分布式电驱动车辆极限越野环境下高速避障与稳定性控制

A layered coordinated lateral stability control method is proposed to improve the high-speed obstacle avoidance ability and handling stability of distributed electric drive vehicles in extreme off-road environment, in which the attitude feedback of vehicle during cornering is fully considered. The upper controller combines the multi-model online modeling algorithm with the nonlinear model predictive control theory, and a coordinated control strategy for yaw and roll motion based on data-driven multi-model predictive control is proposed. Considering that the optimal control center is time-varying under different lateral instability states of vehicle, a two-level integrated yaw dynamic model is refined and reconstructed.Considering the time-varying road curvature and lateral slope angle under off-road conditions, a zero-moment point-based rollover instability judgment model is constructed, and the rollover stability control constraint is introduced on the basis of yaw stability control. The lower level controller converts the fused yaw moment into each wheel drive torque based on the quadratic programming algorithm. The joint simulation of MATLAB/Simulink and Carsim was built for test verification. The results show that the proposed layered coordinated control method can give full play to the high maneuverability of distributed electric drive vehicles under extreme off-road condition, which has a strong body attitude correction ability, and can improve the path tracking accuracy and the lateral stability of vehicle during cornering.