| CPC B62D 6/008 (2013.01) [B60W 10/20 (2013.01); B60W 40/114 (2013.01); B60W 50/0097 (2013.01); B62D 5/005 (2013.01); B60W 2050/0031 (2013.01); B60W 2520/14 (2013.01)] | 10 Claims |
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1. A steering wheel torque feedback optimization control method for a differential braking system, comprising:
S1: estimating a tire lateral force of a vehicle based on a two-degree-of-freedom vehicle model and a nonlinear tire model;
S2: predicting a state of the vehicle at a next moment based on the tire lateral force under a non-differential torque condition by using a moment-balance-based two-degree-of-freedom vehicle model;
S3: estimating a state change rate of the vehicle based on the tire lateral force under a differential torque condition by using an improved two-degree-of-freedom vehicle model with an additional yaw moment, and predicting a state of the vehicle at the next moment under the differential torque condition;
S4: calculating tire lateral forces at the next moment under the differential torque condition and the non-differential torque condition separately by using the nonlinear tire model based on the predicted states of the vehicle at the next moment under the differential torque condition and the non-differential torque condition, and obtaining a predicted one-step change value of a front tire lateral force under an influence of a differential torque by performing subtraction;
S5: integrating the predicted one-step change value of a front tire lateral force based on time for calculation, and obtaining a continuous change amount of the tire lateral force; and
S6: correcting a desired moment of a steering power motor based on the continuous change amount of the tire lateral force, suppressing a change of a hand moment.
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