CN111559361A - 一种四轮独立驱动车辆转向制动协同控制方法 - Google Patents
一种四轮独立驱动车辆转向制动协同控制方法 Download PDFInfo
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- CN111559361A CN111559361A CN202010459751.5A CN202010459751A CN111559361A CN 111559361 A CN111559361 A CN 111559361A CN 202010459751 A CN202010459751 A CN 202010459751A CN 111559361 A CN111559361 A CN 111559361A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000013528 artificial neural network Methods 0.000 claims abstract description 24
- 230000008859 change Effects 0.000 claims description 10
- 230000001276 controlling effect Effects 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 230000005284 excitation Effects 0.000 claims description 5
- 238000012549 training Methods 0.000 claims description 4
- 238000013507 mapping Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 11
- 230000006870 function Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
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- 238000005859 coupling reaction Methods 0.000 description 1
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- 239000011159 matrix material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
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CN202010459751.5A CN111559361B (zh) | 2020-05-27 | 2020-05-27 | 一种四轮独立驱动车辆转向制动协同控制方法 |
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CN202010459751.5A CN111559361B (zh) | 2020-05-27 | 2020-05-27 | 一种四轮独立驱动车辆转向制动协同控制方法 |
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Publication Number | Publication Date |
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CN111559361A true CN111559361A (zh) | 2020-08-21 |
CN111559361B CN111559361B (zh) | 2021-06-25 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114030526A (zh) * | 2021-12-16 | 2022-02-11 | 中国科学院电工研究所 | 一种车辆主动转向控制方法及*** |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1673006A (zh) * | 2004-03-26 | 2005-09-28 | 丰田自动车株式会社 | 基于车轮纵向力的车辆行驶稳定性控制装置 |
EP2939889A1 (en) * | 2014-04-30 | 2015-11-04 | Autoliv Development AB | A vehicle safety system |
CN108944866A (zh) * | 2018-07-06 | 2018-12-07 | 长春工业大学 | 一种改善转向与制动协同控制的自适应模型预测控制算法 |
CN109144076A (zh) * | 2018-10-31 | 2019-01-04 | 吉林大学 | 一种多车辆横纵向耦合协同控制***及控制方法 |
CN109849899A (zh) * | 2019-02-01 | 2019-06-07 | 江苏大学 | 一种电动轮汽车电液复合车身稳定控制***及方法 |
-
2020
- 2020-05-27 CN CN202010459751.5A patent/CN111559361B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1673006A (zh) * | 2004-03-26 | 2005-09-28 | 丰田自动车株式会社 | 基于车轮纵向力的车辆行驶稳定性控制装置 |
EP2939889A1 (en) * | 2014-04-30 | 2015-11-04 | Autoliv Development AB | A vehicle safety system |
CN108944866A (zh) * | 2018-07-06 | 2018-12-07 | 长春工业大学 | 一种改善转向与制动协同控制的自适应模型预测控制算法 |
CN109144076A (zh) * | 2018-10-31 | 2019-01-04 | 吉林大学 | 一种多车辆横纵向耦合协同控制***及控制方法 |
CN109849899A (zh) * | 2019-02-01 | 2019-06-07 | 江苏大学 | 一种电动轮汽车电液复合车身稳定控制***及方法 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114030526A (zh) * | 2021-12-16 | 2022-02-11 | 中国科学院电工研究所 | 一种车辆主动转向控制方法及*** |
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Inventor after: Lei Yulong Inventor after: Wen Guanzheng Inventor after: Li Xingzhong Inventor after: Geng Xiaohu Inventor after: Zong Changfu Inventor after: Fu Yao Inventor after: Zheng Hongyu Inventor after: Jia Fuchun Inventor after: Wang Binyu Inventor before: Lei Yulong Inventor before: Wen Guanzheng Inventor before: Geng Xiaohu Inventor before: Zong Changfu Inventor before: Fu Yao Inventor before: Zheng Hongyu Inventor before: Li Xingzhong Inventor before: Jia Fuchun Inventor before: Wang Binyu |
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