CN-115871641-B - Vehicle track tracking and stability cooperative control method and device

CN115871641BCN 115871641 BCN115871641 BCN 115871641BCN-115871641-B

Abstract

The application provides a vehicle track tracking and stability cooperative control method and device, which comprise the steps of obtaining vehicle body parameters and running state parameters, determining self-adaptive cooperative coefficients according to the vehicle body parameters and the running state parameters, determining target expected yaw rate and target active yaw moment based on a track tracking control model and a stability control model according to the self-adaptive cooperative coefficients, adjusting the track tracking control model according to the target expected yaw rate, adjusting the stability control model according to the target active yaw moment, and determining front wheel rotation angles of a vehicle and longitudinal forces of all wheels according to the adjusted track tracking control model and the adjusted stability control model to control the vehicle. The method adjusts the track tracking control model and the stability control model through the self-adaptive cooperative coefficient, gives consideration to track tracking control and stability control of the vehicle, can ensure stability and track tracking precision of the vehicle under the limit working condition, and reduces energy consumption.

Inventors

ZHANG ZHIDA
XU ZHENGHAO
AN KAI
MOU JIANQIU
LIU FENG
YE YUBO
LI TAO
LIU CAN

Assignees

上海友道智途科技有限公司

Dates

Publication Date: 20260512
Application Date: 20220907

Claims (8)

1. A vehicle trajectory tracking and stability cooperative control method, characterized in that the method comprises: acquiring body parameters and running state parameters of a vehicle; determining an adaptive synergy coefficient according to the vehicle body parameter and the driving state parameter; determining a target expected yaw rate based on a trajectory tracking control model and a stability control model according to the self-adaptive synergy coefficient; determining a target active yaw moment based on the stability control model according to the adaptive synergy coefficient; adjusting the trajectory tracking control model according to the target expected yaw rate, and adjusting the stability control model according to the target active yaw moment; Determining front wheel corners of the vehicle and longitudinal forces of each wheel according to the adjusted track tracking control model and the adjusted stability control model so as to control the vehicle; Wherein the determining the target expected yaw rate based on the trajectory tracking control model and the stability control model according to the adaptive co-coefficient includes: Determining a first desired yaw rate of the trajectory tracking control model and a second desired yaw rate of the stability control model based on the trajectory tracking control model and the stability control model; Determining the target desired yaw rate according to the first desired yaw rate, the second desired yaw rate, and the adaptive synergy coefficient; The determining, according to the adaptive co-factor, a target active yaw moment based on the stability control model, includes: And determining the target active yaw moment according to the initial active yaw moment and the self-adaptive synergy coefficient.
2. The method of claim 1, wherein determining the front wheel steering angle and the longitudinal force of each wheel of the vehicle based on the adjusted trajectory tracking control model and stability control model comprises: Determining a front wheel corner of the vehicle according to the adjusted track tracking control model; Determining a longitudinal force of the vehicle based on the adjusted trajectory tracking control model; Determining the load degree of each wheel of the vehicle based on the adjusted stability control model according to the vehicle body parameters; And determining the longitudinal force of each wheel of the vehicle according to the load degree of each wheel of the vehicle and the longitudinal force of the vehicle.
3. The method of claim 1, wherein the vehicle body parameters include tire cornering stiffness, the driving condition parameters include actual yaw rate, tire lateral force, the method further comprising: Determining a correction factor based on the actual yaw rate and the tire side force; determining a target tire cornering stiffness according to the correction coefficient and the tire cornering stiffness; and correcting the tire cornering stiffness of the track tracking control model to be the target tire cornering stiffness so as to obtain the optimized track tracking control model.
4. The method of claim 1, wherein said determining an adaptive co-factor based on said body parameter and said driving state parameter comprises: Determining a stability index of the vehicle according to the vehicle body parameters and the driving state parameters; When the stability index of the vehicle is smaller than or equal to a stability index threshold, determining the self-adaptive cooperative coefficient according to a first relation, wherein the first relation represents the corresponding relation between the self-adaptive cooperative coefficient, the stability index and the stability index threshold; When the stability index of the vehicle is greater than a stability index threshold, the adaptive synergy coefficient is 1.
5. The method of any one of claims 1 to 4, wherein the body parameters include one or more of vehicle mass, moment of inertia, axle-to-center distance, tire cornering stiffness; The driving state parameters include one or more of longitudinal speed, lateral speed, actual yaw rate, actual centroid slip angle, tire lateral force, and tire slip angle.
6. A vehicle trajectory tracking and stability cooperative control device, the device comprising: the acquisition module is used for acquiring the body parameters and the running state parameters of the vehicle; The first determining module is used for determining an adaptive cooperative coefficient according to the vehicle body parameters and the driving state parameters; The system comprises a first determining module, a second determining module, a target expected yaw rate determining module, a target active yaw moment determining module and a target control module, wherein the first expected yaw rate of the track tracking control model and the second expected yaw rate of the stability control model are determined based on the track tracking control model and the stability control model; The adjustment module is used for adjusting the track tracking control model according to the target expected yaw rate and adjusting the stability control model according to the target active yaw moment; And the third determining module is used for determining the front wheel corner of the vehicle and the longitudinal force of each wheel according to the adjusted track tracking control model and the adjusted stability control model so as to control the vehicle.
7. A vehicle trajectory tracking and stability cooperative control system, characterized in that the system comprises a controller and an actuator, the controller having stored therein instructions which are executed by the actuator to cause the system to perform the method of any one of claims 1 to 5.
8. A vehicle comprising the vehicle trajectory tracking and stability cooperative control system of claim 7.

Description

Vehicle track tracking and stability cooperative control method and device Technical Field The application relates to the technical field of vehicles, in particular to a vehicle track tracking and stability cooperative control method, device and system and a vehicle. Background The motion control for the vehicle means that the control system controls the motion trajectory of the vehicle by executing instructions of acceleration, deceleration, steering, and the like, so that the vehicle follows a reference trajectory (may also be referred to as trajectory tracking) to run. Wherein the motion control includes longitudinal motion control and lateral motion control. Compared with longitudinal motion control which maintains a reference vehicle speed and a vehicle distance, lateral motion control involves steering, lane changing and other operations, and the control system needs to perform not only track tracking control but also stability control. However, there is a mutual interference between the trajectory tracking control and the stability control, and it is difficult to realize a good trajectory tracking control while ensuring the vehicle stability control, especially in the case of extreme conditions (e.g., emergency obstacle avoidance, abrupt deterioration of road surface adhesion). In order to solve the problems, the active yaw moment is used as a control variable to be introduced into track tracking control, and under the limit working condition, the situation of excessive or insufficient steering of the vehicle can be changed to a certain extent, so that the accuracy of track tracking of the vehicle is improved. However, the yaw rate determined by the trajectory tracking control by the above method is different from the yaw rate determined by the stability control, and it is impossible to ensure the stability of the vehicle and the trajectory tracking accuracy at the same time. Meanwhile, the method is adopted to track and control the vehicle under the non-limiting working condition, and unnecessary longitudinal force can be generated on the vehicle, so that energy consumption is increased. Disclosure of Invention The application provides a vehicle track tracking and stability cooperative control method, which can give consideration to track tracking control and stability control of a vehicle, ensure the stability of running of the vehicle and the accuracy of track tracking, and reduce the energy consumption of vehicle control. The application also provides a device, a system and a vehicle corresponding to the method. In a first aspect, the present application provides a vehicle track tracking and stability cooperative control method. The method comprises the following steps: acquiring body parameters and running state parameters of a vehicle; determining an adaptive synergy coefficient according to the vehicle body parameter and the driving state parameter; Determining a target expected yaw rate based on a trajectory tracking control model and a stability control model according to the self-adaptive synergy coefficient, and determining a target active yaw moment based on the stability control model according to the self-adaptive synergy coefficient; adjusting the trajectory tracking control model according to the target expected yaw rate, and adjusting the stability control model according to the target active yaw moment; and determining the front wheel corner of the vehicle and the longitudinal force of each wheel according to the adjusted track tracking control model and the stability control model so as to control the vehicle. In some possible implementations, the determining the target desired yaw rate based on the trajectory tracking control model and the stability control model according to the adaptive co-coefficient includes: Determining a first desired yaw rate of the trajectory tracking control model and a second desired yaw rate of the stability control model based on the trajectory tracking control model and the stability control model; and determining the target expected yaw rate according to the first expected yaw rate, the second expected yaw rate and the adaptive synergy coefficient. In some possible implementations, the determining the target active yaw moment based on the stability control model according to the adaptive co-coefficient includes: determining an initial active yaw moment based on the stability control model; And determining the target active yaw moment according to the initial active yaw moment and the self-adaptive cooperative coefficient. In some possible implementations, the determining the front wheel steering angle and the longitudinal force of each wheel of the vehicle according to the adjusted trajectory tracking control model and stability control model includes: Determining a front wheel corner of the vehicle according to the adjusted track tracking control model; Determining a longitudinal force of the vehicle based on the adjusted trajectory tracking control