Abstract
Vehicle yaw stability control is an important part of the active safety of electric vehicles. In order to realize the yaw stability control of vehicles, this paper takes 4-WID electric vehicles as the research object, studies the nonlinear estimation of the state parameters of the lateral stability dynamic system and the yaw stability control strategy. The vehicle state parameter estimation strategy, based on the unscented Kalman filter (UKF) algorithm and the model predictive control algorithm, are designed to control the vehicle yaw stability, which realizes the safe and stable driving of the vehicle. Through CarSim–Simulink joint simulation and hardware-in-the-loop (HIL) experiments based on MicroAutoBox, the effectiveness and real-time performance of the designed control strategy are fully verified, which accelerate the development process of the vehicle controller, and realizes the safe and stable driving of the vehicle.
Highlights
IntroductionGoodarzi et al [6] introduced the optimal control theory to improve the lateral stability of the vehicle, and designed a direct yaw moment controller for a four-wheel independent hybrid electric vehicle
(1) Based on the HIL simulation platform of the vehicle state parameter, the estimation algorithm is verified, and the simulation results show that the Kalman estimation algorithm under the steering wheel angle step input yawing angular velocity of the average estimated error was 0.5 × 10−3 °/s, the average estimated error of side slip angle was 0.3 × 10−3 °, and the simulation result shows that the algorithm can effec
In order to verify the proposed state parameter observation method and yaw stability control method for four-wheel independently driven electric vehicles, a simulation platform was developed, by combining the vehicle model built by CarSim, and the motor model and control strategy built by Matlab/Simulink, and the state parameter estimation strategy and yaw stability control strategy were verified in turn
Summary
Goodarzi et al [6] introduced the optimal control theory to improve the lateral stability of the vehicle, and designed a direct yaw moment controller for a four-wheel independent hybrid electric vehicle. Mirzaei et al [7] designed an ideal model based on linear two degrees of freedom, and tracked the tire/road conditions through the direct yaw moment control system. The basic research on the lateral stability control of electric vehicles has achieved good results, but the research on improving the lateral stability control system of distributed driven electric vehicles based on the direct yaw moment control is not comprehensive enough. 2021, 12, 105 but the research on improving the lateral stability control system of distributed driven electric vehicles based on the direct yaw moment control is not comprehensive enough.
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