CN105083294A - System and method for controlling vehicle wheel using Intelligent Tire Sensor - Google Patents
System and method for controlling vehicle wheel using Intelligent Tire Sensor Download PDFInfo
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- CN105083294A CN105083294A CN201510175784.6A CN201510175784A CN105083294A CN 105083294 A CN105083294 A CN 105083294A CN 201510175784 A CN201510175784 A CN 201510175784A CN 105083294 A CN105083294 A CN 105083294A
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- 230000005484 gravity Effects 0.000 claims abstract description 63
- 230000001133 acceleration Effects 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 abstract description 5
- 238000011105 stabilization Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 7
- 238000012360 testing method Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/109—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
- B60W40/13—Load or weight
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/20—Steering systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides a system and method for controlling a vehicle wheel using an Intelligent Tire Sensor. The system comprises: an information acquiring part, a controller, and brake driving part. The information acquiring part acquires running information and to-ground vertical force information of a vehicle. The controller calculates center of gravity of the vehicle by using the running information and the vertical force information acquired, calculates a target Yaw Rate of the vehicle by using the center of gravity calculated and the running information, and generates control information of wheels by using the difference between the object Yaw Rate calculated and an actual Yaw Rate included in the running information. The brake driving part controls the wheels based on the control information generated. Vertical force information of the Intelligent Tire Sensor has a less delay compared with sensor information applied on a traditional ESC system so as to reduce vehicle steer and achieves vehicle behavior stabilization as early as possible.
Description
Technical field
The present invention relates to system and method thereof that the information utilizing the sensor that vehicle assembles to detect controls wheel.Specifically, the information utilizing the smart tire sensor that vehicle assembles to measure controls the wheel of vehicle in traveling, and then makes vehicle keep wheel control system and the method thereof of firm position after dismount.
Background technology
ESC (ElectronicStabilityControl) system is intended to turning to of driver and implements unit control to each wheel of vehicle after actual vehicle trend enforcement comparative analysis and help to safeguard the active safety system of driving safety.
Specifically, ESC system is by judging ovdersteering (Over-Steer, vehicle rotates to obtain more phenomenon than bearing circle rotational angle) or understeer (Under-Steer, the phenomenon that vehicle rotates less than bearing circle rotational angle) and vehicle becomes instability time, independently control for brake is implemented to each wheel, and then the system controlling Vehicular yaw cireular frequency (angle of side slip) and vehicle stabilization is got off.
The main composition of ESC system comprises: hydraulic pressure regulator, wheel speed sensors, steering angle sensor, brake-pressure sensor, rotational-rate sensor, lateral acceleration sensor, tire pressure sensor and the communication system etc. with Engine ECU.Now, ESC system, by the traveling intention of wheel speed sensors, steering angle sensor, brake pressure sensor and Das Gaspedal identification driver, is grasped the trend of Current vehicle by rotational-rate sensor, lateral acceleration sensor and tire pressure sensor etc. and calculates desirable driving conditions.Then, the hydraulic pressure regulator of ESC Systematical control vehicle, and then the braking force and the engine power that regulate each wheel, make vehicle keep firm position after dismount.
But there is the delay of this signal comparatively greatly in the sensor information of traditional E SC system, vehicle becomes unstable and makes vehicle stabilization with post-compensation yaw velocity and cannot control wheel rapidly.And ESC system tire pressure sensor application sensors estimate estimated valve and non-sensor measure practical measurement value calculate yaw velocity, therefore the accuracy of information is lower.
Summary of the invention
One is the object of the present invention is to provide to utilize smart tire sensor (iTireSensor, IntelligentTireSensor) vehicle measured calculates the target yaw rate of wheel to the vertical power information on ground, and on system individual wheel control logic, applies the target yaw rate that calculates and control system and the method thereof of wheel.
For realizing described object, what one aspect of the present invention related to utilizes the wheel control system of smart tire sensor to comprise: obtain vehicle operating information and the information obtaining section to ground vertical power information; The operation information of described acquisition and vertical power information is utilized to calculate the center of gravity of described vehicle, utilize the center of gravity of described calculating and operation information to calculate the target yaw rate (YawRate) of described vehicle, the difference of the actual yaw velocity comprised in the target yaw rate calculated described in utilization and described operation information generates the control part of described wheel control information; And the braking drive division of described wheel is controlled according to the control information of described generation.
Described information obtaining section comprises: the operation information obtaining portion at least obtaining one of them information in the vehicle wheel base length information of described vehicle, deflection angle information, velocity information, lateral acceleration information, cornering stiffness information and actual yaw velocity.
Described information obtaining section comprises: the vertical power information obtaining section at least obtaining one of them information in the vertical power information of described vehicle front-wheel and trailing wheel.
Described control part utilizes described vehicle wheel base length information and vertical power information to calculate the center of gravity of described vehicle.
Described control part utilizes described center of gravity, vertical power information and operation information to calculate the basic target yaw velocity of described vehicle, whether belongs to given area calculate described vehicle target yaw cireular frequency according to the described basic target yaw velocity calculated.
Described basic target yaw velocity be application calculate according to described vertical power information described vehicle mass, being calculated by the length of described center of gravity to front-wheel and the length to trailing wheel and operation information according to described vehicle wheel base length information and center of gravity calculation.
Described control part utilizes the front-wheel vertical power of described vehicle and trailing wheel vertical power sum to calculate the quality of described vehicle.
The wheel control method of smart tire sensor that utilizes that the present invention relates on the other hand comprises: the stage obtaining the operation information of vehicle and the vertical power information to ground; The operation information of described acquisition and vertical power information is utilized to calculate the stage of institute's vehicle's center of gravity; The center of gravity of described calculating and operation information is utilized to calculate the stage of described vehicle target yaw cireular frequency; The difference of the actual yaw velocity comprised in the target yaw rate calculated described in utilization and described operation information generates the stage of described wheel control information; And the stage of described wheel is controlled according to the control information of described generation.
Obtain the operation information of described vehicle and the stage of the vertical power information on ground is comprised: the stage at least obtaining one of them information in the vehicle wheel base length information of described vehicle, deflection angle information, velocity information, lateral acceleration information, cornering stiffness information and actual yaw velocity.
Obtain described vehicle operating information and the stage of the vertical power information on ground is comprised: the stage at least obtaining one of them information in the front-wheel of described vehicle and the vertical power information of trailing wheel.
The stage utilizing the operation information of described acquisition and vertical power information to calculate described vehicle's center of gravity comprises: utilize the vehicle wheel base length information that comprises in described operation information and vertical power information to calculate the stage of the center of gravity of described vehicle.
The stage utilizing the center of gravity of described calculating and operation information to calculate described vehicle target yaw cireular frequency comprises: utilize described center of gravity, vertical power information and operation information to calculate the stage of described vehicle basic target yaw velocity; And whether belong to according to the described basic target yaw velocity calculated the stage that given area calculates described vehicle target yaw cireular frequency.
The stage utilizing described center of gravity, vertical power information and operation information to calculate described vehicle basic target yaw velocity comprises: utilize described vertical power information to calculate the stage of described vehicle mass; Described vehicle wheel base length information and center of gravity is utilized to calculate stage by the length of described center of gravity to front-wheel and the length to trailing wheel respectively; The quality of described calculating, the length to front-wheel, the length to trailing wheel and operation information is utilized to calculate the stage of described basic target yaw velocity.
The stage utilizing described vertical power information to calculate described vehicle mass comprises: utilize the front-wheel vertical power of described vehicle and trailing wheel vertical power sum to calculate the stage of described vehicle mass.
The advantage that the present invention has is:
According to the present invention, its beneficial effect is, utilizes the vertical power information postponing less smart tire sensor compared with the sensor information that traditional ESC system is applied, thus reduces Vehicular turn, and realizes vehicle movement stabilization as early as possible.
Accompanying drawing explanation
Fig. 1 is the block diagram utilizing the wheel control system of smart tire sensor of display one embodiment of the invention;
Fig. 2 be display one embodiment of the invention utilize the wheel control system of smart tire sensor to the diagram of circuit of process of method of calculating controlling control information needed for wheel;
Fig. 3 is the Performance comparision diagram of curves utilized between the ESC system of the wheel control system of smart tire sensor and the ESC system do not applied of application one embodiment of the invention.
Detailed description of the invention
For making the object of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The term used in the present invention, only in order to embodiment to be described, is not limit the invention.Singulative in this specification sheets, under not having the prerequisite of special suggestion, also comprises plural form in sentence." comprising (comprises) " of using in specification sheets or " (comprising) that comprise " do not get rid of other component more than one beyond involved component, step, action and/or element, step, action and/or element existence or supplement.Below in conjunction with accompanying drawing in detail embodiments of the invention are described in detail.
The invention provides a kind of application on the individual wheel control logic of ESC system by smart tire sensor (iTireSensor, intelligentTireSensor) vehicle of practical measurement is to the vertical power information on ground but not the strength estimated valve of the vehicle tyre applied traditionally, more accurately calculate the yaw velocity of front-wheel and trailing wheel, and then calculate wheel control system and the method thereof of Vehicular turn characteristic and controlling quantity.
In addition provide in the power of the three-dimensional of the wheel only utilizing smart tire sensor to measure and Fx, Fy, Fz the vertical reaction on ground and the wheel control system of Fz and method thereof.
Fig. 1 is the Wheeling System block diagram utilizing smart tire sensor of one embodiment of the invention.
As shown in Figure 1, the wheel control system 100 of smart tire sensor that utilizes of one embodiment of the invention comprises operation information obtaining portion 110, vertical power information obtaining section 120, control part 130 and braking drive division 140.
Operation information obtaining portion 110 obtains from the various sensors that vehicle assembles the operation information at least comprising one of them information in the cornering stiffness information and wheel yaw angle rates information of vehicle wheelbase's information, deflection angle information, velocity information, lateral acceleration information, vehicle front-wheel and trailing wheel.The operation information of acquisition is passed to control part 130 by operation information obtaining portion 110.
The smart tire sensor (iTire) that vertical power information obtaining section 120 assembles from vehicle obtains the vertical power information of vehicle to ground.Specifically, vertical power information obtaining section 120 obtains the vehicle front-wheel and trailing wheel that are measured by smart tire sensor to the vertical power information on ground.The vertical power information of acquisition is passed to control part 130 by vertical power information obtaining section 120.
Control part 130 utilizes the operation information received from operation information obtaining portion 110 and the target yaw rate calculating vehicle from the vertical power information that vertical power information obtaining section 120 receives.
Specifically, control part 130 is calculate the target yaw rate of vehicle, first utilizes the vehicle wheel base length information that comprises the operation information received from operation information obtaining portion 110 and calculates by vehicle's center of gravity to the length of vehicle front-wheel and by the length of vehicle's center of gravity to vehicle rear wheel from the vehicle vertical power information that vertical power information obtaining section 120 receives.
Control part 130 utilize calculate by center of gravity to vehicle front-wheel length, receive to the length of vehicle rear wheel and from operation information obtaining portion 110 center of gravity that the vehicle wheel base length information that comprises operation information calculates vehicle by vehicle's center of gravity.
Vehicle wheel base length is the length between the front-wheel of vehicle and trailing wheel, therefore utilizes vehicle wheel base length and can calculate center of gravity to the length of vehicle front-wheel and by vehicle's center of gravity to the length of vehicle rear wheel by vehicle's center of gravity.
Control part 130 utilizes the vehicle front-wheel that receives from vertical power information obtaining section 120 and trailing wheel the vertical power information sum on ground to be calculated to the vehicle mass comprising passenger or lade.
Then, control part 130 utilize calculate by vehicle's center of gravity to the length of vehicle front-wheel, the target yaw rate being calculated vehicle by vehicle's center of gravity to the length of vehicle rear wheel, the vehicle's center of gravity calculated, the vehicle mass calculated and the cornering stiffness information of deflection angle information, velocity information, lateral acceleration information, front-wheel and trailing wheel that comprises from the vehicle operating information that operation information obtaining portion 110 receives that calculates.
Control part 130 calculates the difference of target yaw rate and the actual yaw velocity of vehicle received from operation information obtaining portion 110 calculated, utilize the difference of the yaw velocity calculated to generate and control each control information taken turns needed for 30, the control information of generation is inputed to braking drive division 140.
Control part 130 of the present invention also can be implement to compensate to the error of the actual yaw velocity of the target yaw rate of the center of gravity calculation according to vehicle and the steering wheel angle (SAS) of mensuration and control the PD control setup of wheel 30.
Brake control section 140 controls wheel 30 according to the control information inputted by control part 130, makes the yaw velocity of vehicle close to the target yaw rate calculated.
Specifically, braking drive division 140 receives the controlling quantity of the error of Compensation Objectives yaw velocity and actual yaw velocity from control part 130, the controlling quantity be transfused to is applied to respectively to take turns 30 and regulate each braking force of taking turns, and then makes vehicle maintenance firm position after dismount.
Below in conjunction with Fig. 2 in detail control part 130 is described in detail and calculates the process controlling control information needed for wheel 30.
Fig. 2 is that the wheel control system of smart tire sensor that utilizes of display one embodiment of the invention is calculated as the process flow diagram flow chart of the method controlling control information needed for wheel.
As shown in Figure 2, control part 130 obtains the vertical power information (F of vehicle front-wheel to ground from vertical power information obtaining section 120
zf), vehicle rear wheel is to the vertical power information (F on ground
zr) (step S210).In addition, control part 130 obtains at vehicle wheel base length information (L), deflection angle information (δ from operation information obtaining portion 110
f), velocity information (V
x), the cornering stiffness information (C of lateral acceleration information, vehicle front-wheel
α f), the cornering stiffness information (C of vehicle rear wheel
α r) at least comprise the vehicle operating information (step S220) of one of them information.
Control part 130 is for calculating target yaw rate, first utilize if digital 1 grade is to the moment-equilibrium equation of front-wheel and trailing wheel vertical power, calculate by vehicle's center of gravity to the length of vehicle front-wheel and by the length (step S230) of vehicle's center of gravity to vehicle rear wheel.Now, mathematical expression 2 is seen to the length of vehicle front-wheel and by vehicle's center of gravity to the length gauge formula of vehicle rear wheel by vehicle's center of gravity.
[mathematical expression 1]
l
f×mg＝(l
f+l
r)×F
zr，mg＝F
zf+F
zr
[mathematical expression 2]
Here,
by the length of vehicle's center of gravity to vehicle front-wheel,
refer to by the length of vehicle's center of gravity to vehicle rear wheel,
with
sum is vehicle wheel base length (L).
refer to vehicle mass, g refers to acceleration due to gravity.
Control part 130 utilize applied mathematics formula 2 to calculate by the length of vehicle's center of gravity to vehicle front-wheel
with by the length of vehicle's center of gravity to vehicle rear wheel
and vehicle wheel base length (L) calculates vehicle's center of gravity (step S240).
Control part 130 applied mathematics formula 1 also utilizes vehicle front-wheel and trailing wheel the vertical power information sum on ground to be calculated to the vehicle mass comprising passenger or lade
(step S250).
That is, by the length of vehicle's center of gravity to vehicle front-wheel
can according to the vertical power information (F of vehicle front-wheel to ground
zf), vehicle rear wheel is to the vertical power information (F on ground
zr) and vehicle wheel base length (L) calculating, by the distance of vehicle's center of gravity to vehicle rear wheel
be can according to vehicle wheel base length (L), calculate by the length of vehicle's center of gravity to vehicle front-wheel
calculate.Vehicle weight
can according to the vertical power information (F of vehicle front-wheel to ground
zf) and vehicle rear wheel to the vertical power information (F on ground
zr) sum calculating.
Control part 130 utilizes the vehicle mass calculated
calculate by the length of vehicle's center of gravity to vehicle front-wheel
calculate by the length of vehicle's center of gravity to vehicle rear wheel
and the deflection angle information (δ that comprises in the vehicle operating information to be obtained by operation information obtaining portion 110
f), velocity information (V
x), lateral acceleration information, vehicle front-wheel cornering stiffness information (C
α f), vehicle rear wheel cornering stiffness information (C
α r) and applied mathematics formula 3 calculate as exporting target yaw rate (ψ
target) needed for basic target yaw velocity (ψ
ack) (step S260).
Now, for distinguishing to basic target yaw velocity with by the target yaw rate that basic target yaw velocity calculates, ψ is used
ackrepresent basic target yaw velocity, use ψ
targetrepresent target yaw rate.
[mathematical expression 3]
Then, control part 130 applied mathematics formula 4 calculates target yaw rate (ψ
target).
[mathematical expression 4]
Control part 130 is basic target yaw velocity (ψ
ack)
during scope (step S270), by target yaw rate (ψ
target) export for and basic target yaw velocity (ψ
ack) identical value (step S280), basic target yaw has speed (ψ
ack)
during scope, by target yaw rate (ψ
target) export be
(step S281).Here, μ refers to friction coefficient.
In addition, target yaw rate (ψ
target) by after decision, control part 130 can calculate the target yaw rate (ψ by determining
target) and the error (step S290) of actual yaw velocity of vehicle that obtains of operation information obtaining portion 110.
Then, control part 130 is compensate according to the yaw velocity of yaw-rate error to vehicle calculated, and takes turns 30 applying yaw velocity controlling quantitys (step S300) by braking drive division 140 to each.
Fig. 3 application is the Performance comparision diagram of curves utilized between the ESC system of the wheel control system of smart tire sensor and the ESC system do not applied of one embodiment of the invention.
Fig. 3 is the diagram of curves of display direction dish controlling angle test result, the concentrated load of 300kg is loaded after the boot being presented at vehicle, keep the speed of a motor vehicle of 70km/h, and pressure flag (PresFlag), yaw-rate error (YawRateError in time when implementing SLC (singly moving line: SingleLaneChange), rad/s), yaw velocity (YawRate, deg/s) and SAS (deg).
Solid line represents the test result of the traditional E SC system not applying smart tire sensor information, and thick line represents that the ESC system test result utilizing smart tire sensor information according to one embodiment of present invention compares.
As shown in Figure 3, the vehicle front-wheel utilizing smart tire sensor to measure and trailing wheel calculate the center of gravity of vehicle to the vertical power information on ground, and the ESC system of the present invention applied on individual wheel control logic by the vehicle's center of gravity calculated is compared with traditional ESC system, the delay of signal is less, it is fast that signal control gets involved time point, reduce track to change rear vehicle and turn to, and realize movement stabilization as early as possible, so for vehicle driver provide get a promotion further turn to supporting system.
Above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that: it still can be modified to the technical scheme described in foregoing embodiments, or carries out equivalent replacement to wherein portion of techniques feature; And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of technical scheme described in various embodiments of the present invention.Protection scope of the present invention should make an explanation according to following right, and all technical schemes in its equivalents should all belong to right of the present invention.
Claims (14)
1. utilize a wheel control system for smart tire sensor, it is characterized in that, comprising:
Obtain the operation information of vehicle and the information obtaining section to ground vertical power information;
The described operation information of acquisition and vertical power information is utilized to calculate the center of gravity of described vehicle, utilize the described center of gravity of calculating and operation information to calculate the target yaw rate of described vehicle, utilize the difference of the actual yaw velocity comprised in the described target yaw rate and described operation information calculated to generate the control part of the control information of wheel; And the braking drive division of described wheel is controlled according to the described control information generated.
2. the wheel control system utilizing smart tire sensor according to claim 1, is characterized in that,
Described information obtaining section comprises: the operation information obtaining portion at least obtaining one of them information in the vehicle wheel base length information of described vehicle, deflection angle information, velocity information, lateral acceleration information, cornering stiffness information and actual yaw velocity.
3. the wheel control system utilizing smart tire sensor according to claim 1, is characterized in that, described information obtaining section comprises: the vertical power information obtaining section at least obtaining one of them information in the vertical power information of described vehicle front-wheel and trailing wheel.
4. the wheel control system utilizing smart tire sensor according to claim 2, is characterized in that, described control part utilizes described vehicle wheel base length information and vertical power information to calculate the center of gravity of described vehicle.
5. the wheel control system utilizing smart tire sensor according to claim 1, it is characterized in that, described control part utilizes described center of gravity, vertical power information and operation information to calculate the basic target yaw velocity of described vehicle, whether belongs to given area calculate described vehicle target yaw cireular frequency according to the described basic target yaw velocity calculated.
6. the wheel control system utilizing smart tire sensor according to claim 5, it is characterized in that, described basic target yaw velocity be application calculate according to described vertical power information described vehicle mass, being calculated by the length of described center of gravity to front-wheel and the length to trailing wheel and operation information according to described vehicle wheel base length information and center of gravity calculation.
7. the wheel control system utilizing smart tire sensor according to claim 6, is characterized in that, described control part utilizes the front-wheel vertical power of described vehicle and trailing wheel vertical power sum to calculate the quality of described vehicle.
8. utilize a wheel control method for smart tire sensor, it is characterized in that, this implementation phase comprise: the stage obtaining the operation information of vehicle and the vertical power information to ground;
Utilize the stage of described operation information and the vertical power information calculating institute vehicle's center of gravity obtained;
The described center of gravity of calculating and operation information is utilized to calculate the stage of described vehicle target yaw cireular frequency;
The difference of the actual yaw velocity comprised in the described target yaw rate and described operation information calculated is utilized to generate the stage of the control information of described wheel; And the stage of described wheel is controlled according to the described control information generated.
9. the wheel control method utilizing smart tire sensor according to claim 8, it is characterized in that, obtain the operation information of described vehicle and the stage of the vertical power information on ground is comprised: the stage at least obtaining one of them information in the vehicle wheel base length information of described vehicle, deflection angle information, velocity information, lateral acceleration information, cornering stiffness information and actual yaw velocity.
10. the wheel control method utilizing smart tire sensor according to claim 8, it is characterized in that, obtain described vehicle operating information and the stage of the vertical power information on ground is comprised: the stage at least obtaining one of them information in the front-wheel of described vehicle and the vertical power information of trailing wheel.
The 11. wheel control methods utilizing smart tire sensor according to claim 9, it is characterized in that, the stage utilizing the operation information of described acquisition and vertical power information to calculate described vehicle's center of gravity comprises: utilize the vehicle wheel base length information that comprises in described operation information and vertical power information to calculate the stage of described vehicle's center of gravity.
The 12. wheel control methods utilizing smart tire sensor according to claim 8, it is characterized in that, the stage utilizing the center of gravity of described calculating and operation information to calculate described vehicle target yaw cireular frequency comprises:
Described center of gravity, vertical power information and operation information is utilized to calculate the stage of described vehicle basic target yaw velocity; And whether belong to according to the described basic target yaw velocity calculated the stage that given area calculates described vehicle target yaw cireular frequency.
The 13. wheel control methods utilizing smart tire sensor according to claim 12, is characterized in that, the stage utilizing described center of gravity, vertical power information and operation information to calculate described vehicle basic target yaw velocity comprises:
Described vertical power information is utilized to calculate the stage of the quality of described vehicle;
Described vehicle wheel base length information and center of gravity is utilized to calculate stage by the length of described center of gravity to front-wheel and the length to trailing wheel respectively;
The quality of described vehicle, the center of gravity calculated is utilized to calculate the stage of described basic target yaw velocity to the length of front-wheel, center of gravity to the length of trailing wheel and operation information.
The 14. wheel control methods utilizing smart tire sensor according to claim 13, it is characterized in that, the stage utilizing described vertical power information to calculate described vehicle mass comprises: utilize the front-wheel vertical power of described vehicle and trailing wheel vertical power sum to calculate the stage of described vehicle mass.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2014-0054770 | 2014-05-08 | ||
| KR1020140054770A KR20150128046A (en) | 2014-05-08 | 2014-05-08 | SYSTEM AND METHOD FOR CONTROLLING VEHICLE WHEEL USING iTire SENSOR |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105083294A true CN105083294A (en) | 2015-11-25 |
Family
ID=54564857
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510175784.6A Pending CN105083294A (en) | 2014-05-08 | 2015-04-14 | System and method for controlling vehicle wheel using Intelligent Tire Sensor |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR20150128046A (en) |
| CN (1) | CN105083294A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278072A (en) * | 2020-11-06 | 2021-01-29 | 吉林大学 | Intelligent vehicle steering safety control system and control method |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102377541B1 (en) * | 2015-12-14 | 2022-03-22 | 현대모비스 주식회사 | Apparatus and method for emergency braking for a secondary accident prevention |
| KR102463701B1 (en) * | 2016-12-14 | 2022-11-08 | 현대자동차주식회사 | System and Method for calculating movement of vehicle |
| JP6944125B2 (en) * | 2017-11-17 | 2021-10-06 | トヨタ自動車株式会社 | Vehicle behavior control device |
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| US20040267429A1 (en) * | 2003-06-11 | 2004-12-30 | Fuji Jukogyo Kabushiki Kaisha | Vehicle control device and vehicle control method |
| US20050273241A1 (en) * | 2004-06-04 | 2005-12-08 | Fuji Jukogyo Kabushiki Kaisha | Estimating device and vehicle motion control device using the same |
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| CN101189149A (en) * | 2005-06-01 | 2008-05-28 | 丰田自动车株式会社 | Vehicle braking/driving force control apparatus |
| JP2008265545A (en) * | 2007-04-20 | 2008-11-06 | Toyota Motor Corp | Center of gravity position estimating device of vehicle and center of gravity position/yaw inertia moment estimating device |
| DE102008046259A1 (en) * | 2008-09-08 | 2010-03-11 | Volkswagen Ag | Driving stability determining method for use during braking of e.g. passenger car, involves determining position of center of gravity of vehicle and side coefficients of wheels, and determining value for driving stability of vehicle |
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- 2014-05-08 KR KR1020140054770A patent/KR20150128046A/en not_active Application Discontinuation
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| US20040267429A1 (en) * | 2003-06-11 | 2004-12-30 | Fuji Jukogyo Kabushiki Kaisha | Vehicle control device and vehicle control method |
| US20050273241A1 (en) * | 2004-06-04 | 2005-12-08 | Fuji Jukogyo Kabushiki Kaisha | Estimating device and vehicle motion control device using the same |
| CN101189149A (en) * | 2005-06-01 | 2008-05-28 | 丰田自动车株式会社 | Vehicle braking/driving force control apparatus |
| GB2428754A (en) * | 2005-08-01 | 2007-02-07 | Ford Global Tech Llc | Vehicle yaw control with tyre-road friction estimator |
| KR20080022764A (en) * | 2006-09-07 | 2008-03-12 | 주식회사 만도 | Electric control brake system |
| JP2008265545A (en) * | 2007-04-20 | 2008-11-06 | Toyota Motor Corp | Center of gravity position estimating device of vehicle and center of gravity position/yaw inertia moment estimating device |
| DE102008046259A1 (en) * | 2008-09-08 | 2010-03-11 | Volkswagen Ag | Driving stability determining method for use during braking of e.g. passenger car, involves determining position of center of gravity of vehicle and side coefficients of wheels, and determining value for driving stability of vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112278072A (en) * | 2020-11-06 | 2021-01-29 | 吉林大学 | Intelligent vehicle steering safety control system and control method |
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| KR20150128046A (en) | 2015-11-18 |
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