CN103488165B - Method for acquiring control parameters of yaw moment - Google Patents
Method for acquiring control parameters of yaw moment Download PDFInfo
- Publication number
- CN103488165B CN103488165B CN201310440068.7A CN201310440068A CN103488165B CN 103488165 B CN103488165 B CN 103488165B CN 201310440068 A CN201310440068 A CN 201310440068A CN 103488165 B CN103488165 B CN 103488165B
- Authority
- CN
- China
- Prior art keywords
- wheel cylinder
- brake pressure
- cylinder brake
- revolver
- minimum value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The invention discloses a method for acquiring control parameters of yaw moment. The method includes the steps that a vehicle is placed on a test road surface, the wheel cylinder brake pressure on wheels is gradually increased from a preset smallest value according to a preset pressurizing gradient or a wheel cylinder brake pressure change gradient gradually increasing according to a preset change ratio, and a corresponding performance parameter is recorded to acquire the corresponding relation between the wheel cylinder brake pressure on the wheels or the wheel cylinder brake pressure change gradient and the performance parameter; according to corresponding relation, the wheel cylinder brake pressure on the wheels or the wheel cylinder brake pressure change gradient is acquired when the performance parameter reaches a preset threshold value, and the acquired wheel cylinder brake pressure on the wheels or the wheel cylinder brake pressure change gradient is identified as the largest wheel cylinder brake pressure on the wheels or the largest wheel cylinder brake pressure change gradient of the wheels as one of the control parameters of the yaw moment. The method for acquiring control parameters of yaw moment solves the problem that the acquisition efficiency of the control parameters of the yaw moment is low and improves the acquisition efficiency and accuracy of the control parameters of the yaw moment.
Description
Technical field
The application relates to electric brake system, in particular to a kind of acquisition methods of the yaw moment control parameter for electronic system.
Background technology
Automobile split road surface is braked time, because left and right sides coefficient of road adhesion is different, the yaw moment around automobile Z axis can be produced, anti-lock braking system (the Anti-lock braking system of automobile, lower abbreviation ABS) yaw moment is controlled, to reduce the rising gradient of high attached wheel brake pressure, so that driver can keep vehicle steadily.In the calibration process of yaw moment control function, coupling slip-stick artist can rule of thumb and the physical characteristics of actual vehicle adjust main controling parameters.
Due to current yaw moment control function coupling work (namely, the adjustment of controling parameters) there is no clear and definite theoretical foundation, therefore, the adjustment of existing controling parameters mainly depends on experience and the technology of coupling slip-stick artist, and the parameter by once setting before analyzing in test repeatedly makes further adjustment.But this adjustment mode creates impact to the coupling efficiency of work, traceability and reliability.
Summary of the invention
The fundamental purpose of the application is the acquisition methods providing a kind of yaw moment control parameter, with the problem that the acquisition efficiency at least solving the controling parameters of yaw moment in prior art is lower.
According to an aspect of the application, provide a kind of acquisition methods of yaw moment control parameter, it comprises: be placed on by vehicle on test road surface, wherein, the coefficient of road adhesion on road surface that the revolver of vehicle travels on test road surface is different from the coefficient of road adhesion that the right of vehicle takes turns the road surface of traveling; The wheel cylinder brake pressure progressively increasing revolver in the process on test road surface with the first supercharging gradient from the first minimum value is travelled at vehicle, and the performance parameter for controlling yaw moment that record is corresponding, to obtain the first corresponding relation between the wheel cylinder brake pressure of revolver and performance parameter; Obtain the wheel cylinder brake pressure of revolver corresponding when performance parameter reaches the first predetermined threshold according to the first corresponding relation, the wheel cylinder brake pressure of the revolver of acquisition is designated the maximum wheel cylinder brake pressure of revolver as one of yaw moment control parameter; Travel at vehicle and from the second minimum value, progressively increase right wheel cylinder brake pressure of taking turns with the second supercharging gradient in the process on test road surface, and the performance parameter that record is corresponding, to obtain the second corresponding relation between right wheel cylinder brake pressure of taking turns and performance parameter; Obtain right wheel cylinder brake pressure of taking turns corresponding when performance parameter reaches the second predetermined threshold according to the second corresponding relation, the right wheel cylinder brake pressure of taking turns obtained is designated and takes turns maximum wheel cylinder brake pressure as the right of one of yaw moment control parameter; The wheel cylinder brake pressure progressively increasing revolver in the process on test road surface with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change from the 3rd minimum value is travelled at vehicle, and the performance parameter that record is corresponding, to obtain the 3rd corresponding relation between revolver wheel cylinder brake pressure variations gradient and performance parameter; Obtain revolver wheel cylinder brake pressure variations gradient corresponding when performance parameter reaches the 3rd predetermined threshold according to the 3rd corresponding relation, the revolver wheel cylinder brake pressure variations gradient of acquisition is designated the maximum variable gradient of revolver wheel cylinder brake pressure as one of yaw moment control parameter; Travel at vehicle and from the 4th minimum value, progressively increase right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change in the process on test road surface, and the performance parameter that record is corresponding, to obtain the 4th corresponding relation between right wheel cylinder brake pressure variations gradient and performance parameter; Obtain right wheel cylinder brake pressure variations gradient corresponding when performance parameter reaches the 4th predetermined threshold according to the 4th corresponding relation, the right wheel cylinder brake pressure variations gradient obtained is designated the maximum variable gradient of right wheel cylinder brake pressure as one of yaw moment control parameter.
As the optional implementation of one, when from first minimum value progressively increasing the wheel cylinder brake pressure of revolver with the first supercharging gradient in vehicle traveling in the process of testing road surface, and when from three minimum value progressively increasing the wheel cylinder brake pressure of revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change in vehicle traveling in the process of testing road surface, the coefficient of road adhesion on the road surface of the revolver traveling of vehicle is greater than the right coefficient of road adhesion of taking turns the road surface of traveling of vehicle.
As the optional implementation of one, when from second minimum value progressively increasing right wheel cylinder brake pressure of taking turns with the second supercharging gradient in vehicle traveling in the process of testing road surface, and when from four minimum value progressively increasing right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change in vehicle traveling in the process of testing road surface, the coefficient of road adhesion on the road surface of the revolver traveling of vehicle is less than the right coefficient of road adhesion of taking turns the road surface of traveling of vehicle.
As the optional implementation of one, increase left and right wheel cylinder brake pressure of taking turns with the first fixing supercharging gradient, the second supercharging gradient and increase left and right wheel cylinder brake pressure of taking turns with the revolver wheel cylinder brake pressure variations gradient increased progressively by first, second fixing rate of change, right wheel cylinder brake pressure variations gradient and comprise respectively: perform the step increasing left and right wheel cylinder brake pressure of taking turns according to the opening and closing of the wheel cylinder liquid feed valve of each self-corresponding gate cycle state modulator vehicle.
As the optional implementation of one, performance parameter comprise following one of at least: side slip angle, braking deceleration, yaw velocity.
As the optional implementation of one, at least two in the first minimum value, the second minimum value, the 3rd minimum value and the 4th minimum value equal.
As the optional implementation of one, the first minimum value is equal with the second minimum value, the 3rd minimum value is equal with the 4th minimum value.
As the optional implementation of one, the first minimum value, the second minimum value, the 3rd minimum value and the 4th minimum value are 0 bar.
As the optional implementation of one, the first supercharging gradient is identical with the second supercharging gradient, and the first rate of change is identical with the second rate of change.
In the alternatives of the application, test process is automatically performed by system, left and right maximum wheel cylinder brake pressure of taking turns and the left and right maximum variable gradient of wheel cylinder brake pressure of taking turns can be obtained, avoid and carried out by rule of thumb testing the lower problem of caused testing efficiency by slip-stick artist, this not only effectively shortens the time of test, more can obtain the controling parameters of yaw moment exactly, ensure that the reliability using controling parameters to carry out yaw moment control.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide further understanding of the present application, and form a application's part, the schematic description and description of the application, for explaining the application, does not form the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the optional process flow diagram of one of the acquisition methods of yaw moment control parameter according to the embodiment of the present application;
Fig. 2 is the optional process flow diagram of another kind of the acquisition methods of yaw moment control parameter according to the embodiment of the present application;
Fig. 3 is the optional structural representation of one of the acquisition device of yaw moment control parameter according to the embodiment of the present application.
Embodiment
Hereinafter also describe the application in detail with reference to accompanying drawing in conjunction with the embodiments.It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.
As used in this application, term " module ", " assembly " or " unit " can refer to the software object that performs on computers or routine.Although system and method described herein realizes with software, the realization of the combination of hardware or software and hardware also may and conceived.
Present embodiments provide a kind of acquisition methods of yaw moment control parameter, as shown in Figure 1, the acquisition methods of the yaw moment control parameter in the present embodiment comprises:
S102: vehicle is placed on test road surface, wherein, the coefficient of road adhesion on road surface that the revolver of vehicle travels on test road surface is different from the coefficient of road adhesion that the right of vehicle takes turns the road surface of traveling; From the first minimum value, the wheel cylinder brake pressure of revolver is progressively increased with the first supercharging gradient, and the performance parameter that record is corresponding, to obtain the first corresponding relation between the wheel cylinder brake pressure of revolver and performance parameter; Obtain the wheel cylinder brake pressure of revolver corresponding when performance parameter reaches the first predetermined threshold according to the first corresponding relation, the wheel cylinder brake pressure of the revolver of acquisition is designated the maximum wheel cylinder brake pressure of revolver as one of described yaw moment control parameter;
S104: progressively increase right wheel cylinder brake pressure of taking turns with the second supercharging gradient from the second minimum value, and the performance parameter that record is corresponding, to obtain the second corresponding relation between right wheel cylinder brake pressure of taking turns and performance parameter; Obtain right wheel cylinder brake pressure of taking turns corresponding when performance parameter reaches the second predetermined threshold according to the second corresponding relation, the right wheel cylinder brake pressure of taking turns obtained is designated and takes turns maximum wheel cylinder brake pressure as the right of one of yaw moment control parameter;
S106: the wheel cylinder brake pressure progressively increasing revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change from the 3rd minimum value, and the performance parameter that record is corresponding, to obtain the 3rd corresponding relation between revolver wheel cylinder brake pressure variations gradient and performance parameter; Obtain revolver wheel cylinder brake pressure variations gradient corresponding when performance parameter reaches the 3rd predetermined threshold according to the 3rd corresponding relation, the revolver wheel cylinder brake pressure variations gradient of acquisition is designated the maximum variable gradient of revolver wheel cylinder brake pressure as one of yaw moment control parameter;
S108: progressively increase right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change from the 4th minimum value, and the performance parameter that record is corresponding, to obtain the 4th corresponding relation between right wheel cylinder brake pressure variations gradient and performance parameter; Obtain right wheel cylinder brake pressure variations gradient corresponding when performance parameter reaches the 4th predetermined threshold according to the 4th corresponding relation, the right wheel cylinder brake pressure variations gradient obtained is designated the maximum variable gradient of right wheel cylinder brake pressure as one of yaw moment control parameter.
In the alternatives of the application, test process is automatically performed by system, left and right maximum wheel cylinder brake pressure of taking turns and the left and right maximum variable gradient of wheel cylinder brake pressure of taking turns can be obtained, avoid and carried out by rule of thumb testing the lower problem of caused testing efficiency by slip-stick artist, this not only effectively shortens the time of test, more can obtain the controling parameters of yaw moment exactly, ensure that the reliability using controling parameters to carry out yaw moment control.
As a kind of optional embodiment, when from first minimum value progressively increasing the wheel cylinder brake pressure of described revolver with the first supercharging gradient in described vehicle traveling in the process on described test road surface, and when from three minimum value progressively increasing the wheel cylinder brake pressure of described revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change in described vehicle traveling in the process on described test road surface, the coefficient of road adhesion on the road surface of the revolver traveling of described vehicle is greater than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle.
Such as, when testing revolver, the revolver of vehicle can be travelled on asphalt road, the right wheel of vehicle is travelled on ice face.Certainly, the present embodiment is not limited in this, as long as ensure that the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is greater than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle.
As a kind of optional embodiment, when travel at described vehicle in the process on described test road surface with the second supercharging gradient progressively increase from the second minimum value described right take turns wheel cylinder brake pressure time, and when travel at described vehicle in the process on described test road surface with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change progressively increase from the 4th minimum value described right take turns wheel cylinder brake pressure time, the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is less than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle.
Such as, to right take turns test time, the revolver of vehicle can be travelled on ice face, vehicle right be taken turns travelling on asphalt road.Certainly, the present embodiment is not limited in this, as long as ensure that the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is less than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle.
As a kind of optional embodiment, increase described left and right wheel cylinder brake pressure of taking turns with fixing described first supercharging gradient, the second supercharging gradient and increase described left and right wheel cylinder brake pressure of taking turns comprise respectively with the described revolver wheel cylinder brake pressure variations gradient increased progressively by first, second rate of change described in fixing, right wheel cylinder brake pressure variations gradient: performing the step increasing described left and right wheel cylinder brake pressure of taking turns according to the opening and closing of the wheel cylinder liquid feed valve of vehicle described in each self-corresponding gate cycle state modulator.
Describe the process of above-mentioned control wheel cylinder liquid feed valve below in conjunction with Fig. 2, perform according to the opening and closing of the wheel cylinder liquid feed valve of vehicle described in each self-corresponding gate cycle state modulator the step increasing described left and right wheel cylinder brake pressure of taking turns and comprise:
S202: travel in the process on test road surface at vehicle, wherein, the coefficient of road adhesion on road surface that the revolver of vehicle travels on test road surface is different from the coefficient of road adhesion that the right of vehicle takes turns the road surface of traveling; The wheel cylinder brake pressure progressively increasing revolver with the first supercharging gradient from the first minimum value comprises: from the electric brake system vehicle, read the first pre-configured gate cycle parameter, according to the opening and closing of the wheel cylinder liquid feed valve of described first gate cycle state modulator vehicle to make the wheel cylinder brake pressure progressively increasing described revolver with described first gradient from described first minimum value;
S204: progressively increase right wheel cylinder brake pressure of taking turns with the second supercharging gradient from the second minimum value and comprise: read the second pre-configured gate cycle parameter from the electric brake system vehicle, according to the opening and closing of the wheel cylinder liquid feed valve of described second gate cycle state modulator vehicle to make progressively to increase described right wheel cylinder brake pressure of taking turns with described second gradient from described second minimum value;
S206: the wheel cylinder brake pressure progressively increasing revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change from the 3rd minimum value comprises: read the 3rd pre-configured gate cycle parameter from the electric brake system vehicle, according to the opening and closing of the wheel cylinder liquid feed valve of vehicle described in described 3rd gate cycle state modulator to make the wheel cylinder brake pressure progressively increasing described revolver with the revolver gradient increased progressively by described first rate of change from described 3rd minimum value;
S208: progressively increase right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change from the 4th minimum value and comprise: read the 4th pre-configured gate cycle parameter from the electric brake system vehicle, according to the opening and closing of the wheel cylinder liquid feed valve of vehicle described in described 4th gate cycle state modulator to make progressively to increase described right wheel cylinder brake pressure of taking turns with the right gradient of taking turns increased progressively by described second rate of change from described 4th minimum value.
In the above-described embodiments, by can realize the increase of wheel cylinder brake pressure to the open and close controlling of wheel cylinder liquid feed valve.
As a kind of optional embodiment, the above-mentioned performance parameter for controlling yaw moment include but not limited to following one of at least: maximum side slip angle, minimum braking deceleration, maximum yaw velocity.
As a kind of optional embodiment, at least two in described first minimum value the 3rd minimum value equal to, described described second minimum value and described 4th minimum value equal.Optionally, described first minimum value three minimum value equal to, described described second minimum value is equal with described 4th minimum value.
As a kind of optional embodiment, described first minimum value, described second minimum value, described 3rd minimum value and described 4th minimum value are 0 bar (bar).It should be noted that, the first minimum value, described second minimum value, described 3rd minimum value and described 4th minimum value also can be other values.
As a kind of optional embodiment, described first supercharging gradient is identical with described second supercharging gradient, and described first rate of change is identical with described second rate of change.
In each optional embodiment above-mentioned, maximum for the revolver got wheel cylinder brake pressure, right maximum wheel cylinder brake pressure, the maximum variable gradient of revolver wheel cylinder brake pressure and the maximum variable gradient of right wheel cylinder brake pressure of taking turns can be recorded in vehicle-mounted deceleration of electrons control system (EBS).Like this, in the process that vehicle real road travels, if when deceleration of electrons control system detects that current revolver wheel cylinder brake pressure is greater than revolver maximum wheel cylinder brake pressure, then current revolver wheel cylinder brake pressure adjusted to be less than or equal to the maximum wheel cylinder brake pressure of revolver by adjusting relevant controling parameters or performing relevant control operation.Above-mentioned adjustment process is applicable to rightly take turns maximum wheel cylinder brake pressure, the maximum variable gradient of revolver wheel cylinder brake pressure and the maximum variable gradient of right wheel cylinder brake pressure too, and the present embodiment does not repeat them here.
In order to describe the embodiment of the application better, be yaw velocity be below example with performance parameter, composition graphs 3 describes the acquisition scheme of yaw moment control parameter.
As shown in Figure 3, the acquisition device 300 of the yaw moment control parameter in the present embodiment comprises: processor 302 and the wheel cylinder liquid feed valve 304 be connected with processor 302.In the present embodiment, processor 302 can be, but not limited to as the processor (ECU) in deceleration of electrons control system (EBS).
In the process of test, processor 302 and wheel cylinder liquid feed valve 304 carry out following four groups of tests:
1) revolver travel on the attached road surface of height (namely, the coefficient of road adhesion on the road surface of the revolver traveling of described vehicle is greater than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle), the opening and closing that control signal controls wheel cylinder liquid feed valve 304 is exported by processor 302, the wheel cylinder brake pressure of revolver is increased with minimum supercharging gradient from 0 bar (bar), each wheel cylinder brake pressure correspondingly can produce a yaw velocity, like this, the corresponding relation between the wheel cylinder brake pressure of one group of revolver and yaw velocity can be recorded; Obtain the wheel cylinder brake pressure of revolver corresponding when yaw velocity reaches the first predetermined threshold according to this corresponding relation, the wheel cylinder brake pressure of the revolver of acquisition is designated the maximum wheel cylinder brake pressure of revolver as one of described yaw moment control parameter;
2) right take turns travel on the attached road surface of height (namely, the coefficient of road adhesion on the road surface of the revolver traveling of described vehicle is less than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle), the opening and closing that control signal controls wheel cylinder liquid feed valve 304 is exported by processor 302, right wheel cylinder brake pressure of taking turns is increased with minimum supercharging gradient from 0 bar (bar), each wheel cylinder brake pressure correspondingly can produce a yaw velocity, like this, the corresponding relation between one group of right wheel cylinder brake pressure of taking turns and yaw velocity can be recorded; Obtain right wheel cylinder brake pressure of taking turns corresponding when yaw velocity reaches the second predetermined threshold according to this corresponding relation, the right wheel cylinder brake pressure of taking turns obtained is designated and takes turns maximum wheel cylinder brake pressure as the right of one of described yaw moment control parameter;
3) revolver travel on the attached road surface of height (namely, the coefficient of road adhesion on the road surface of the revolver traveling of described vehicle is greater than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle), the opening and closing that control signal controls wheel cylinder liquid feed valve 304 is exported by processor 302, make the near front wheel wheel cylinder brake pressure from 0 bar (bar), increase with the supercharging gradient increased progressively by constant variation rate, each supercharging gradient correspondingly can produce a yaw velocity, like this, the corresponding relation between the supercharging gradient of one group of revolver and yaw velocity can be recorded; Obtain the supercharging gradient of revolver corresponding when yaw velocity reaches the 3rd predetermined threshold according to this corresponding relation, the supercharging gradient of the revolver of acquisition is designated the maximum pressure of wheel braking cylinder variable gradient of revolver as one of described yaw moment control parameter;
4) right take turns travel on the attached road surface of height (namely, the coefficient of road adhesion on the road surface of the revolver traveling of described vehicle is less than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle), the opening and closing that control signal controls wheel cylinder liquid feed valve 304 is exported by processor 302, make off-front wheel wheel cylinder brake pressure from 0 bar (bar), increase with the supercharging gradient increased progressively by constant variation rate, each supercharging gradient correspondingly can produce a yaw velocity, like this, the corresponding relation between one group of right supercharging gradient of taking turns and yaw velocity can be recorded; Obtain right supercharging gradient of taking turns corresponding when yaw velocity reaches the 4th predetermined threshold according to this corresponding relation, the right supercharging gradient of taking turns obtained is designated and takes turns maximum pressure of wheel braking cylinder variable gradient as the right of one of described yaw moment control parameter.
By embodiment provided by the invention, in reality test, utilize with minimum gradient and the mode of wheel cylinder brake pressure automatically adjusting yaw moment with the gradient increased progressively by constant variation rate, realize the test to yaw velocity, based on test data, the controling parameters of required adjustment is adjusted accurately, and no longer relies on the experience of coupling slip-stick artist.
In the above-described embodiments, maximum for the revolver got wheel cylinder brake pressure, right maximum wheel cylinder brake pressure, the maximum variable gradient of revolver wheel cylinder brake pressure and the maximum variable gradient of right wheel cylinder brake pressure of taking turns can be recorded in vehicle-mounted deceleration of electrons control system (EBS).Like this, in the process that vehicle real road travels, if when deceleration of electrons control system detects that current revolver wheel cylinder brake pressure is greater than revolver maximum wheel cylinder brake pressure, then current revolver wheel cylinder brake pressure adjusted to be less than or equal to the maximum wheel cylinder brake pressure of revolver by adjusting relevant controling parameters or performing relevant control operation.Above-mentioned adjustment process is applicable to rightly take turns maximum wheel cylinder brake pressure, the maximum variable gradient of revolver wheel cylinder brake pressure and the maximum variable gradient of right wheel cylinder brake pressure too, and the present embodiment does not repeat them here.
Obviously, those skilled in the art should be understood that, each module of above-mentioned the application or each step can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, and in some cases, step shown or described by can performing with the order be different from herein, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the application is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiment of the application, be not limited to the application, for a person skilled in the art, the application can have various modifications and variations.Within all spirit in the application and principle, any amendment done, equivalent replacement, improvement etc., within the protection domain that all should be included in the application.
Claims (9)
1. an acquisition methods for yaw moment control parameter, is characterized in that, comprising:
Be placed on by vehicle on test road surface, wherein, the coefficient of road adhesion on road surface that the revolver of described vehicle travels on described test road surface is different from the coefficient of road adhesion that the right of described vehicle takes turns the road surface of traveling;
The wheel cylinder brake pressure progressively increasing described revolver in the process on described test road surface with the first supercharging gradient from the first minimum value is travelled at described vehicle, and the performance parameter for controlling yaw moment that record is corresponding, to obtain the first corresponding relation between the wheel cylinder brake pressure of described revolver and described performance parameter; Obtain the wheel cylinder brake pressure of described revolver corresponding when described performance parameter reaches the first predetermined threshold according to described first corresponding relation, the wheel cylinder brake pressure of the described revolver obtained is designated the maximum wheel cylinder brake pressure of revolver as one of described yaw moment control parameter;
Travel at described vehicle and from the second minimum value, progressively increase described right wheel cylinder brake pressure of taking turns with the second supercharging gradient in the process on described test road surface, and the described performance parameter that record is corresponding, to obtain the second corresponding relation between described right wheel cylinder brake pressure of taking turns and described performance parameter; Obtain described right wheel cylinder brake pressure of taking turns corresponding when described performance parameter reaches the second predetermined threshold according to described second corresponding relation, the described right wheel cylinder brake pressure of taking turns obtained is designated and takes turns maximum wheel cylinder brake pressure as the right of one of described yaw moment control parameter;
The wheel cylinder brake pressure progressively increasing described revolver in the process on described test road surface with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change from the 3rd minimum value is travelled at described vehicle, and the described performance parameter that record is corresponding, to obtain the 3rd corresponding relation between described revolver wheel cylinder brake pressure variations gradient and described performance parameter; Obtain described revolver wheel cylinder brake pressure variations gradient corresponding when described performance parameter reaches the 3rd predetermined threshold according to described 3rd corresponding relation, the described revolver wheel cylinder brake pressure variations gradient obtained is designated the maximum variable gradient of revolver wheel cylinder brake pressure as one of described yaw moment control parameter;
Travel at described vehicle and from the 4th minimum value, progressively increase described right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change in the process on described test road surface, and the described performance parameter that record is corresponding, to obtain the 4th corresponding relation between described right wheel cylinder brake pressure variations gradient and described performance parameter; Obtain described right wheel cylinder brake pressure variations gradient corresponding when described performance parameter reaches the 4th predetermined threshold according to described 4th corresponding relation, the described right wheel cylinder brake pressure variations gradient obtained is designated the maximum variable gradient of right wheel cylinder brake pressure as one of described yaw moment control parameter.
2. method according to claim 1, it is characterized in that, when from first minimum value progressively increasing the wheel cylinder brake pressure of described revolver with the first supercharging gradient in described vehicle traveling in the process on described test road surface, and when from three minimum value progressively increasing the wheel cylinder brake pressure of described revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change in described vehicle traveling in the process on described test road surface, the coefficient of road adhesion on the road surface of the revolver traveling of described vehicle is greater than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle.
3. method according to claim 1, it is characterized in that, when travel at described vehicle in the process on described test road surface with the second supercharging gradient progressively increase from the second minimum value described right take turns wheel cylinder brake pressure time, and when travel at described vehicle in the process on described test road surface with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change progressively increase from the 4th minimum value described right take turns wheel cylinder brake pressure time, the coefficient of road adhesion on the road surface of the revolver traveling of described vehicle is less than the right coefficient of road adhesion of taking turns the road surface of traveling of described vehicle.
4. method according to claim 1, it is characterized in that, increase described left and right wheel cylinder brake pressure of taking turns with fixing described first supercharging gradient, the second supercharging gradient and increase described left and right wheel cylinder brake pressure of taking turns comprise respectively with the described revolver wheel cylinder brake pressure variations gradient increased progressively by first, second rate of change described in fixing, right wheel cylinder brake pressure variations gradient: performing the step increasing described left and right wheel cylinder brake pressure of taking turns according to the opening and closing of the wheel cylinder liquid feed valve of vehicle described in each self-corresponding gate cycle state modulator.
5. method according to any one of claim 1 to 4, is characterized in that, described performance parameter comprise following one of at least: side slip angle, braking deceleration, yaw velocity.
6. method according to any one of claim 1 to 4, is characterized in that, at least two in described first minimum value, described second minimum value, described 3rd minimum value and described 4th minimum value equal.
7. method according to any one of claim 1 to 4, is characterized in that, described first minimum value three minimum value equal to, described described second minimum value is equal with described 4th minimum value.
8. method according to any one of claim 1 to 4, is characterized in that, described first minimum value, described second minimum value, described 3rd minimum value and described 4th minimum value are 0 bar.
9. method according to any one of claim 1 to 4, is characterized in that, described first supercharging gradient is identical with described second supercharging gradient, and described first rate of change is identical with described second rate of change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310440068.7A CN103488165B (en) | 2013-09-23 | 2013-09-23 | Method for acquiring control parameters of yaw moment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310440068.7A CN103488165B (en) | 2013-09-23 | 2013-09-23 | Method for acquiring control parameters of yaw moment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103488165A CN103488165A (en) | 2014-01-01 |
| CN103488165B true CN103488165B (en) | 2015-01-07 |
Family
ID=49828476
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310440068.7A Active CN103488165B (en) | 2013-09-23 | 2013-09-23 | Method for acquiring control parameters of yaw moment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103488165B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116819972B (en) * | 2023-08-29 | 2023-12-29 | 北京成功领行汽车技术有限责任公司 | Collaborative control method of modularized layered architecture |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1673007A (en) * | 2004-03-25 | 2005-09-28 | 三菱扶桑卡客车株式会社 | Steering characteristic control apparatus for vehicle |
| CN101111417A (en) * | 2005-05-18 | 2008-01-23 | 丰田自动车株式会社 | Running control apparatus for vehicle |
| CN101151182A (en) * | 2005-02-02 | 2008-03-26 | 丰田自动车株式会社 | Braking/driving force controller of vehicle |
| CN102616223A (en) * | 2011-01-28 | 2012-08-01 | 比亚迪股份有限公司 | Automobile stability control method and automobile stability control system |
-
2013
- 2013-09-23 CN CN201310440068.7A patent/CN103488165B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1673007A (en) * | 2004-03-25 | 2005-09-28 | 三菱扶桑卡客车株式会社 | Steering characteristic control apparatus for vehicle |
| CN101151182A (en) * | 2005-02-02 | 2008-03-26 | 丰田自动车株式会社 | Braking/driving force controller of vehicle |
| CN101111417A (en) * | 2005-05-18 | 2008-01-23 | 丰田自动车株式会社 | Running control apparatus for vehicle |
| CN102616223A (en) * | 2011-01-28 | 2012-08-01 | 比亚迪股份有限公司 | Automobile stability control method and automobile stability control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103488165A (en) | 2014-01-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105849657B (en) | Virtual test for driving assistance system optimizes | |
| US20140046558A1 (en) | Vibration reduction control method and apparatus of power train by controlling motor torque of electric vehicle | |
| CN108944943B (en) | Bend following model based on risk dynamic balance theory | |
| DE102014008500A1 (en) | tire classification | |
| CN107571864A (en) | The collecting method and device of automatic driving vehicle | |
| CN105352741A (en) | Brake performance evaluation method based on virtual road load conditions and system thereof | |
| CN113378305B (en) | Driverless trolley-based vehicle-road cooperative testing method and device | |
| CN109278755A (en) | Vehicle road gradient calculation method and system | |
| CN104709295A (en) | Rail vehicle sliding control method | |
| DE102017101467A1 (en) | SYSTEM AND METHOD FOR SPEED ASSISTANCE IN MOUNTAIN RUNNING | |
| CN102975720B (en) | The longitudinal direction of car speed of a motor vehicle is calculated device, method and is used the vehicle of this device | |
| CN109017758A (en) | A kind of vehicle stability control system adjusted in advance and method | |
| CN106004830A (en) | Method and system for controlling self-adaption gradient braking of railway vehicle | |
| CN110116730A (en) | A kind of vehicle brake control method, system, equipment and medium | |
| CN105808314A (en) | Traffic simulation method and device | |
| Chen et al. | Robust sideslip angle observer with regional stability constraint for an uncertain singular intelligent vehicle system | |
| CN105109350B (en) | The brake control method and device of vehicle | |
| WO2019115662A1 (en) | Method for determining a friction value for a contact between a tyre of a vehicle and a roadway, and method for controlling a vehicle function of a vehicle | |
| CN103488165B (en) | Method for acquiring control parameters of yaw moment | |
| CN112208581A (en) | ATO vehicle control method, ATO vehicle control device, electronic equipment and storage medium | |
| CN104729992A (en) | Measurement method and measurement device for wheel track adhesion coefficient of railway vehicle | |
| US20160114772A1 (en) | Methods and systems for boosting trailer brake output | |
| CN105808315A (en) | High level architecture synergetic traffic safety simulation method and apparatus | |
| CN112477830A (en) | Automatic vehicle control method for railway vehicle and terminal equipment | |
| Gao et al. | Vehicle longitudinal velocity estimation with adaptive Kalman filter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |