摘要
Purpose–This paper studies the lateral stability regulation of intelligent electric vehicle(EV)based on model predictive control(MPC)algorithm.Design/methodology/approach–Firstly,the bicycle model is adopted in the system modelling process.To improve the accuracy,the lateral stiffness of front and rear tire is estimated using the real-time yaw rate acceleration and lateral acceleration of the vehicle based on the vehicle dynamics.Then the constraint of input and output in the model predictive controller is designed.Soft constraints on the lateral speed of the vehicle are designed to guarantee the solved persistent feasibility and enforce the vehicle’s sideslip angle within a safety range.Findings–The simulation results show that the proposed lateral stability controller based on the MPC algorithm can improve the handling and stability performance of the vehicle under complex working conditions.Originality/value–The MPC schema and the objective function are established.The integrated active front steering/direct yaw moments control strategy is simultaneously adopted in the model.The vehicle’s sideslip angle is chosen as the constraint and is controlled in stable range.The online estimation of tire stiffness is performed.The vehicle’s lateral acceleration and the yaw rate acceleration are modelled into the two-degree-of-freedom equation to solve the tire cornering stiffness in real time.This can ensure the accuracy of model.
基金
supported by National Natural Science Foundation of China(51605108)
Natural Science Foundation of Guangxi Province(2020GXNSFAA297031,2018GXNSFAA281271,Guike2018AD19065).
