attribute value and preset model uncertainty parameter and preset left and right suspension control
The difference of power processed calculates above-mentioned rollover evaluation of estimate.
Further, in the processing that above-mentioned processor 601 executes, according to above-mentioned sensed parameter, it is additional to calculate active front
Corner, four-wheel braking power and four-wheel suspension manipulating forces, including：
According to above-mentioned sensed parameter, the state space equation under continuous time state is constructed, and determines state space equation
Coefficient matrix, above-mentioned state space equation is for characterizing above-mentioned sensed parameter and above-mentioned front-wheel additional rotation angle, four-wheel braking power
With the incidence relation of four-wheel suspension manipulating forces；
State space equation under above-mentioned continuous time state is converted to the state space equation under discrete-time state；
Based on the state space equation under above-mentioned discrete-time state, robust controller is constructed；
According to above-mentioned robust controller, active front additional rotation angle, four-wheel braking power and four-wheel Suspension control is calculated
Power.
In addition, in the processing that processor 601 executes, according to calculated above-mentioned active front additional rotation angle, four-wheel system
Power and four-wheel suspension manipulating forces are adjusted the driving status of vehicle, including：
The current front wheel angle of vehicle is adjusted according to above-mentioned active front additional rotation angle；And according to above-mentioned four-wheel braking
Power adjusts the current four-wheel braking power size of vehicle；And the current Suspension control of vehicle is adjusted according to above-mentioned suspension manipulating forces
Power.
Embodiment six
The embodiment of the present application also provides a kind of computer readable storage medium, is stored on the computer readable storage medium
Computer program, the computer program execute control method for vehicle above-mentioned in any of the above-described embodiment when being run by processor
Step.
Specifically, which can be general storage medium, such as mobile disk, hard disk, on the storage medium
Computer program when being run, the step of being able to carry out above-mentioned control method for vehicle, build and control to reduce mathematical model
When device processed designs, because of the influence caused by model uncertainty and external interference, the fault-tolerance of system is improved, can effectively be prevented
Only vehicle rollover.
The computer program product of control method for vehicle is carried out provided by the embodiment of the present application, including stores program generation
The computer readable storage medium of code, the instruction that above procedure code includes can be used for executing above-mentioned in previous methods embodiment
Method, specific implementation can be found in embodiment of the method, and details are not described herein.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.
If function is realized in the form of SFU software functional unit and when sold or used as an independent product, can store
In a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words to existing
Having the part for the part or the technical solution that technology contributes can be embodied in the form of software products, the computer
Software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be personal meter
Calculation machine, server or network equipment etc.) execute each embodiment method of the application all or part of the steps.And it is above-mentioned
Storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory
The various media that can store program code such as (RAM, Random Access Memory), magnetic or disk.
More than, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, and it is any to be familiar with
Those skilled in the art within the technical scope of the present application, can easily think of the change or the replacement, and should all cover
Within the protection scope of the application.Therefore, the protection scope of the application should be subject to the protection scope in claims.
Claims (10)
1. a kind of control method for vehicle, which is characterized in that including：
Obtain the sensed parameter detected by the sensor installed on vehicle, wherein the sensed parameter is described for reflecting
The driving status of vehicle；
According to the sensed parameter and vehicle attribute value, rollover evaluation of estimate is calculated；
When the calculated rollover evaluation of estimate is more than preset threshold, according to the sensed parameter, the vehicle attribute value, meter
Calculate active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces；Turn according to the calculated active front is additional
Angle, four-wheel braking power and four-wheel suspension manipulating forces are adjusted the driving status of vehicle.
2. the method according to claim 1, wherein the sensed parameter includes at least one in following parameter
Kind：
The vehicle body lateral velocity detected by vehicle body lateral velocity sensor, the vehicle detected by the gyroscope of vehicle configuration
Body roll velocity and vehicle body yaw velocity and vehicle roll angle, the vehicle body detected by longitudinal vehicle speed sensor are longitudinal
Speed, the steering wheel angle detected by steering wheel angle sensor, the core wheel that is detected by vertical velocity sensor
Vertical velocity；
The vehicle attribute value includes：Suspension rate, suspension damping, wheelspan, wheel vertical stiffness and vehicle mass.
3. according to the method described in claim 2, it is characterized in that, according to the sensed parameter and vehicle attribute value, calculation side
Evaluation of estimate is turned over, including：
According to longitudinal speed detected by the longitudinal vehicle speed sensor being mounted on the suspension of left and right, left and right suspension longitudinal direction position is calculated
It is poor to move, and, according to being mounted on, vertical velocity calculating left and right tire detected by the vertical velocity sensor of wheel in the heart is vertical
Variable quantity is poor；
Using the vehicle roll angle, the body roll acceleration, the left and right suspension length travel be poor, the left and right tire
Vertical change amount is poor, the vehicle attribute value and preset model uncertainty parameter and preset left and right suspension manipulating forces
Difference, calculate the rollover evaluation of estimate.
4. method according to claim 1 or 2, which is characterized in that it is described according to the sensed parameter, calculate active front
Additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces, including：
According to the sensed parameter, the state space equation under continuous time state is constructed, and determine state space equation is
Matrix number, the state space equation is for characterizing the sensed parameter and the front-wheel additional rotation angle, four-wheel braking power and four
Take turns the incidence relation of suspension manipulating forces；
State space equation under the continuous time state is converted to the state space equation under discrete-time state；
Based on the state space equation under the discrete-time state, robust controller is constructed；
According to the robust controller, active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces are calculated.
5. the method according to claim 1, wherein described turn according to the calculated active front is additional
Angle, four-wheel braking power and four-wheel suspension manipulating forces are adjusted the driving status of vehicle, including：
The current front wheel angle of vehicle is adjusted according to the active front additional rotation angle；And according to the four-wheel braking power tune
The current four-wheel braking power size of vehicle；And the current suspension manipulating forces of vehicle are adjusted according to the suspension manipulating forces.
6. a kind of controller of vehicle, which is characterized in that including：
Module is obtained, the sensed parameter detected for obtaining the sensor for passing through and installing on vehicle, wherein the sensed parameter
For reacting the driving status of the vehicle；
First computing module, for calculating rollover evaluation of estimate according to the sensed parameter and vehicle attribute value；
Second computing module, for when the calculated rollover evaluation of estimate is more than preset threshold, according to the sensed parameter,
Calculate active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces；
State adjusts module, for according to the calculated active front additional rotation angle, four-wheel braking power and four-wheel suspension control
Power processed is adjusted the driving status of vehicle.
7. device according to claim 6, which is characterized in that the sensed parameter includes at least one in following parameter
Kind：
The vehicle body lateral velocity detected by vehicle body lateral velocity sensor, the vehicle detected by the gyroscope of vehicle configuration
The vehicle body that body roll velocity and vehicle body yaw velocity and vehicle roll angle are detected by longitudinal vehicle speed sensor is longitudinal
Speed, the steering wheel angle detected by steering wheel angle sensor, the core wheel that is detected by vertical velocity sensor
Vertical velocity；
The vehicle attribute value includes：Suspension rate, suspension damping, wheelspan, wheel vertical stiffness and vehicle mass.
8. device according to claim 6 or 7, which is characterized in that second computing module is joined according to the induction
Number calculates active front additional rotation angle, when four-wheel braking power and four-wheel suspension manipulating forces, is specifically used for：
According to the sensed parameter, the state space equation under continuous time state is constructed, and determine state space equation is
Matrix number, the state space equation is for characterizing the sensed parameter and the front-wheel additional rotation angle, four-wheel braking power and four
Take turns the incidence relation of suspension manipulating forces；
State space equation under the continuous time state is converted to the state space equation under discrete-time state；
Based on the state space equation under the discrete-time state, robust controller is constructed；
According to the robust controller, active front additional rotation angle, four-wheel braking power and four-wheel suspension manipulating forces are calculated.
9. a kind of electronic equipment, which is characterized in that including：Processor, memory and bus, the memory are stored with the place
The executable machine readable instructions of device are managed, when electronic equipment operation, pass through bus between the processor and the memory
Communication executes the vehicle control side as described in Claims 1 to 5 is any when the machine readable instructions are executed by the processor
The step of method.
10. a kind of computer readable storage medium, which is characterized in that be stored with computer journey on the computer readable storage medium
Sequence, the step of control method for vehicle as described in Claims 1 to 5 is any is executed when which is run by processor.
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| CN112906134A (en) * | 2021-03-05 | 2021-06-04 | 吉林大学 | Fault-tolerant control strategy design method of automatic driving vehicle considering fault of brake actuator |
| CN112906134B (en) * | 2021-03-05 | 2022-05-17 | 吉林大学 | Fault-tolerant control strategy design method of automatic driving vehicle considering fault of brake actuator |
| CN113320524A (en) * | 2021-06-15 | 2021-08-31 | 广汽本田汽车有限公司 | Control method for automobile, operation control device and storage medium |
| US11938776B1 (en) | 2022-02-14 | 2024-03-26 | Zoox, Inc. | Multiple model active suspension control |
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