The invention discloses a vehicle stable state judgment method based on a phase plane and a chassis coordination control method and system, and the method comprises the steps: obtaining a stability domain, a coordination control domain and an instability domain which represent the vehicle stable state through the vehicle stable state judgment method based on the phase plane; judging the stable state of the current vehicle in combination with the side slip angle and the derivative of the side slip angle; the total additional yawing moment is distributed to the AFS subsystem and the DYC subsystem according to the stable state of the vehicle, and if the vehicle is in a stable domain, the AFS subsystem works independently; if the vehicle is in the instability domain, the DYC subsystem works independently; if the vehicle is in the cooperative control domain, the Sigmoid function is adopted to calculate the additional yawing moment specific gravity distributed by the AFS subsystem and the DYC subsystem, and chassis cooperative control is achieved; the invention further provides a chassis coordination control system, and more accurate chassis coordination control under different working conditions is achieved.
本发明公开了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,首先基于相平面的车辆稳定状态判断方法得到表征车辆稳定状态的稳定域、协同控制域和失稳域,结合质心侧偏角及其导数实现对当前车辆稳定状态进行判断;根据车辆稳定状态将总的附加横摆力矩分配给AFS子系统和DYC子系统,若车辆处于稳定域,由AFS子系统单独工作;若车辆处于失稳域,由DYC子系统单独工作;若车辆处于协同控制域中采用Sigmoid函数进行计算AFS子系统和DYC子系统分配的附加横摆力矩比重,实现底盘协调控制;且本申请还提出了底盘协调控制系统,实现在不同工况下更精准的底盘协调控制。
Vehicle stable state judgment method based on phase plane and chassis coordination control method and system
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
2022-03-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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