US 12,420,809 B2
Method and device for integrated control of handling stability of distributed drive electric vehicles
Xuan Zhao, Xi'an (CN); Shu Wang, Xi'an (CN); Rong Huang, Xi'an (CN); Yisong Chen, Xi'an (CN); Kai Zhang, Xi'an (CN); and Yilin He, Xi'an (CN)
Assigned to CHANG'AN UNIVERSITY, xi'an (CN)
Filed by CHANG'AN UNIVERSITY, Xi'an (CN)
Filed on Jan. 15, 2025, as Appl. No. 19/021,378.
Application 19/021,378 is a continuation of application No. PCT/CN2024/105711, filed on Jul. 16, 2024.
Claims priority of application No. 202311402934.3 (CN), filed on Oct. 26, 2023.
Prior Publication US 2025/0153720 A1, May 15, 2025
Int. Cl. B60W 40/10 (2012.01); B60W 50/00 (2006.01)
CPC B60W 40/10 (2013.01) [B60W 50/0098 (2013.01); B60W 2050/0037 (2013.01); B60W 2520/10 (2013.01); B60W 2520/14 (2013.01); B60W 2520/20 (2013.01); B60W 2520/30 (2013.01); B60W 2540/18 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method for integrated control of handling stability of a distributed drive electric vehicle, comprising:
(1) subjecting a Magic Formula tire model to piecewise linear fitting to obtain a piecewise affine tire model;
(2) constructing a hybrid logical dynamic model based on the piecewise affine tire model through a mixed logical dynamic modeling method;
(3) establishing an upper-layer hybrid model predictive controller based on the hybrid logical dynamic model, and calculating an additional yaw moment and an additional front-wheel steering angle based on the upper-layer hybrid model predictive controller;
(4) establishing a lower-layer four-wheel torque optimal allocation controller based on the additional yaw moment, and obtaining a wheel longitudinal force of four wheels based on the lower-layer four-wheel torque optimal allocation controller; and obtaining a wheel drive torque based on the wheel longitudinal force of four wheels; and
directly sending the additional front-wheel steering angle to a steer-by-wire system for execution; and acting the wheel drive torque on a drive motor, thereby performing the integrated control of handling stability of the distributed drive electric vehicle;
wherein the hybrid logical dynamic model is constructed through steps of:
(1) calculating an ideal reference state parameter of the distributed drive electric vehicle based on real-time state information of the distributed drive electric vehicle, wherein the real-time state information comprises speed, yaw rate, center-of-mass side-slip angle and front-wheel steering angle;
(2) constructing an error state equation based on the ideal reference state parameter; and
(3) constructing the hybrid logical dynamic model based on the error state equation and the piecewise affine tire model.