A vehicle lateral stability control method based on the heuristic algorithm

• Main Authors: Li, Hongyi, Li, Pengxu, Lu, Renquan, Li, Panshuo
• Format: Patent
• Language: English
• Published: 01.10.2020
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

This invention discloses a vehicle lateral stability control method based on a heuristic algorithm, which includes the following steps: collecting vehicle parameters. The parameters to be collected include inherent parameters and real-time parameters of the vehicle. Inherent parameters include the total mass of the vehicle m, the moment of inertia I, the distances from the front and rear axles to the center of gravity of the vehicle, f and r, and the covering stiffness of the front and rear wheels, Cf and Cr. These parameters are inherent to the vehicle and can be collected and stored in advance. A heuristic algorithm is used to solve the output-feedback controller in this invention, and the complicated iteration in traditional solving method can be avoided. By considering the longitudinal speed and tire cornering stiffness of the vehicle as uncertain parameters, the controller designed in this invention is more robust. The sideslip angle and raw rate of the vehicle can be controlled in a reasonable level by implement the calculated yaw moment, and the vehicle lateral stability and handling performance can also be improved. The dangerous situations during the driving can be avoided effectively. Fyr F Y Yp x ar A , T if Fig. 1 Linear 2-DOF vehicle model Measurement of vehicle parameters Steering inu+| Vehicle state- Ks Vhl t atic K"f Controller Control force Acutr feedback model output-feedback calculations distribution *Atatr model Fig. 2 Control system diagram