CN103171623B - Vehicular yaw stable control method and system thereof - Google Patents
Vehicular yaw stable control method and system thereof Download PDFInfo
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- CN103171623B CN103171623B CN201110439674.8A CN201110439674A CN103171623B CN 103171623 B CN103171623 B CN 103171623B CN 201110439674 A CN201110439674 A CN 201110439674A CN 103171623 B CN103171623 B CN 103171623B
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Abstract
A kind of Vehicular yaw stable control method and system thereof, comprise a detecting module, a database, a calculating module, and one is controlled module. This calculating module respectively according to the side acceleration of the vehicle obtained with this detecting module, wheel shaft suspension load, the speed of a motor vehicle, wheel steering signal to obtaining indivedual steering characteristic weighted values by database, and calculate a steering characteristic value, decide desirable yaw-rate, and in actual yaw rate when convergence does not equal desirable yaw-rate, calculate the required stable state steering angle of this wheel with the difference of desirable yaw-rate and actual yaw rate, the steering angle of aforementioned wheel is regulated and controled at stable state steering angle. Whereby, utilize dynamic weight proportion, determine desirable yaw-rate, not only can promote accuracy, and can make vehicle in dynamic process, keep stability state, promote the security of driving.
Description
Technical field
The present invention relates to a kind of control method and system thereof, particularly relate to a kind of Vehicular yaw steadyLocking control method and system thereof.
Background technology
Road traffic accident, makes people suffer great life and property loss, also causes and is difficult to moreFamily and the social concern of mending. In order to improve the security of road traffic, academia and automobile workThat industry is there's no one who doesn't or isn't devoted to research and develop is safer, the vehicle of wisdom more, assists driver to avoid criticalSituation, Accident prevention occur or reduce accident injury.
And the electronic stabilizing control system of vehicle can have little time at manpower the Emergency time of strainInitiatively get involved, revise fast vehicle Brake car and engine and exert oneself etc., assistance driver safety is spentCrisis. For example, when vehicle is in the time that excessively curved or vehicle body center of gravity is higher at a high speed, have lateral sliding with horizontalRotation is moving, and now, excessive vehicle body sideslip angle (slipangle), represents that vehicle body skids, excessiveYaw velocity (yawrate), be often accompanied by vehicle body deflection out of control, and too small yaw angle speedDegree cannot turn to smoothly, and therefore, in order to stablize the lateral movement of vehicle, aforementioned electronic is stableControl system can, according to the current driving trace of vehicle and driver's operation intention, be adjusted automaticallyWheel tire Brake car moment (brake gets involved) or tire steering angle (turning to intervention), to produce correction vehicleThe side force that movement locus is required and yaw moment.
Taking United States Patent (USP) 7143864B2 case as example, it is mainly the steering angle according to steering wheelDegree calculates desirable yaw-rate, and with the steering angle of this desirable yaw-rate control vehicle reality, borrowsThis reaches the object of vehicle stable state control.
Taking United States Patent (USP) 7191048B2 case as example, it is mainly the side acceleration with vehicleFor basis, the action that vehicle is braked, reaches the object of vehicle stable state control whereby.
Taking United States Patent (USP) 7584042B2 case as example, be mainly with actual yaw rate and targetYaw-rate difference is between the two done integration, and obtains an offset angle value, then, and by turningProduce a yaw moment to system or braking system, compensate actual yaw angle and targetVehicular yaw angle, reaches the object of vehicle stable state control whereby.
But, due to the mode that brake gets involved, can be because have anti-the time delay that oil pressure is set upAnswer speed slower, and make the shortcoming of vehicle deceleration.
And vehicle can be because the difference of the gravity allocations such as front-wheel drive or rear wheel drive causes wheelSteering characteristic difference, therefore, utilizes existing wheel steering angle, and the speed of a motor vehicle, load areParameter, carries out estimating of yaw-rate, or as turning to the basis of control, and cannot be suitable for all kinds ofThe front drive vehicle money of type car money, especially duty factor differentiation with after the money of driving, in the degree of accuracy with steady, still there is the space that can promote state effect aspect, and in addition, only decides wheel steering with the speed of a motor vehicleVariation, not necessarily realistic demand of the desirable yaw-rate calculating.
Summary of the invention
The object of the present invention is to provide one can effectively promote the yaw-rate degree of accuracy and stable stateVehicular yaw stable control method and the system thereof of effect.
Vehicular yaw stable control method of the present invention, comprises the following step, step 1: measureThe actual yaw rate of vehicle. Step 2: the vehicle dynamic parameter value of detecting vehicle, described vehicleDynamic parameter value comprises side acceleration, wheel shaft suspension load, the speed of a motor vehicle and wheel steering signal,And by each vehicle dynamic parameter value of the above-mentioned vehicle of obtaining be converted to respectively corresponding first toThe 4th steering characteristic weighted value and determine a steering characteristic value. Step 3: this is turned to spyProperty value and above-mentioned each vehicle dynamic parameter value of obtaining vehicle are according to the equation meter of institute's constructionCalculate a desirable yaw-rate. Step 4: actual yaw rate and the desirable yaw-rate of comparison vehicle,Calculate the required stable state steering angle of this wheel with the difference of desirable yaw-rate and actual yaw rateDegree regulates and controls and compensates wheel steering.
Vehicular yaw stable control method of the present invention, in step 4, when the side direction of vehicle is acceleratedWhen degree is greater than a predetermined threshold value, regulate and control the steering angle of this wheel, and the intervention of brakingOr downgrade engine moment output.
Vehicular yaw stable control method of the present invention, in step 2, this first steering characteristic powerHeavily value can reduce more and more greatly weight proportion along with side acceleration, this second steering characteristic powerHeavily value can reduce more greatly weight proportion, the 3rd steering characteristic weight along with wheel shaft suspension loadValue can promote weight proportion sooner along with the speed of a motor vehicle, and the 4th steering characteristic weighted value can be along with sideTurn to signal to reduce more greatly weight proportion to dish, and this steering characteristic value is by first to fourthIt is long-pending that steering characteristic weighted value multiplies each other.
Vehicular yaw stable control method of the present invention, comprises the following step, step 1: measureThe actual yaw rate of vehicle. Step 2: the vehicle dynamic parameter value of detecting vehicle, described vehicleDynamic parameter value comprises side acceleration, wheel shaft suspension load, the speed of a motor vehicle and wheel steering signal, and by each vehicle dynamic parameter value of the above-mentioned vehicle of obtaining be converted to respectively corresponding first toThe 4th steering characteristic weighted value and determine a steering characteristic value. Step 3: this is turned to spyProperty value and above-mentioned each vehicle dynamic parameter value of obtaining vehicle are according to the equation meter of institute's constructionCalculate a desirable yaw-rate, and a maximum is allowed yaw-rate. Step 4: compare this vehicleActual yaw rate and desirable yaw-rate, allow yaw-rate when this ideal yaw-rate is not more than maximumTime, calculate the required steering angle of this wheel with desirable yaw-rate and regulate and control wheel steering, whenDesirable yaw-rate is greater than maximum while allowing yaw-rate, allows that with maximum yaw-rate is calculated this carTake turns required steering angle and regulate and control wheel steering.
Vehicular yaw stable control method of the present invention, in step 4, when the side direction of vehicle is acceleratedWhen degree is greater than a predetermined threshold value, regulate and control the steering angle of this wheel, and the intervention of brakingOr downgrade engine moment output.
Vehicular yaw stable control method of the present invention, in step 2, this first steering characteristic powerHeavily value can reduce more and more greatly weight proportion along with side acceleration, this second steering characteristic powerHeavily value can reduce more greatly weight proportion, the 3rd steering characteristic weight along with wheel shaft suspension loadValue can promote weight proportion sooner along with the speed of a motor vehicle, and the 4th steering characteristic weighted value can be along with sideTurn to signal to reduce more greatly weight proportion to dish, and this steering characteristic value is by first to fourthIt is long-pending that steering characteristic weighted value multiplies each other.
Vehicular yaw stabilizing control system of the present invention, is arranged on a vehicle, and this vehicle at leastHave the wheel shaft of an outputting power, with this wheel shaft coaxial rotation and at least there is a pair of decision rowMove the wheel of direction, and control a steering wheel of at least one pair of steering angle of wheel, this vehicleYaw stabilizing control system comprises: a detecting module, a database, a calculating moduleAn and control module. This detecting module is used for detecting the vehicle state parameter value of this vehicle, described inVehicle dynamic parameter value comprises suspension load, the speed of a motor vehicle and the steering wheel of side acceleration, this wheel shaftTurn to signal. This database builds and includes first steering characteristic corresponding with side accelerationWeight data, second steering characteristic weight data and the car corresponding with the suspension load of wheel shaftCorresponding the 3rd steering characteristic weight data of speed, and with steering wheel turn to signal correspondingThe 4th steering characteristic weight data. This calculating module according to take from this database with detectThe corresponding first steering characteristic weighted value of side acceleration, take from this database withThe corresponding second steering characteristic weighted value of the wheel shaft suspension load that detects, take from thisA three steering characteristic weighted value corresponding with the detected speed of a motor vehicle in database, and getIn this database, corresponding with detected wheel steering signal one the 4th turns toCharacteristic weighted value, to calculate a steering characteristic value, and by this steering characteristic value and aforementionedEach vehicle dynamic parameter value calculation goes out a desirable yaw-rate, and a maximum is allowed yaw-rate, in the time that this ideal yaw-rate is not more than maximum and allows yaw-rate, be converted to horizontal stroke by desirable yaw-rateThe corresponding steering angle output of Slew Rate, in the time that this ideal yaw-rate is greater than maximum and allows yaw-rate, byAllow that greatly yaw-rate is converted to the corresponding steering angle output of yaw-rate. This control module by change outThe corresponding steering angle of yaw-rate regulate and control the steering angle of aforementioned wheel.
Vehicular yaw stabilizing control system of the present invention, when the side acceleration of vehicle is greater than oneWhen predetermined threshold value, this control module is for being got involved or downgraded the output of engine moment by brake.
Vehicular yaw stabilizing control system of the present invention, this first steering characteristic weighted value can be along withSide acceleration is more and more large and reduce weight proportion, and this second steering characteristic weighted value can be along withWheel shaft suspension load reduces weight proportion more greatly, and the 3rd steering characteristic weighted value can be along with carSpeed promotes weight proportion sooner, and the 4th steering characteristic weighted value can be interrogated along with wheel steeringNumber larger and reduce weight proportion.
Vehicular yaw stabilizing control system of the present invention, this steering characteristic value is by first to fourthIt is long-pending that steering characteristic weighted value multiplies each other.
Beneficial effect of the present invention is: utilize dynamic weight proportion, determine desirable yaw-rateAnd maximum allows yaw-rate, not only can promote accuracy, and can make vehicle in dynamic mistakeCheng Zhong, keeps stability state, promotes the security of driving.
Brief description of the drawings
Fig. 1 is a schematic diagram, and Vehicular yaw stable control method of the present invention and system thereof are describedOne preferred embodiment;
Fig. 2 is a schematic diagram of this preferred embodiment; And
Fig. 3 is a flow chart of this preferred embodiment.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in detail.
Consult Fig. 1, a preferred embodiment of Vehicular yaw stabilizing control system of the present invention,To coordinate a steering (not shown) to be arranged on a vehicle 1. Described steering canFor active nose wheel steering (ActiveFrontwheelSteer:AFS), steering-by-wire systemSystem (Steer-by-wire:SBW) or four-wheel steering system (FourwheelSteering:4WS)Any. The vehicle of the present embodiment is the active steering of collocation, at least tool of this vehicle 1There is the wheel shaft 11 of an outputting power, and with these wheel shaft 11 coaxial rotation and at least have a pair ofDetermine route wheel 13,14, control a steering wheel of these wheel shaft 11 steering angles15, and output kinetic energy is to an engine 16 of this wheel shaft 11. The stable system that controls of this Vehicular yawTurnkey containing a detecting module 2, database 3, one calculate module 4, an and controlModule 5.
This detecting module 2 is for detecting the dynamic each vehicle dynamic parameter of this vehicle 1 drivingValue, described vehicle dynamic parameter value comprises that the side acceleration of this vehicle 1, this wheel shaft 11 hangLoad, the speed of a motor vehicle of hanging, and the signal that turns to of this steering wheel 15 (comprises steering angle and/or angle speedDegree trend). Wherein, described wheel shaft 11 suspension load refer to that suspending corresponding wheel in midair with wheel shaft hangs downTo load condition, can be also therefore wheel shaft 11 normal loads or wheel-borne load state.
This database 3 builds and includes corresponding with the side acceleration of vehicle 1 first and turn toCharacteristic weight data, second steering characteristic weight data corresponding with wheel shaft 11 suspension load,The three steering characteristic weight data corresponding with the speed of a motor vehicle, and with wheel steering angle or angle speedThe 4th steering characteristic weight data that degree trend is corresponding. Consult Fig. 2, each steering characteristic powerHeavily be worth according to the ratio definition adapting to, wherein, the first steering characteristic weighted value can add along with side directionSpeed reduces more and more greatly, and the second steering characteristic weighted value can be along with wheel shaft 11 suspension loadReduce more greatly weight proportion, the 3rd steering characteristic weighted value can promote sooner along with the speed of a motor vehicleWeight proportion, the 4th steering characteristic weighted value can fall more greatly along with wheel steering angular speedLow weight proportion.
This calculating module 4 is sustainably by four kinds that obtain in this detecting module 2 in driving dynamicallyVehicle dynamic parameter value, obtains in this database 3 with this detected vehicle side certainly to accelerationSpend a corresponding first steering characteristic weighted value K1, certainly obtain in this database 3 with detectA corresponding second steering characteristic weighted value K of these wheel shaft 11 suspension load who measures2, fromIn this database 3, obtain a three steering characteristic weight corresponding with the detected speed of a motor vehicleValue K3, and certainly obtain with detected steering wheel 15 in this database 3 and turn to signal (to turn toAngular speed) corresponding a 4th steering characteristic weighted value K4; Turn to spy by above-mentioned four againProperty weighted value K1～K4Calculate a steering characteristic value K, in the present embodiment, this turns toCharacteristic value K is by first to fourth steering characteristic weighted value K1～K4What multiply each other is long-pending.
This calculating module 4 is by this steering characteristic value K and above-mentioned each vehicle dynamic ginseng of vehicle that obtainsNumerical value calculates a desirable yaw rate gamma according to the equation of institute's constructionideal, and maximum an appearancePermitted yaw rate gammamax, when this ideal yaw rate gammaidealBe not more than maximum and allow yaw rate gammamaxTime, byThis ideal yaw rate gammaidealBe converted to the corresponding steering angle output of yaw-rate, when this ideal yaw rate gammaidealBe greater than maximum and allow yaw rate gammamaxTime, allow yaw rate gamma by this maximummaxBe converted to yaw-rate pairAnswer steering angle output. It is worth mentioning that, the conversion of the described corresponding steering angle of yaw-rate, canGain benefit ratio by yaw-rate and steering angle is calculated.
The above-mentioned desirable yaw rate gamma of mentioningidealBe and four kinds of steering characteristic weighted value K1～K4Be specialFixed relation, the equation of conversion is as follows:
γidealFor desirable yaw-rate; V is the speed of a motor vehicle; L is wheelbase; K is steering characteristic value; δ isThe steering angle of steering wheel.
The above-mentioned maximum of mentioning allows that the equation of yaw-rate conversion is as follows:
γmaxFor maximum is allowed yaw-rate; V is the speed of a motor vehicle; L is wheelbase; δ is turning to of steering wheelAngle.
This control module 5 is by this ideal yaw rate gamma of finally confirmingidealOr this maximum is allowed yawRate γmaxThe corresponding steering angle of yaw-rate of changing regulates and controls the steering angle of aforementioned wheel 13,14,Preferably, with desirable yaw rate gammaidealBefore calculating with the difference of actual yaw rate gamma of measuring gainedState the required stable state steering angle of wheel 13,14 and regulate and control compensation wheel steering. In addition, whenWhen the side acceleration of vehicle 11 is greater than a predetermined threshold value, this control module 5 can pass throughBrake gets involved or downgrades the output of engine moment and controls the steering angle of wheel simultaneously, as for utilizing veryCar get involved or downgrade engine moment output revise the required yaw moment of vehicle movement track theseIntervening mode has been known contained technology, therefore do not add to repeat.
Consult Fig. 3, and coordinate Fig. 1, below stablize controlling party for Vehicular yaw of the present inventionMethod in conjunction with the embodiments step explanation as rear:
Step 51: the position of centre of gravity in vehicle goes out actual yaw rate gamma with sensor measurement.
Step 52: in the process of travelling at this vehicle 1 with this detecting module 2, detect this vehicleTurning to of 1 side acceleration, the suspension load of this wheel shaft 11, the speed of a motor vehicle and this steering wheel 15The vehicle such as angle and angular speed dynamic parameter value, this calculating module 4 returns according to this database 3The suspention of the side acceleration that corresponds respectively to the detect vehicle 1 obtaining, wheel shaft 11 negativeCarry, the speed of a motor vehicle, and the steering angle of this steering wheel 15 and angular speed first to fourth turn to spyProperty weighted value K1～K4Calculate steering characteristic value K.
Step 53: the speed of a motor vehicle that this calculating module 4 is obtained according to this detecting module 2, aforementioned wheel shaftThe calculation of parameter such as 11 suspension load, the steering angle of this steering wheel 15, steering characteristic value KGo out desirable yaw rate gammaideal, and one calculate maximum with aforementioned vehicle parameter value and allow yaw-rateγmax。
Step 54: this control module 5 judges whether actual yaw rate gamma equals desirable yaw rate gammaideal？If so, carry out step 55, if not, carry out step 56.
Step 55: this control module 5 is controlled the steering angle of aforementioned wheel 13,14 reality etc.In the equivalent angle of these steering wheel 15 correspondences.
Step 56: this control module 5 is compared desirable yaw rate gammaidealAllow yaw rate gamma with maximummax。If desirable yaw rate gammaidealBe not more than maximum and allow yaw rate gammamaxAdopt with desirable yaw rate gammaidealConnectContinuous execution step 57; If desirable yaw rate gammaidealBe greater than maximum and allow yaw rate gammamax, adopt with maximumAllow yaw rate gammamaxExecution step 57 continues.
Step 57: this calculating module 4 is according to actual yaw rate gamma and desirable yaw rate gammaidealOrAllow greatly yaw rate gammamaxDifference, and calculate aforementioned wheel 13,14 required stable states and turn toAngle.
Step 58: this control module 5 judges that side acceleration is greater than preset threshold value? asFruit is no, carry out step 59, if so, represents that this vehicle 1 faces state to lose control of one's vehicle, entersRow step 60.
Step 59: this control module 5 to be to turn to intervening mode, controls these wheel shaft 11 realitySteering angle equals step 57 stable state steering angle.
Step 60: this control module 5, in the mode of brake or control engine 16 moments, reducesThe kinetic energy that this wheel shaft 11 is exported, simultaneously to turn to the mode of intervention, control aforementioned wheel 13,The steering angle of 14 reality equals step 57 stable state steering angle.
Known according to the above, under Vehicular yaw stable control method of the present invention and system thereof haveRow advantage and effect:
1, the present invention is mainly according to the yaw-rate of this vehicle 1, to turn to the mode of intervention,Control this vehicle 1 in the middle maintenance stable state of advancing, and the present invention is while calculating yaw-rate, first imports and repaiiesPositive factor, as the steering angle of steering wheel 15, wheel steering angular speed, this wheel shaft suspentionThe parameters such as load, the speed of a motor vehicle, side acceleration, just turn by steering wheel compared to prior artTo angle, and the estimated value that obtains of the parameter such as the speed of a motor vehicle, not only can promote while calculating yaw-rateAccuracy, and can significantly be lifted at stability and the applicability on different car moneys.
2, the present invention simultaneously can be with the parameter of side acceleration, and whether choice turns to JieEnter, or carry out the mode of braking and getting involved simultaneously, suppress the yaw-rate of this vehicle 1, guarantee thisThe yaw-rate of vehicle 1 remains in suitable scope, the stability of lifting vehicle 1 and security.
3, because the present invention imports as the suspention that turns to signal, this wheel shaft 11 of steering wheel 15The parameter modifying factors such as load, the speed of a motor vehicle, side acceleration, so in the time of actual correction steering angle,Can not be subject to different steering to occur to coordinate situation, therefore the present invention is in coordinating vehicle eachType steering applicability and public property were good more in the past.
Claims (6)
1. a Vehicular yaw stable control method, is characterized in that: under the method comprisesRow step:
Step 1: the actual yaw rate of measuring vehicle;
Step 2: the vehicle dynamic parameter value of detecting vehicle, described vehicle dynamic parameter value bagDraw together side acceleration, wheel shaft suspension load, the speed of a motor vehicle and wheel steering signal, and by above-mentionedEach vehicle dynamic parameter value of the vehicle of obtaining is converted to respectively first to fourth of correspondence and turns toCharacteristic weighted value and determine a steering characteristic value, this first steering characteristic weighted value can be withSide acceleration and reduce more and more greatly weight proportion, this second steering characteristic weighted value meetingAlong with wheel shaft suspension load reduces more greatly weight proportion, the 3rd steering characteristic weighted value meetingAlong with the speed of a motor vehicle promotes weight proportion sooner, the 4th steering characteristic weighted value can be along with directionDish turns to signal to reduce more greatly weight proportion, and this steering characteristic value is by first to fourthIt is long-pending that steering characteristic weighted value multiplies each other;
Step 3: by this steering characteristic value and above-mentioned each vehicle dynamic parameter that obtains vehicleValue calculates a desirable yaw-rate according to the equation of institute's construction; And
Step 4: actual yaw rate and the desirable yaw-rate of comparison vehicle, with desirable yaw-rateCalculating the required stable state steering angle of wheel with the difference of actual yaw rate regulates and controls and compensatesWheel steering.
2. Vehicular yaw stable control method according to claim 1, its feature existsIn: in step 4, in the time that the side acceleration of vehicle is greater than a predetermined threshold value, regulation and control shouldThe steering angle of wheel, and brake and get involved or downgrade the output of engine moment.
3. a Vehicular yaw stable control method, is characterized in that: under the method comprisesRow step:
Step 1: the actual yaw rate of measuring vehicle;
Step 2: the vehicle dynamic parameter value of detecting vehicle, described vehicle dynamic parameter value bagDraw together side acceleration, wheel shaft suspension load, the speed of a motor vehicle and wheel steering signal, and by above-mentionedEach vehicle dynamic parameter value of the vehicle of obtaining is converted to respectively first to fourth of correspondence and turns toCharacteristic weighted value and determine a steering characteristic value, this first steering characteristic weighted value can be withSide acceleration and reduce more and more greatly weight proportion, this second steering characteristic weighted value meetingAlong with wheel shaft suspension load reduces more greatly weight proportion, the 3rd steering characteristic weighted value meetingAlong with the speed of a motor vehicle promotes weight proportion sooner, the 4th steering characteristic weighted value can be along with directionDish turns to signal to reduce more greatly weight proportion, and this steering characteristic value is by first to fourthIt is long-pending that steering characteristic weighted value multiplies each other;
Step 3: by this steering characteristic value and above-mentioned each vehicle dynamic parameter that obtains vehicleValue calculates a desirable yaw-rate according to the equation of institute's construction, and a maximum is allowed horizontal strokeSlew Rate; And
Step 4: compare actual yaw rate and the desirable yaw-rate of this vehicle, when this ideal horizontal strokeSlew Rate is not more than maximum while allowing yaw-rate, calculates required the turning of wheel with desirable yaw-rateRegulate and control wheel steering to angle, in the time that desirable yaw-rate is greater than maximum and allows yaw-rate, withMaximum allows that yaw-rate calculates the required steering angle of this wheel and regulates and controls wheel steering.
4. Vehicular yaw stable control method according to claim 3, its feature existsIn: in step 4, in the time that the side acceleration of vehicle is greater than a predetermined threshold value, regulation and control shouldThe steering angle of wheel, and brake and get involved or downgrade the output of engine moment.
5. a Vehicular yaw stabilizing control system, is arranged on a vehicle, and this vehicle extremelyHave less the wheel shaft of an outputting power, with this wheel shaft coaxial rotation and at least have and fight to the finishDetermine the wheel of route, and control a steering wheel of at least one pair of steering angle of wheel,It is characterized in that: this Vehicular yaw stabilizing control system comprises:
A detecting module, for detecting the vehicle state parameter value of this vehicle, described vehicle is movingState parameter value comprises suspension load, the speed of a motor vehicle and the wheel steering of side acceleration, this wheel shaftSignal;
A database, builds and includes first steering characteristic corresponding with side accelerationWeight data, second steering characteristic weight data corresponding with the suspension load of wheel shaft, withThe 3rd steering characteristic weight data that the speed of a motor vehicle is corresponding, and with steering wheel turn to signal relativeThe 4th steering characteristic weight data of answering;
One is calculated module, according to taking from this database and detected side accelerationA corresponding first steering characteristic weighted value, take from this database with detectedThe corresponding second steering characteristic weighted value of wheel shaft suspension load, take from this databaseA three steering characteristic weighted value corresponding with the detected speed of a motor vehicle, and take from this numberAccording to a 4th steering characteristic power corresponding with detected wheel steering signal in storehouseHeavily value, to calculate a steering characteristic value, this first steering characteristic weighted value can be along with sideMore and more large and reduce weight proportion to acceleration, this second steering characteristic weighted value can be along withWheel shaft suspension load is larger and reduce weight proportion, and the 3rd steering characteristic weighted value can be along withThe speed of a motor vehicle promotes weight proportion sooner, and the 4th steering characteristic weighted value can turn along with steering wheelReduce weight proportion more greatly to signal, this steering characteristic value is to turn to spy by first to fourthProperty weighted value multiply each other long-pending, and by this steering characteristic value and aforementioned each vehicle dynamic parameterValue calculates a desirable yaw-rate, and a maximum allows yaw-rate, when this ideal yawRate is not more than maximum while allowing yaw-rate, is converted to yaw-rate correspondence turns to by desirable yaw-rateAngle output, in the time that this ideal yaw-rate is greater than maximum and allows yaw-rate, allows yaw by maximumRate is converted to the corresponding steering angle output of yaw-rate; And
Control module for one, regulate and control aforementioned car by the corresponding steering angle of the yaw-rate of being changedThe steering angle of wheel.
6. Vehicular yaw stabilizing control system according to claim 5, its feature existsIn: in the time that the side acceleration of vehicle is greater than a predetermined threshold value, this control module is used forGet involved or downgrade the output of engine moment by brake.
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| JP5988308B2 (en) * | 2013-12-27 | 2016-09-07 | 富士重工業株式会社 | Vehicle lane keeping control device |
| JP2016192166A (en) * | 2015-03-31 | 2016-11-10 | 株式会社デンソー | Vehicle control device and vehicle control method |
| CN104773170B (en) * | 2015-04-28 | 2017-03-29 | 吉林大学 | A kind of intact stability integrated control method |
| CN104859650B (en) * | 2015-05-28 | 2017-04-05 | 吉林大学 | A kind of vehicle yaw stability rolling optimization control method of Multiple Time Scales |
| CN105636859B (en) * | 2015-10-23 | 2020-07-28 | 株式会社小松制作所 | Connected vehicle overturn warning determination device and connected vehicle |
| JP6920871B2 (en) * | 2017-04-24 | 2021-08-18 | 本田技研工業株式会社 | Inverted pendulum type vehicle |
| CN111703413B (en) * | 2019-03-18 | 2022-07-15 | 毫末智行科技有限公司 | Lateral control safety monitoring method and system for automatic driving vehicle |
| CN114643999A (en) * | 2020-12-18 | 2022-06-21 | 宝能汽车集团有限公司 | Vehicle and lateral control method and device thereof and storage medium |
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