Patent ID: 11858525
Assignee: NANJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 9:
10. The control method of a drive-by-wire chassis cyber-physical system under an intelligent traffic environment according to claim 7, wherein in step 6), one or more computer processors are configured to controls the steering, braking, and to drive the hub motor, the steering execution motor and the brake motor to output additional control quantities to minimize the error between the driver operation and the ideal driving operation; and a control algorithm executed by the one or more computer processors is an H∞ feedback control algorithm, which comprises:
61) expressing a deviation between a steering wheel angle θsw output by the driver and an ideal steering wheel angle θsw* as e1; expressing a deviation between a brake pedal opening degree p output by the driver and an ideal brake pedal opening degree p as e2; and expressing a deviation between an accelerator pedal opening degree q output by the driver and an ideal accelerator pedal opening degree q* as e3;
62) The deviations e1, e2 and e3 being input of an H∞ feedback controller K(s), calculating, by the feedback controller K(s), additional steering angles θ1, θ2 and θ3 needing to be output by the steering execution motor, the brake motor and the hub motor according to the input deviation e1, e2 and e3, and then controlling, by the central control unit, the steering control unit, the braking control unit and the driving control unit respectively, the steering execution motor, the brake motor and the hub motor to output the corresponding additional steering angles θ1, θ2 and θ3;
63) Enabling the additional steering angles θ1, θ2 and θ3 to act on the drive-by-wire chassis system to further affect a traveling state of the vehicle, and meanwhile, performing, by the driver, a corresponding driving operation according to a current vehicle state so as to obtain a new set of deviations e4, e5 and e6; and
64) repeating steps 61)-63) until the deviations ei are eliminated, and i=1, 2, 3, . . . .