Vehicle trajectory tracking and stability cooperative control method and device

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Vehicle trajectory tracking and stability cooperative control method and device

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ZHANG ZHIDA / XU ZHENGHAO / AN KAI / MOU JIANQIU / LIU FENG / YE YUBO / LI TAO / LIU CAN

The invention provides a vehicle trajectory tracking and stability cooperative control method and device. The method comprises the steps that vehicle body parameters and driving state parameters are obtained; determining an adaptive cooperation coefficient according to the vehicle body parameters and the driving state parameters; according to the adaptive cooperation coefficient, based on a trajectory tracking control model and a stability control model, determining a target expected yaw velocity and a target active yaw moment; a trajectory tracking control model is adjusted according to the target expected yaw velocity, and a stability control model is adjusted according to the target active yaw moment; and according to the adjusted trajectory tracking control model and the stability control model, the front wheel turning angle of the vehicle and the longitudinal force of each wheel are determined, and the vehicle is controlled. According to the method, the trajectory tracking control model and the stability control model are adjusted through the self-adaptive cooperation coefficient, trajectory tracking control and stability control of the vehicle are both considered, the stability and trajectory tracking precision of the vehicle can be guaranteed under the limiting working condition, and meanwhile energy consumption is reduced.

本申请提供了一种车辆轨迹跟踪和稳定性协同控制方法及装置，包括：获取车身参数和行驶状态参数；根据车身参数和行驶状态参数，确定自适应协同系数；根据自适应协同系数，基于轨迹跟踪控制模型和稳定性控制模型，确定目标期望横摆角速度和目标主动横摆力矩；根据目标期望横摆角速度，调整轨迹跟踪控制模型，根据目标主动横摆力矩，调整稳定性控制模型；根据调整后的轨迹跟踪控制模型和稳定性控制模型，确定车辆的前轮转角和各个车轮的纵向力，对车辆进行控制。该方法通过自适应协同系数对轨迹跟踪控制模型和稳定性控制模型进行调整，兼顾车辆的轨迹跟踪控制和稳定性控制，在极限工况下，可以保障车辆的稳定性和轨迹跟踪精度，同时降低能量消耗。

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Title :

Vehicle trajectory tracking and stability cooperative control method and device

Additional title:

一种车辆轨迹跟踪和稳定性协同控制方法及装置

Contributors:

ZHANG ZHIDA (author) / XU ZHENGHAO (author) / AN KAI (author) / MOU JIANQIU (author) / LIU FENG (author) / YE YUBO (author) / LI TAO (author) / LIU CAN (author)

Publication date :

2023-03-31

Type of media :

Patent

Type of material :

Electronic Resource

Language :

Chinese

Classification :

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