CN101537828A - Four-wheel steering automobile stability control system - Google Patents
Four-wheel steering automobile stability control system Download PDFInfo
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- CN101537828A CN101537828A CN200910021367A CN200910021367A CN101537828A CN 101537828 A CN101537828 A CN 101537828A CN 200910021367 A CN200910021367 A CN 200910021367A CN 200910021367 A CN200910021367 A CN 200910021367A CN 101537828 A CN101537828 A CN 101537828A
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Abstract
The invention discloses a four-wheel steering automobile stability control system which comprises an automobile body slip angle measuring device, an automobile body rotation angular speed deviation measuring device and an electronic control unit, wherein the automobile body slip angle measuring device is used for detecting a deflection angle, namely, an automobile body slip angle of the speed direction of the mass center of the automobile body relative to the longitudinal axial line of the automobile in real time; the automobile body rotation angular speed deviation measuring device is used for detecting the automobile rotation angular speed deflection between the automobile body actual rotation angular speed and the driver given rotation angular speed in real time; and the electronic control unit is used for correspondingly controlling a rear wheel rotation angle controller and a braking wheel judge and braking moment distribution controller according to signals output by the automobile body slip angle measuring device and the automobile body rotation angular speed deviation measuring device in real, wherein the braking wheel judge and braking moment distribution controller controls wheel brakes of four wheels. The four-wheel steering automobile stability control system has reasonable structure, is easy and convenient to use and operate, and can effectively improve the running stability of the automobile under limit or dangerous working conditions and improve the safety of the automobile during steering at high speed at a large turning corner on a smooth road.
Description
Technical field
The present invention relates to motor turning and braking Comprehensive Control Technology field, especially relate to a kind of four-wheel steering automobile stability control system.
Background technology
The stability of automobile be meant when chaufeur by the steering dish during travel direction of given automobile, automobile can be resisted attempt and change interferences such as the external force of its driving trace or moment of face and keep stablizing the ability of travelling.The quality of stability of automobile will directly influence the quality of its road-holding property, and the forfeiture Chang Yi of stability causes chaufeur to lose control to vehicle, makes the dynamic behaviour of vehicle become unpredictable, thereby causes serious traffic accident.
The reason that causes the vehicle unstability mainly contains the following aspects: 1) since forward and backward axle and left and right side load transfer that automobile longitudinal and lateral acceleration cause vehicle is become by understeer turn to too much, thereby cause unstability; 2) response of the rotational angular velocity of automobile often lags behind the manipulation of chaufeur to bearing circle, when automobile carries out urgent lane change, because this hysteresis can make vehicle produce bigger yaw moment when turning to, can cause bigger body slip angle after effect a period of time, thereby under bigger body slip angle, chaufeur often is difficult to maneuver vehicle and causes unstability; When 3) motor tire is on the road surface of different coefficients of friction (separation road surface) respectively, cause that easily the change of very big attitude takes place automobile; In addition, uneven road surface also can cause interference such as the interference of vehicle and side direction wind and the change of automobile attitude when the body slip angle that causes because of this change is very big, just may make the automobile unstability; 4) when chaufeur in case of emergency because flurried and misoperation reaches capacity side force of tire, at this moment automobile can produce very big body slip angle, makes chaufeur come maneuver vehicle by further adjustment, causes unstability.
The above-mentioned reason of comprehensive analyses, can conclude and draw: excessive body slip angle and inappropriate car body rotational angular velocity (understeer or turn to too much) are two major causes that cause the vehicle unstability, therefore be the effective ways that improve running car stability by reasonable control to the two, but for present common simple front-wheel steering automobile, under dangerous situation, only rely on chaufeur direction of passage dish that the adjustment of vehicle front corner is guaranteed that its stability has little effect usually, therefore need additional actv. supplementary controlled system to improve the riding stability situation of vehicle.
Summary of the invention
Technical matters to be solved by this invention is at above-mentioned deficiency of the prior art, a kind of four-wheel steering automobile stability control system is provided, it is rational in infrastructure and use easy and simple to handle, can effectively improve the riding stability of automobile under the limit or dangerous operating mode, improve the safety of automobile when the at a high speed big corner of smooth road turns to.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of four-wheel steering automobile stability control system, it is characterized in that: comprise that in real time be the body slip angle measurement mechanism that body slip angle detects to car body barycenter place velocity reversal with respect to the deflection angle of car body longitudinal axis, the real-time car body rotational angular velocity deviation measurement mechanism that the car body rotational angular velocity deviation between car body actual rotation cireular frequency and the given rotational angular velocity of chaufeur is detected, and tackle the electronic control unit that trailing wheel rotary corner controller and brake wheel judgement and lock torque dispensing controller are controlled mutually with the real-time institute of car body rotational angular velocity deviation measurement mechanism output signal according to the body slip angle measurement mechanism;
Described brake wheel is judged and the lock torque dispensing controller is according to electronic control unit institute output signal, and whether judgement needs the left side of four-wheel steering automobile or right side wheels is braked and the controller of the lock torque of corresponding concrete distribution need brake side front and back wheel; Described brake wheel is judged and the lock torque dispensing controller is controlled the car side brake of four wheels respectively.
Described body slip angle measurement mechanism comprises the longitudinal velocity sensor that in real time the car body longitudinal velocity is detected, the side velocity sensor that in real time the car body side velocity is detected, and according to the corresponding body slip angle controller that calculates described body slip angle with side velocity sensor institute detection signal of longitudinal velocity sensor.
Described car body rotational angular velocity deviation measurement mechanism comprises the steering wheel angle sensor that in real time steering wheel angle is detected, the car body rotational angular velocity sensor that in real time the car body rotational angular velocity is detected, and steering wheel angle sensor and car body rotational angular velocity sensor institute detection signal analyzed comparison and in conjunction with calculating the desirable vehicle dynamic model that draws, the corresponding car body rotational angular velocity deviation control device that calculates described car body rotational angular velocity deviation; Described car body rotational angular velocity sensor is installed in the car body barycenter.
Described electronic control unit comprises the vehicle stability decision-making function module of vehicle stability being carried out the real-time analysis judgement, and tackles the fuzzy control functional module that trailing wheel rotary corner controller and brake wheel judgement and lock torque dispensing controller are controlled mutually according to vehicle stability decision-making function module institute output signal; Described vehicle stability decision-making function module is controlled for tackling the fuzzy control functional module mutually according to body slip angle measurement mechanism and car body rotational angular velocity deviation measurement mechanism institute output signal.
The present invention compared with prior art has the following advantages, and 1, improved the riding stability of automobile when the at a high speed big corner of smooth road turns to.2, reduced the sharp commentaries on classics that automobile causes because of unstability, tumble, probability that traffic accident such as collision takes place.3, adopt trailing wheel also to participate in the four-wheel steering automobile that turns to, four-wheel steering automobile is meant can be by the control of chaufeur direction of passage dish except that the vehicle front-wheel rotation, and its trailing wheel also can rotate by controller; Because trailing wheel initiatively participated in turning to, thereby can reduce body slip angle and increase the nargin of side force of tire, make it away from saturation conditions; Owing to made full use of the side force of all tire, adopt four-wheel steering to improve the riding stability of automobile to a certain extent.In addition, when vehicle is about to loss of stability, to the braking of taking the initiative of each wheel, can reduce Vehicle Speed on the one hand and reduce danger, also can regulate with change the longitudinal force of tire on the other hand and order about the yaw moment of vehicle rotation and guarantee stability, also be a kind of method that improves running car stability so wheel is carried out initiatively braking.Obviously, adopt four-wheel steering and initiatively brake synergy, will be more effective to the riding stability that improves vehicle, to sum up, the present invention has improved the road-holding property of vehicle again when improving vehicle stability; 4, adopt the stability analysis judgment technology, can effectively avoid the frequent effect of control system and cause interference automobile normal running.To sum up, the present invention is rational in infrastructure and use easy and simple to handle, can effectively improve the riding stability of automobile under the limit or dangerous operating mode, improve the safety of automobile when the at a high speed big corner of smooth road turns to, be applicable to that mainly running car is in pavement friction inclement condition (as smooth ice-patch surface) situation, it is very limited that this moment, ground can offer the side force of tire, big corner steered vehicle is easy to loss of stability if chaufeur carries out high speed again, and this stabilitrak can fully effectively play a role.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Description of drawings
Fig. 1 is a circuit block diagram of the present invention.
Fig. 2 is control principle figure of the present invention.
Description of reference numerals:
The 1-steering wheel angle sensor; 2-car body rotational angular velocity passes 3-car body rotational angular velocity
Sensor; The deviation measurement mechanism;
The 4-electronic control unit; 5-trailing wheel rotary corner controller; 6-wheel braking controller;
7-fuzzy control functional module; 8-vehicle stabilization sex determination merit 9-side velocity sensor;
The energy module;
The 10-body slip angle is measured dress 11-longitudinal velocity sensor; The control of 12-body slip angle
Put; Device;
The inclined to one side 14-brake wheel of 13-car body rotational angular velocity is judged and the desirable vehicle dynamics of system 15-
Difference controller; The kinetic moment dispensing controller; Model;
The 16-four-wheel steering automobile.
The specific embodiment
As shown in Figure 1, the present invention includes in real time car body barycenter place velocity reversal is the body slip angle measurement mechanism 10 that body slip angle detects with respect to the deflection angle of car body longitudinal axis, the real-time car body rotational angular velocity deviation measurement mechanism 3 that the car body rotational angular velocity deviation between car body actual rotation cireular frequency and the given rotational angular velocity of chaufeur is detected, and tackle the electronic control unit 4 that trailing wheel rotary corner controller 5 and brake wheel judgement and lock torque dispensing controller 14 are controlled mutually according to body slip angle measurement mechanism 10 and car body rotational angular velocity deviation measurement mechanism 3 real-time institute output signals.
Wherein, described brake wheel is judged and lock torque dispensing controller 14 is according to 4 output signals of electronic control unit, and whether judgement needs the left side of four-wheel steering automobile or right side wheels is braked and the controller of the lock torque of corresponding concrete distribution need brake side front and back wheel.Described brake wheel is judged and lock torque dispensing controller 14 is controlled the car side brake 6 of four wheels respectively.
Described body slip angle measurement mechanism 10 comprises the longitudinal velocity sensor 11 that in real time the car body longitudinal velocity is detected, the side velocity sensor 9 that in real time the car body side velocity is detected, and according to the corresponding body slip angle controller 12 that calculates described body slip angle with 9 detection signals of side velocity sensor of longitudinal velocity sensor 11.
Described car body rotational angular velocity deviation measurement mechanism 3 comprises the steering wheel angle sensor 1 that in real time steering wheel angle is detected, the car body rotational angular velocity sensor 2 that in real time the car body rotational angular velocity is detected, and steering wheel angle sensor 1 and 2 detection signals of car body rotational angular velocity sensor are analyzed comparison and in conjunction with calculating the desirable vehicle dynamic model 15 that draws, the corresponding car body rotational angular velocity deviation control device 13 that calculates described car body rotational angular velocity deviation.Wherein, the car body rotational angular velocity is meant that car body walks around car body barycenter vertical axis rotational angular.Described car body rotational angular velocity sensor 2 is installed in the car body barycenter.
Described electronic control unit 4 comprises the vehicle stability decision-making function module 8 of vehicle stability being carried out the real-time analysis judgement, and tackles the fuzzy control functional module 7 that trailing wheel rotary corner controller 5 and brake wheel judgement and lock torque dispensing controller 14 are controlled mutually according to 8 output signals of vehicle stability decision-making function module.Described vehicle stability decision-making function module 8 is controlled for tackling fuzzy control functional module 7 mutually according to 3 output signals of body slip angle measurement mechanism 10 and car body rotational angular velocity deviation measurement mechanism.
Working process of the present invention is: in vehicle traveling process, body slip angle measurement mechanism 10 real-time inspection vehicle physique heart velocity reversals are with respect to the deflection angle (being body slip angle) of the vertical diad of car body, above-mentioned deflection angle is that body slip angle impassabitity sensor is directly measured, but learn relation by body slip angle controller 12 according to vehicle movement longitudinal velocity sensor 11 and 9 detection signals of side velocity sensor is carried out analyzing and processing computing gained; Meanwhile, car body rotational angular velocity deviation measurement mechanism 3 detects the actual rotation magnitude of angular velocity of car body in real time by car body rotational angular velocity sensor 2 (being generally vehicle-mounted gyroscope), and compares and draw deviation between the two by the car body rotational angular velocity deviation control device 13 car body rotational angular velocity value that this car body actual rotation magnitude of angular velocity and chaufeur is given.Wherein, chaufeur given rotational angular velocity embodied chaufeur predetermined turn to intention, represented a kind of desirable steering state of automobile, 1 detection signal of its direction of passage dish rotary angle transmitter and be associated ideal vehicle dynamic model 15 by Vehicle Speed and according to given vehicle dynamics relation is calculated by car body rotational angular velocity deviation control device 13.Afterwards, body slip angle measurement mechanism 10 and car body rotational angular velocity deviation measurement mechanism 3 are delivered to electronic control unit 4 with body slip angle and rotational angular velocity deviate that it drew.Electronic control unit 4 is at first by its embedded vehicle stability decision-making function module 8, the car body deflection angle and the rotational angular velocity departure that are received are analyzed according to preset threshold, if the two exceeds the threshold value that sets and thinks that then vehicle need carry out Stability Control near instability status, if the two thinks then that less than the threshold value that sets automobile does not still need to carry out Stability Control at the safety traffic state.When needs carry out Stability Control, fuzzy control functional module 7 in the electronic control unit 4 will play a role, fuzzy control functional module 7 essence are a two-dimensional fuzzy controller, this controller has given subordinate function and fuzzy inference rule, its control input parameter is above-mentioned body slip angle and rotational angular velocity departure, and the controlling quantity of its output then is automobile back wheel corner and needed correction yaw moment value; At this moment, brake wheel is judged and lock torque distribution module 14 will be analyzed the direction and the size of received correction yaw moment signal, to determine still to be that right side wheels is braked to the left side of automobile, simultaneously need the needed separately lock torque size of brake side forward and backward axle wheel specifically to distribute to automobile according to the method for setting, and with the definite signal conveys of institute to the wheel braking controller 6 that needs brake; At last, it is that four-wheel steering automobile 16 is controlled that trailing wheel rotary corner controller 5 will be tackled vehicle with the wheel braking signal according to the trailing wheel corner that is obtained mutually with car side brake 6, finally reach the unstability situation of proofreading and correct automobile, avoid traffic accident and take place and the purpose that improves driving safety.
In conjunction with Fig. 2, the vehicle stability decision-making function module 8 in the electronic control unit 4 is at first with phase path and car body actual rotation cireular frequency r and the given rotational angular velocity r of chaufeur of car body side slip angle β
dDeviation e as the vehicle associating decision signal of loss of stability whether, the driving of going forward side by side is that the unstability of four-wheel steering automobile 16 is judged.When judging that vehicle is about to or during loses stability, fuzzy control functional module 7 will play a role, and will export the required trailing wheel corner δ in order to proofread and correct the vehicle unstability through controller behind the fuzzy reasoning
rWith proofread and correct yaw moment value Δ M, this corrections yaw moment Δ M is by being that front and back wheel is braked acquisition simultaneously to the left side of vehicle or forward and backward wheel of right side wheels; The lock torque T of each car side brake
bBe according to the direction of proofreading and correct yaw moment Δ M and size is judged by brake wheel and lock torque distribution module 14 is given, detailed process is: at first judge that according to the direction of proofreading and correct yaw moment Δ M needs brake the left side or the right side wheels of automobile; Need the needed separately lock torque size of brake side forward and backward axle wheel specifically to distribute then according to the size of proofreading and correct yaw moment Δ M, and according to the method for setting to automobile; Vehicle front-wheel corner δ
fControl by chaufeur direction of passage dish.Finally, at front wheel angle δ
f, trailing wheel corner δ
rWith brake braking force square T
bCombined action under, vehicle will be forced to return to stabilized conditions, thus the generation that avoids traffic accident.Wherein, car body actual rotation cireular frequency r measures gained by car body rotational angular velocity sensor 4 (being generally vehicle-mounted gyroscope); The given rotational angular velocity r of chaufeur
dUtilize the input corner δ of chaufeur to bearing circle
w, and according to desirable auto model kinetics relation calculating gained; δ
wBe steering wheel angle, can pass through given steering gear ratio i be converted to cooresponding front wheel angle δ
f(δ
f=δ
w/ i); Body slip angle β is that body slip angle controller 12 is learned the car body side slip angle that relation calculates longitudinal velocity sensor 11 and 9 output signals of side velocity sensor according to vehicle movement.
The above; it only is preferred embodiment of the present invention; be not that the present invention is imposed any restrictions, everyly any simple modification that above embodiment did, change and equivalent structure changed, all still belong in the protection domain of technical solution of the present invention according to the technology of the present invention essence.
Claims (4)
1. four-wheel steering automobile stability control system, it is characterized in that: comprise that in real time be the body slip angle measurement mechanism (10) that body slip angle detects to car body barycenter place velocity reversal with respect to the deflection angle of car body longitudinal axis, the real-time car body rotational angular velocity deviation measurement mechanism (3) that the car body rotational angular velocity deviation between car body actual rotation cireular frequency and the given rotational angular velocity of chaufeur is detected, and tackle the electronic control unit (4) that trailing wheel rotary corner controller (5) and brake wheel judgement and lock torque dispensing controller (14) are controlled mutually according to body slip angle measurement mechanism (10) and the real-time institute of car body rotational angular velocity deviation measurement mechanism (3) output signal;
Described brake wheel is judged and lock torque dispensing controller (14) is according to electronic control unit (4) institute output signal, and whether judgement needs the left side of four-wheel steering automobile or right side wheels is braked and the controller of the lock torque of corresponding concrete distribution need brake side front and back wheel; Described brake wheel is judged and lock torque dispensing controller (14) is controlled the car side brake (6) of four wheels respectively.
2. according to the described four-wheel steering automobile stability control system of claim 1, it is characterized in that: described body slip angle measurement mechanism (10) comprises the longitudinal velocity sensor (11) that in real time the car body longitudinal velocity is detected, the side velocity sensor (9) that in real time the car body side velocity is detected, and according to the corresponding body slip angle controller (12) that calculates described body slip angle with side velocity sensor (9) institute detection signal of longitudinal velocity sensor (11).
3. according to claim 1 or 2 described four-wheel steering automobile stability control systems, it is characterized in that: described car body rotational angular velocity deviation measurement mechanism (3) comprises the steering wheel angle sensor (1) that in real time steering wheel angle is detected, the real-time car body rotational angular velocity sensor (2) that the car body rotational angular velocity is detected, and steering wheel angle sensor (1) and car body rotational angular velocity sensor (2) institute detection signal analyzed comparison and in conjunction with calculating the desirable vehicle dynamic model (15) that draws, the corresponding car body rotational angular velocity deviation control device (13) that calculates described car body rotational angular velocity deviation; Described car body rotational angular velocity sensor (2) is installed in the car body barycenter.
4. according to claim 1 or 2 described four-wheel steering automobile stability control systems, it is characterized in that: described electronic control unit (4) comprises that vehicle stability is carried out vehicle stability decision-making function module (8) the institute output signal that real-time analysis judges tackles the fuzzy control functional module (7) that trailing wheel rotary corner controller (5) and brake wheel judgement and lock torque dispensing controller (14) are controlled mutually; Described vehicle stability decision-making function module (8) is controlled for tackling fuzzy control functional module (7) mutually according to body slip angle measurement mechanism (10) and car body rotational angular velocity deviation measurement mechanism (3) institute output signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100213670A CN101537828B (en) | 2009-03-04 | 2009-03-04 | Four-wheel steering automobile stability control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100213670A CN101537828B (en) | 2009-03-04 | 2009-03-04 | Four-wheel steering automobile stability control system |
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| CN101537828A true CN101537828A (en) | 2009-09-23 |
| CN101537828B CN101537828B (en) | 2011-10-19 |
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| CN2009100213670A Expired - Fee Related CN101537828B (en) | 2009-03-04 | 2009-03-04 | Four-wheel steering automobile stability control system |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009653A (en) * | 2010-11-10 | 2011-04-13 | 清华大学 | Wheel barycenter distortion angle observation method integrated with Kalman filtering and acceleration integral |
| CN102490705A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Electronic mechanical brake system and automobile adopting same |
| CN102874308A (en) * | 2012-10-11 | 2013-01-16 | 吉林大学 | Angle transmission ratio control method of wire control steering system based on control lever |
| CN107200013A (en) * | 2016-03-15 | 2017-09-26 | 通用汽车环球科技运作有限责任公司 | The system and method determined for able state in driver-commanded interpreter |
| CN107416021A (en) * | 2017-06-19 | 2017-12-01 | 北京长城华冠汽车科技股份有限公司 | Four-wheel steering control method, device and the vehicle of vehicle |
| CN114261385A (en) * | 2021-12-10 | 2022-04-01 | 吉林大学 | Vehicle stability control method for low-adhesion road surface |
| CN115003572A (en) * | 2020-01-17 | 2022-09-02 | 株式会社爱德克斯 | Brake control device |
| CN116176563A (en) * | 2022-09-28 | 2023-05-30 | 长安大学 | Distributed driving electric vehicle stability control method based on extension evolution game |
| CN117400951A (en) * | 2023-10-26 | 2024-01-16 | 长安大学 | Integrated control method for operation stability of distributed driving electric automobile and related equipment |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004009857A (en) * | 2002-06-05 | 2004-01-15 | Mitsubishi Motors Corp | Steering control device for vehicle |
| EP1547887B1 (en) * | 2003-11-26 | 2010-06-16 | Nissan Motor Company, Limited | Automotive lane deviation prevention apparatus |
| CN201362249Y (en) * | 2009-03-04 | 2009-12-16 | 长安大学 | Four-wheel steering vehicle stability controlling system |
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2009
- 2009-03-04 CN CN2009100213670A patent/CN101537828B/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009653A (en) * | 2010-11-10 | 2011-04-13 | 清华大学 | Wheel barycenter distortion angle observation method integrated with Kalman filtering and acceleration integral |
| CN102009653B (en) * | 2010-11-10 | 2013-03-27 | 清华大学 | Wheel barycenter distortion angle observation method integrated with Kalman filtering and acceleration integral |
| CN102490705A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Electronic mechanical brake system and automobile adopting same |
| CN102874308A (en) * | 2012-10-11 | 2013-01-16 | 吉林大学 | Angle transmission ratio control method of wire control steering system based on control lever |
| CN102874308B (en) * | 2012-10-11 | 2015-07-01 | 吉林大学 | Angle transmission ratio control method of wire control steering system based on control lever |
| CN107200013A (en) * | 2016-03-15 | 2017-09-26 | 通用汽车环球科技运作有限责任公司 | The system and method determined for able state in driver-commanded interpreter |
| CN107416021A (en) * | 2017-06-19 | 2017-12-01 | 北京长城华冠汽车科技股份有限公司 | Four-wheel steering control method, device and the vehicle of vehicle |
| CN115003572A (en) * | 2020-01-17 | 2022-09-02 | 株式会社爱德克斯 | Brake control device |
| CN115003572B (en) * | 2020-01-17 | 2024-04-16 | 株式会社爱德克斯 | Brake control device |
| CN114261385A (en) * | 2021-12-10 | 2022-04-01 | 吉林大学 | Vehicle stability control method for low-adhesion road surface |
| CN114261385B (en) * | 2021-12-10 | 2024-02-09 | 吉林大学 | Vehicle stability control method for low-adhesion road surface |
| CN116176563A (en) * | 2022-09-28 | 2023-05-30 | 长安大学 | Distributed driving electric vehicle stability control method based on extension evolution game |
| CN116176563B (en) * | 2022-09-28 | 2023-12-08 | 长安大学 | Distributed driving electric vehicle stability control method based on extension evolution game |
| CN117400951A (en) * | 2023-10-26 | 2024-01-16 | 长安大学 | Integrated control method for operation stability of distributed driving electric automobile and related equipment |
| CN117400951B (en) * | 2023-10-26 | 2024-05-10 | 长安大学 | Integrated control method for operation stability of distributed driving electric automobile and related equipment |
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