Coordinated lateral stability and rollover prevention control for four-wheel independent motor drive electric vehicles
In this paper,a control strategy integrating lateral stability and rollover prevention of four-wheel independent drive electric vehicle was proposed in the framework of model predictive control(MPC)to coordinate the lateral,yaw and roll behaviors of the vehicle.Firstly,to ensure the accuracy of the prediction model,the nonlinear tire lateral force model was utilized to predict the future lateral,yaw and roll states of the vehicle.Then,the controller was designed based on the model predictive control method,and multiple control requirements such as improving handling performance,lateral stability,preventing rollover,ride comfort and safety were integrated into the controller.Finally,the simulation results show that the proposed controller can effectively improve the handling stability and lateral stability of the vehicle in high-speed steering,and effectively reduce the roll risk.For the situation of high roll risk caused by the increase of vehicle mass and height of center of mass,even if the controller faces unknown vehicle changes,it can timely and effectively adjust vehicle attitude to prevent vehicle rollover and ensure driving safety.
model predictive controlvehicle stability controlrollover prevention controlemergency steering maneuvers
万方数据
维普
