CN116767180B - Coordination control method for active front wheel steering and active suspension system of vehicle - Google Patents

Coordination control method for active front wheel steering and active suspension system of vehicle Download PDF

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CN116767180B
CN116767180B CN202311076379.XA CN202311076379A CN116767180B CN 116767180 B CN116767180 B CN 116767180B CN 202311076379 A CN202311076379 A CN 202311076379A CN 116767180 B CN116767180 B CN 116767180B
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vehicle
active
front wheel
steering
wheel steering
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CN116767180A (en
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周晨
徐飞翔
程德强
刘海
缪燕子
寇旗旗
冯仕咏
王衍辰
王鹏程
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China University of Mining and Technology CUMT
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • 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
    • 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
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • 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
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/40—Steering conditions
    • B60G2400/41—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/821—Uneven, rough road sensing affecting vehicle body vibration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/18—Automatic control means

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention belongs to the technical field of vehicle dynamics control, in particular to a coordination control method of a vehicle active front wheel steering and active suspension system, which takes road surface unevenness, vehicle steering wheel rotation angle and vehicle speed as input characteristics, and outputs control weights of vehicle running smoothness and steering stability based on a deep convolutional neural network decision model; based on the obtained weight, designing a vehicle cooperative dynamic game cost function considering driving smoothness and steering stability, taking control signals of an active front wheel steering and active suspension system as design variables, taking geometric limitation of an actuating mechanism of the active front wheel steering and active suspension system as constraint conditions, and building an active front wheel steering and active suspension game model based on a vehicle dynamics model; and carrying out profit distribution according to the Charpy value to obtain the optimal control strategy of the vehicles in the double-party game, namely obtaining the turning angle of the active front wheels of the vehicles and the active suspension as the power, and realizing the dynamic coordination control of the active front wheel steering and the active suspension system of the vehicles.

Description

Coordination control method for active front wheel steering and active suspension system of vehicle
Technical Field
The invention relates to the technical field of vehicle dynamics control, in particular to a coordination control method of a vehicle active front wheel steering and active suspension system.
Background
In order to improve the running smoothness and the steering stability of the vehicle, students at home and abroad mainly develop researches on an active suspension system and an active front wheel steering system. However, since there is a mutual coupling action of tire force, dynamic load distribution, motion relation, etc. between the active suspension and the active front wheel steering system, it is difficult to control both systems separately to exert their actions. Therefore, how to coordinate the active suspension and the active front wheel steering system to optimize the running smoothness and the steering stability of the vehicle is a key problem to be solved in the current vehicle dynamics control.
Compared with the traditional coordination control method of the vehicle active suspension and the active front wheel steering system, the dynamic game control method can effectively solve the problems of decision and control of conflict among multiple bodies and multiple systems, and the coupling effect between the vehicle active suspension and the active front wheel steering system is eliminated to the greatest extent, so that the running smoothness and the steering stability of the vehicle are comprehensively improved. However, in the conventional game control, the control target weights of the active suspension and the active front wheel steering system are not dynamically adjusted, so that the control weights of the vehicle driving smoothness and the steering stability cannot be adaptively corrected, and the coordination control effect of the dynamic game method on the active front wheel steering and the active suspension system cannot be maximally exerted.
Therefore, we propose a method for controlling the coordination of the active front wheel steering and the active suspension system of the vehicle to solve the above problems.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a coordination control method for an active front wheel steering and active suspension system of a vehicle, which solves the problems that the control target weights of the active suspension and the active front wheel steering system are not dynamically adjusted in the traditional game control, so that the control weights of the vehicle driving smoothness and the control stability cannot be adaptively corrected, and the coordination control effect of the dynamic game method on the active front wheel steering and the active suspension system cannot be maximally exerted.
(II) technical scheme
The invention adopts the following technical scheme for realizing the purposes:
a coordination control method for active front wheel steering and active suspension system of a vehicle comprises the following steps:
step one: taking road surface unevenness, vehicle steering wheel rotation angle and vehicle speed as input characteristics, and outputting control weights of vehicle running smoothness and steering stability based on a deep convolutional neural network decision model;
step two: based on the obtained weight, designing a vehicle cooperative dynamic game cost function considering driving smoothness and steering stability, taking control signals of an active front wheel steering and active suspension system as design variables, taking geometric limitation of an actuating mechanism of the active front wheel steering and active suspension system as constraint conditions, and building an active front wheel steering and active suspension game model based on a vehicle dynamics model;
step three: and carrying out profit distribution according to the Charpy value to obtain an optimal control strategy of the vehicle in the game of two parties, namely obtaining the rotation angle of the active wheels and the active suspension as power, and realizing the dynamic coordination control of the active front wheel steering and the active suspension system of the vehicle.
Further, in the first step, the sample set of the deep convolutional neural network decision model is derived from a whole vehicle experimental test platform and a vehicle dynamics model (simulation platform).
Further, the method for realizing the dynamic coordination control of the active front wheel steering and the active suspension system of the vehicle comprises the following steps:
definition of control output signalsIs the active front wheel steering angleAnd active suspension as powerRespectively representing a left front wheel, a right front wheel, a left rear wheel and a right rear wheel); due to the constraint of the physical actuator, the active front wheel steering angle +.>And active suspension actuation force->There are also certain constraints, as follows:
；
wherein:the threshold values of the active front wheel rotation angle and the active suspension actuation force are respectively represented.
Furthermore, due to the constraints of the steering and suspension system actuators, the following constraints still exist:
；
wherein:respectively indicate the rotation angle of each wheel>Respectively represents the displacement of the suspension actuator corresponding to each wheel,the wheel rotation angle and the threshold value of the suspension actuator displacement corresponding to the wheel are respectively represented.
In order to design an active front wheel steering and active suspension game controller, a traditional vehicle dynamics model comprising 4 unsprung mass vertical motions and 7 degrees of freedom of vehicle body pitching, rolling and centroid vertical motions is constructed, and the state space is as follows:
；
wherein:is a system state variable, +.>Is a control input,/->Is a variable of the disturbance which is referred to as disturbance,the matrices corresponding to the system state variables, control inputs and disturbance variables, respectively.
In order to achieve overall optimal performance of vehicle driving smoothness and steering stability, a vehicle cooperation dynamic game cost function is built based on weights obtained by a deep convolutional neural network decision modelThe following is shown:
；
wherein:control weights respectively representing ride comfort and steering stability of the vehicle, +.>Respectively representing the weight matrix corresponding to the state variable, the control input and the disturbance variable, +.>Respectively represent the running of vehiclesEvaluation index of ride and steering stability, wherein ∈ ->The weight is obtained by weighting the indexes such as the traditional vehicle body vertical acceleration root mean square, the suspension dynamic travel root mean square, the tire dynamic load root mean square and the like,the vehicle body yaw angle is obtained by weighting the indexes such as the traditional vehicle body pitch angle root mean square, the traditional vehicle body roll angle root mean square, the traditional vehicle body yaw rate root mean square and the like.
Based on the game cost function, the design variables and the constraint conditions, the following dynamic game model of the vehicle active front wheel steering and active suspension system is constructed, and the dynamic game model is as follows:
；
wherein: min represents minimization.
And carrying out profit distribution based on the Charpy value, solving the dynamic game model, and obtaining the optimal control strategy of the vehicle in the game of two parties, namely obtaining the steering angle of the active front wheel and the active suspension as the power, thereby realizing the dynamic coordination control of the active front wheel steering and the active suspension system of the vehicle.
(III) beneficial effects
Compared with the prior art, the invention provides a coordination control method for the active front wheel steering and the active suspension system of a vehicle, which has the following beneficial effects:
according to the invention, the decision model based on the deep convolutional neural network is constructed, the control target weights of the active front wheel steering and the active front wheel steering system are decided in real time, the dynamic game model of the two parties is constructed based on the obtained weights, and the self-adaptive adjustment weights can exert the coordination control effect of the game control method on the active front wheel steering and the active suspension system of the vehicle to the maximum extent.
Drawings
FIG. 1 is a block diagram of a coordinated control system for an active front wheel steering and active suspension system of a vehicle according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples
As shown in fig. 1, a method for controlling the coordination of the steering and the active suspension system of the active front wheel of a vehicle according to an embodiment of the present invention includes the following steps:
step one: taking road surface unevenness, vehicle steering wheel rotation angle and vehicle speed as input characteristics, and outputting control weights of vehicle running smoothness and steering stability based on a deep convolution network decision model; the sample set of the deep convolutional neural network decision model is derived from a whole vehicle experimental test platform and a vehicle dynamics model (a simulation platform);
step two: based on the obtained weight, designing a vehicle cooperative dynamic game cost function considering driving smoothness and steering stability, taking control signals of an active front wheel steering and active suspension system as design variables, taking geometric limitation of an actuating mechanism of the active front wheel steering and active suspension system as constraint conditions, and building an active front wheel steering and active suspension game model based on a vehicle dynamics model;
step three: and carrying out profit distribution according to the Charpy value to obtain an optimal control strategy of the vehicle in the game of two parties, namely obtaining the turning angle of the active front wheel and the active suspension as power, and realizing the dynamic coordination control of the active front wheel steering and the active suspension system of the vehicle.
The specific mode for realizing the dynamic coordination control of the active front wheel steering and the active suspension system of the vehicle is as follows:
the invention defines the output signal of the game controller as the front wheel steering angle of the initiativeAnd active suspension as powerRespectively representing a left front wheel, a right front wheel, a left rear wheel and a right rear wheel); due to the constraint of the physical actuator, the active front wheel steering angle +.>And active suspension actuation force->There are also certain constraints, as follows:
；
wherein:the threshold values of the active front wheel rotation angle and the active suspension actuation force are respectively represented.
Furthermore, due to the constraints of the steering and suspension system actuators, the following constraints still exist:
；
wherein:respectively indicate the rotation angle of each wheel>Respectively represents the displacement of the suspension actuator corresponding to each wheel,the wheel rotation angle and the threshold value of the suspension actuator displacement corresponding to the wheel are respectively represented.
In order to design an active front wheel steering and active suspension game controller, a traditional vehicle dynamics model comprising 4 unsprung mass vertical motions and 7 degrees of freedom of vehicle body pitching, rolling and centroid vertical motions is constructed, and the state space is as follows:
；
wherein:is a system state variable, +.>Is a control input,/->Is a variable of the disturbance which is referred to as disturbance,the matrices corresponding to the system state variables, control inputs and disturbance variables, respectively.
In order to achieve overall optimal performance of vehicle driving smoothness and steering stability, a vehicle cooperation dynamic game cost function is built based on weights obtained by a deep convolutional neural network decision modelThe following is shown:
；
wherein:control weights respectively representing ride comfort and steering stability of the vehicle, +.>Respectively representing the weight matrix corresponding to the state variable, the control input and the disturbance variable, +.>Evaluation indicators, each of which represents the ride comfort and the steering stability of the vehicle, wherein>The weight is obtained by weighting the indexes such as the traditional vehicle body vertical acceleration root mean square, the suspension dynamic travel root mean square, the tire dynamic load root mean square and the like,the vehicle body yaw angle is obtained by weighting the indexes such as the traditional vehicle body pitch angle root mean square, the traditional vehicle body roll angle root mean square, the traditional vehicle body yaw rate root mean square and the like.
Based on the game cost function, the design variables and the constraint conditions, the following dynamic game model of the vehicle active front wheel steering and active suspension system is constructed, and the dynamic game model is as follows:
；
wherein: min represents minimization.
And carrying out profit distribution based on the Charpy value, solving the dynamic game model, and obtaining the optimal control strategy of the vehicle in the game of two parties, namely obtaining the driving front wheel steering angle and the driving suspension system as power, and realizing the dynamic coordination control of the driving front wheel steering and the driving suspension system of the vehicle.
The dynamic coordination control method of the active front wheel steering and active suspension system of the vehicle runs on a vehicle terminal device and can be an industrial personal computer, an embedded controller device and the like.
In order to overcome the defect that the control target weights of the active suspension and the active front wheel steering system are not dynamically adjusted in the traditional game control, a decision model based on a deep convolutional neural network is constructed, the control target weights of the active suspension and the active front wheel steering system are decided in real time, a two-party dynamic game model is constructed based on the obtained weights, and the self-adaptively adjusted weights can exert the coordination control effect of the game control method on the active front wheel steering and the active suspension system of the vehicle to the maximum extent.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (2)

1. A coordination control method for active front wheel steering and active suspension system of a vehicle is characterized in that: the method comprises the following steps:
step one: taking road surface unevenness, vehicle steering wheel rotation angle and vehicle speed as input characteristics, and outputting control weights of vehicle running smoothness and steering stability based on a deep convolutional neural network decision model;
step two: based on the obtained weight, designing a vehicle cooperative dynamic game cost function considering driving smoothness and steering stability, taking control signals of an active front wheel steering and active suspension system as design variables, taking geometric limitation of an actuating mechanism of the active front wheel steering and active suspension system as constraint conditions, and building an active front wheel steering and active suspension game model based on a vehicle dynamics model;
step three: the method comprises the steps of carrying out profit distribution according to the Charpy value to obtain an optimal control strategy of a vehicle in a game of two parties, namely obtaining the rotation angle of an active front wheel and the active suspension as power, and realizing dynamic coordination control of the active front wheel steering and the active suspension system of the vehicle;
the method for realizing the dynamic coordination control of the active front wheel steering and the active suspension system of the vehicle comprises the following steps:
defining control output signal as active front wheel steering angleAnd active suspension actuation force->Respectively representing a left front wheel, a right front wheel, a left rear wheel and a right rear wheel; due to the constraint of the physical actuator, the active front wheel steering angle +.>And active suspension actuation force->There are also certain constraints, as follows:
（1）；
wherein:threshold values respectively representing the rotation angle of the active front wheel and the acting force of the active suspension;
furthermore, due to the constraints of the steering and suspension system actuators, the following constraints still exist:
（2）；
wherein:respectively indicate the rotation angle of each wheel>Respectively representing the displacement of the suspension actuator corresponding to each wheel, < >>Respectively representing the wheel rotation angle and the threshold value of the displacement of the suspension actuator corresponding to the wheel;
in order to design an active front wheel steering and active suspension game controller, a traditional vehicle dynamics model comprising 4 unsprung mass vertical motions and 7 degrees of freedom of vehicle body pitching, rolling and centroid vertical motions is constructed, and the state space is as follows:
（3）；
wherein:is a system state variable, +.>Is a control input,/->Is a disturbance variable, +.>The matrix is corresponding to the state variable, the control input and the disturbance variable respectively;
in order to achieve overall optimal performance of vehicle driving smoothness and steering stability, a vehicle cooperation dynamic game cost function is built based on weights obtained by a deep convolutional neural network decision modelThe following is shown:
（4）；
wherein:control weights respectively representing ride comfort and steering stability of the vehicle, +.>Respectively representing the weight matrix corresponding to the state variable, the control input and the disturbance variable, +.>Evaluation indicators, each of which represents the ride comfort and the steering stability of the vehicle, wherein>Weighting indexes such as the traditional vehicle body vertical acceleration root mean square, suspension dynamic travel root mean square, tire dynamic load root mean square and the like to obtain +.>Weighting and obtaining indexes such as a traditional vehicle body pitch angle root mean square, a vehicle body roll angle root mean square, a vehicle body yaw rate root mean square and the like;
based on the game cost function, the design variables and the constraint conditions, the following dynamic game model of the vehicle active front wheel steering and active suspension system is constructed, and the dynamic game model is as follows:
（5）；
wherein: min represents minimization;
and carrying out profit distribution based on the Charpy value, solving the dynamic game model, and obtaining the optimal control strategy of the vehicle in the game of two parties, namely obtaining the turning angle of the active wheels of the vehicle and the active suspension as power, thereby realizing the dynamic coordination control of the active front wheel steering and the active suspension system of the vehicle.
2. The method for coordinated control of an active front wheel steering and an active suspension system of a vehicle according to claim 1, wherein: in the first step, a sample set of the deep convolutional neural network decision model is derived from a whole vehicle experimental test platform and a vehicle dynamics model.
CN202311076379.XA 2023-08-25 2023-08-25 Coordination control method for active front wheel steering and active suspension system of vehicle Active CN116767180B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012223984A1 (en) * 2012-12-20 2014-06-26 Continental Aktiengesellschaft Method for influencing driving dynamics of motor vehicle by using active actuators variable suspension, involves performing control of actuators based on detection of dynamic driving maneuver
CN108146430A (en) * 2017-11-08 2018-06-12 南京航空航天大学 A kind of Active suspension and active steering integrated system and its robust control method
CN207523688U (en) * 2017-11-08 2018-06-22 南京航空航天大学 A kind of Active suspension and active steering integrated system
CN113626939A (en) * 2021-08-25 2021-11-09 江苏大学 Vehicle suspension system parameter optimization method based on adaptive behavior game algorithm
CN116176563A (en) * 2022-09-28 2023-05-30 长安大学 Distributed driving electric vehicle stability control method based on extension evolution game

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012223984A1 (en) * 2012-12-20 2014-06-26 Continental Aktiengesellschaft Method for influencing driving dynamics of motor vehicle by using active actuators variable suspension, involves performing control of actuators based on detection of dynamic driving maneuver
CN108146430A (en) * 2017-11-08 2018-06-12 南京航空航天大学 A kind of Active suspension and active steering integrated system and its robust control method
CN207523688U (en) * 2017-11-08 2018-06-22 南京航空航天大学 A kind of Active suspension and active steering integrated system
CN113626939A (en) * 2021-08-25 2021-11-09 江苏大学 Vehicle suspension system parameter optimization method based on adaptive behavior game algorithm
CN116176563A (en) * 2022-09-28 2023-05-30 长安大学 Distributed driving electric vehicle stability control method based on extension evolution game

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