CN112644457A - 一种分布式驱动车辆转向稳定性控制系统及其控制方法 - Google Patents
一种分布式驱动车辆转向稳定性控制系统及其控制方法 Download PDFInfo
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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
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/068—Road friction coefficient
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/112—Roll movement
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
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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
- 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
- B60W2520/14—Yaw
-
- 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
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/40—Coefficient of friction
-
- 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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/30—Wheel torque
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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
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/40—Torque distribution
- B60W2720/406—Torque distribution between left and right wheel
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
变量 | 取值范围 | 步长 |
v<sub>x</sub>(km/h) | 60-120 | 10 |
μ | 0.0-1.0 | 0.1 |
δ<sub>f</sub>(°) | 0-10 | 0.5 |
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Cited By (12)
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---|---|---|---|---|
CN113401114A (zh) * | 2021-07-26 | 2021-09-17 | 吉林大学 | 一种半挂汽车横摆稳定性控制方法 |
CN113442906A (zh) * | 2021-06-25 | 2021-09-28 | 江苏大学 | 一种分布式驱动电动汽车横向稳定性分层控制系统及方法 |
CN113460055A (zh) * | 2021-06-11 | 2021-10-01 | 吉林大学 | 在线的车辆行驶控制区域划分及区域边界估计方法 |
CN113830075A (zh) * | 2021-11-30 | 2021-12-24 | 天津所托瑞安汽车科技有限公司 | 车辆稳定控制方法、装置、电子设备及介质 |
CN114194202A (zh) * | 2021-12-30 | 2022-03-18 | 江苏大学 | 基于相平面的车辆稳定状态判断方法、底盘协调控制方法及系统 |
CN114312752A (zh) * | 2022-01-21 | 2022-04-12 | 厦门金龙联合汽车工业有限公司 | 一种电动汽车转向车速控制方法 |
CN114312749A (zh) * | 2021-11-24 | 2022-04-12 | 中国煤炭科工集团太原研究院有限公司 | 多点独立轮边驱动矿用车辆防滑横摆转矩控制方法及设备 |
CN114537517A (zh) * | 2022-03-22 | 2022-05-27 | 陕西汽车集团股份有限公司 | 一种提升操稳性能的线控转向系统自适应反推控制方法 |
CN114670672A (zh) * | 2022-02-21 | 2022-06-28 | 北京新能源汽车股份有限公司 | 一种轮边驱动电动汽车稳定性综合控制方法及系统 |
CN115946679A (zh) * | 2023-03-15 | 2023-04-11 | 北京理工大学 | 一种车辆稳定性判断方法及系统 |
CN117092909A (zh) * | 2023-04-25 | 2023-11-21 | 江苏理工学院 | 一种车辆稳定性控制仿真方法和系统 |
CN117207974A (zh) * | 2023-09-21 | 2023-12-12 | 广州汽车集团股份有限公司 | 车辆的控制方法及装置、电子设备、存储介质 |
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Cited By (17)
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CN113460055A (zh) * | 2021-06-11 | 2021-10-01 | 吉林大学 | 在线的车辆行驶控制区域划分及区域边界估计方法 |
CN113460055B (zh) * | 2021-06-11 | 2022-05-31 | 吉林大学 | 在线的车辆行驶控制区域划分及区域边界估计方法 |
CN113442906A (zh) * | 2021-06-25 | 2021-09-28 | 江苏大学 | 一种分布式驱动电动汽车横向稳定性分层控制系统及方法 |
CN113401114A (zh) * | 2021-07-26 | 2021-09-17 | 吉林大学 | 一种半挂汽车横摆稳定性控制方法 |
CN113401114B (zh) * | 2021-07-26 | 2022-03-25 | 吉林大学 | 一种半挂汽车横摆稳定性控制方法 |
CN114312749A (zh) * | 2021-11-24 | 2022-04-12 | 中国煤炭科工集团太原研究院有限公司 | 多点独立轮边驱动矿用车辆防滑横摆转矩控制方法及设备 |
CN114312749B (zh) * | 2021-11-24 | 2024-05-07 | 中国煤炭科工集团太原研究院有限公司 | 多点独立轮边驱动矿用车辆防滑横摆转矩控制方法及设备 |
CN113830075B (zh) * | 2021-11-30 | 2022-03-11 | 天津所托瑞安汽车科技有限公司 | 车辆稳定控制方法、装置、电子设备及介质 |
CN113830075A (zh) * | 2021-11-30 | 2021-12-24 | 天津所托瑞安汽车科技有限公司 | 车辆稳定控制方法、装置、电子设备及介质 |
CN114194202A (zh) * | 2021-12-30 | 2022-03-18 | 江苏大学 | 基于相平面的车辆稳定状态判断方法、底盘协调控制方法及系统 |
CN114312752A (zh) * | 2022-01-21 | 2022-04-12 | 厦门金龙联合汽车工业有限公司 | 一种电动汽车转向车速控制方法 |
CN114312752B (zh) * | 2022-01-21 | 2023-04-25 | 厦门金龙联合汽车工业有限公司 | 一种电动汽车转向车速控制方法 |
CN114670672A (zh) * | 2022-02-21 | 2022-06-28 | 北京新能源汽车股份有限公司 | 一种轮边驱动电动汽车稳定性综合控制方法及系统 |
CN114537517A (zh) * | 2022-03-22 | 2022-05-27 | 陕西汽车集团股份有限公司 | 一种提升操稳性能的线控转向系统自适应反推控制方法 |
CN115946679A (zh) * | 2023-03-15 | 2023-04-11 | 北京理工大学 | 一种车辆稳定性判断方法及系统 |
CN117092909A (zh) * | 2023-04-25 | 2023-11-21 | 江苏理工学院 | 一种车辆稳定性控制仿真方法和系统 |
CN117207974A (zh) * | 2023-09-21 | 2023-12-12 | 广州汽车集团股份有限公司 | 车辆的控制方法及装置、电子设备、存储介质 |
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