Fan Likang, Wang Jun, Deng Meng, Peng Yiqiang, Bao Xiuchao, Wei Hongqian
Vehicle Measurement, Control and Safety Key Laboratory of Sichuan Province, Xihua University, Chengdu, 100089, Sichuan, China.
Low Emission Vehicle Research Laboratory, Beijing Institute of Technology, Beijing, 100081, China.
Sci Rep. 2023 Jul 18;13(1):11564. doi: 10.1038/s41598-023-38813-3.
Vehicular safety is of considerable significance to the intelligent development of hybrid vehicles. However, the real-time stability control or reasonable torque distribution under the extreme road conditions remain a huge challenge due to the multiple uncertain parameters and difficulties to reconcile the handling and stability performance. To address the above problems for a through-the-road (TTR) 4-wheel-drive (4WD) hybrid vehicle, this study provides a handling and stability management (HSM) approach by incorporating the offline optimization rules and on-line model predictive control (MPC). Firstly, the vehicle dynamic model with seven degrees of freedom (7-DOF) is used to offline extract torque distribution rules (Offline-ETDR), and the online MPC feedback (Online-MPCF) is utilized to compensate the extra torque requirements for the poor effect under the extreme conditions. Accordingly, the offline optimization results and online correction are fused to provide the total torque demand given the real-time road condition detection. Finally, the real vehicle test are implemented to validate the effectiveness of the proposed torque coordination strategy. In comparison to the vehicle with no torque control strategy, the proposed method significantly improves the vehicle's cornering ability while also ensuring the high stability performance.
车辆安全性对于混合动力汽车的智能化发展具有相当重要的意义。然而，由于存在多个不确定参数以及难以协调操纵性和稳定性性能，在极端道路条件下的实时稳定性控制或合理扭矩分配仍然是一个巨大的挑战。为了解决上述针对贯通式（TTR）四轮驱动（4WD）混合动力汽车的问题，本研究通过结合离线优化规则和在线模型预测控制（MPC），提供了一种操纵性和稳定性管理（HSM）方法。首先，使用七自由度（7-DOF）车辆动力学模型离线提取扭矩分配规则（离线ETDR），并利用在线MPC反馈（在线MPCF）来补偿极端条件下效果不佳时的额外扭矩需求。相应地，融合离线优化结果和在线校正，以根据实时道路状况检测提供总扭矩需求。最后，进行实车测试以验证所提出的扭矩协调策略的有效性。与没有扭矩控制策略的车辆相比，所提出的方法显著提高了车辆的转弯能力，同时还确保了高稳定性性能。
