带车辆稳定性增强系统的差速驱动辅助转向系统的协调控制

2011 IEEE Intelligent Vehicles Symposium (IV) Pub Date : 2011-06-05 DOI:10.1109/IVS.2011.5940581

Junnian Wang, Qingnian Wang, Chuanxue Song, Liang Chu, Yingying Wang

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引用次数: 8

摘要

研究了四轮独立驱动电动汽车差动驱动辅助转向系统的驱动转矩协调控制问题。首先，对DDAS系统的技术细节进行了综述。然后提出了一种由两层协调控制环组成的结构。此外，还介绍了各层的控制算法。最后，对几种不同附着条件下的静止停车和双变道机动进行了仿真。仿真结果表明，该协调控制系统能保证DDAS系统的正常工作，并能纠正DDAS系统对车辆稳定性的不良影响。

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Coordinated control of differential drive assisted steering system with vehicle stability enhancement system

Drive torque coordinated control for four wheel independent-drive electric vehicle with differential drive assisted steering system (DDAS) is presented in this paper. Firstly, the technical detail of DDAS system is reviewed. Then a structure composed of two layers coordinating control loop is proposed. Moreover, the control algorithm of each layer is introduced. At last, the simulations of parking at stand still and double-lane-change maneuvering in several different adhesion conditions are performed. The simulation results show that the coordinating control system can ensure the DDAS system to work correctly and correct the bad influence of DDAS system on vehicle stability.

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2011 IEEE Intelligent Vehicles Symposium (IV)

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