卡西姆
车辆动力学
电子稳定控制
控制理论(社会学)
偏航
工程类
主动安全
滑移角
加权
非线性系统
模型预测控制
打滑(空气动力学)
控制器(灌溉)
汽车操纵
汽车工程
控制工程
计算机科学
控制(管理)
方向盘
人工智能
航空航天工程
放射科
物理
生物
医学
量子力学
农学
作者
Zihan Li,Hong Chen,Hanghang Liu,Ping Wang,Xun Gong
出处
期刊:IEEE Transactions on Intelligent Transportation Systems
[Institute of Electrical and Electronics Engineers]
日期:2022-10-01
卷期号:23 (10): 19285-19298
被引量:13
标识
DOI:10.1109/tits.2022.3152485
摘要
Under extreme conditions, vehicle states change rapidly between stable and unstable, resulting in dynamic requirements for the vehicle’s overall safety stability. Simultaneously, the coupled nonlinear characteristics of vehicle dynamics cannot be ignored in controller design. To address the above problems and improve vehicle longitudinal and lateral stability integrally, an envelope-based model predictive control (MPC) strategy with dynamic objectives is proposed for four-wheel independent motor-drive electric vehicles (4WIMD EVs). First, according to the current driving behavior and the collected road information, the envelope control regions concerning vehicle side-slip angle and yaw rate are obtained online, and divided into stable, critically stable, and instable regions with different safety requirements. Then, the safety dynamic requirements are constructed in the designed MPC-based control structure. A nonlinear vehicle dynamics model with a combined-slip tire model, which integrates the longitudinal and lateral dynamics, is utilized to predict vehicle states. The switching of requirements is reflected in the variation of weighting factors and constraint values. Finally, CarSim and Matlab/Simulink co-simulation, and hardware-in-the-loop simulation test results show better satisfactory performance in improving overall vehicle stability under extreme driving conditions.
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