文章摘要
Research on Lateral Control Algorithm for Electric Light Truck Based on Real-time Load Mass Distribution
Received:June 26, 2023  Revised:June 26, 2023
DOI：10.12136/j.issn.1000-890X.2025.02.0089
Key Words: electric light truck；intelligent tire；lateral control algorithm
Author NameAffiliationE-mail
ZHANG Bingli* 合肥工业大学?汽车与交通工程学院 1565782325@qq.com 
ZHOU Chenzhi 合肥工业大学?汽车与交通工程学院  
NIU Fei Shandong Hixih Rubber Technology Co.，Ltd；Tongli Tire Co.，Ltd  
HU Yuan Shandong Hixih Rubber Technology Co.，Ltd；Tongli Tire Co.，Ltd  
JIN Qi Shandong Hixih Rubber Technology Co.，Ltd；Tongli Tire Co.，Ltd  
ZHAO Changsong Shandong Hixih Rubber Technology Co.，Ltd；Tongli Tire Co.，Ltd  
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Abstract:
      The lateral control algorithm for the electric light truck based on real-time load mass distribution was investigated.Firstly，by using intelligent tire acceleration sensors to measure the ground deformation coefficient of the tire in real-time，the real-time vertical load of each tire was indirectly calculated. Combined with the vertical load parameters of all wheel positions，the total mass，center of mass position and lateral stiffness of the vehicle were estimated.Then，a two freedom degree model of the electric light truck was established in the natural coordinate system，and a vehicle lateral control algorithm based on linear quadratic regulator was proposed.Finally，through the joint simulation of Matlab/Simulink and Trucksim softwares，the steering control of the light truck could be achieved well under different load masses.
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