CN105946863B - A kind of determining method in vehicle run stability region - Google Patents

A kind of determining method in vehicle run stability region Download PDF

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CN105946863B
CN105946863B CN201610462975.5A CN201610462975A CN105946863B CN 105946863 B CN105946863 B CN 105946863B CN 201610462975 A CN201610462975 A CN 201610462975A CN 105946863 B CN105946863 B CN 105946863B
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vehicle
stability
slip angle
side slip
speed
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CN105946863A (en
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郭洪艳
宋林桓
刘风
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Jilin University
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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
    • 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
    • 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
    • B60W40/103—Side slip angle of vehicle body
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/20—Tyre data
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/20—Sideslip angle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Geometry (AREA)
  • General Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Evolutionary Computation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a kind of determining methods in intact stability region, mainly comprise the steps of：Step 1: establish complete vehicle lateral dynamic model；Step 2: draw the side slip angle speed side slip angle phase path family of curves of vehicle；Step 3: determine stability boundaris phase path；Step 4: form of straight lines is fitted stability boundaris；Step 5: stability boundaris slope and intercept are made about speed and the three-dimensional map of coefficient of road adhesion.The present invention is quantitative to have symbolized vehicle run stability region, and modeling is simple, has certain real-time and validity.

Description

A kind of determining method in vehicle run stability region
Technical field
Determining method more particularly to one kind the present invention relates to a kind of vehicle run stability region pass through side slip angle The processing of phase plane stability boundaris three-dimensional map carries out the method that vehicle run stability region determines.
Background technology
Phase plane is a kind of figure solution for nonlinear system movement locus, it is not necessary to nonlinear equation be carried out specific It solves, by the movement locus of the drawing system in phase plane, intuitively can accurately observe the relationship between correlated variables, So that it is determined that the forms of motion that system solves under different primary condition.For this system in nonlinearity state of vehicle For, phase plane analysis method is to characterize a kind of comprehensive, intuitive and effective method of its characteristic.Currently for intact stability Phase plane mainly comprising two kinds, a kind of phase plane trajectory for being based on directly on vehicle-state, another kind be by vehicle-state into The deformation of row definite meaning, so as to the energy phase plane trajectory formed.Wherein side slip angle speed-side slip angle of vehicle Phase plane directly reflects vehicle and follows driveability for desired trajectory, has for the stability of vehicle important Research significance.But it is extremely limited for the research of the phase plane at present, there is no the stabilizations of systematic description phase plane Property region and instability region, versatility are very poor, therefore can not be used for analyzing, control and evaluating the steady of vehicle well Qualitative characteristics.Under this research background, for the stability region of side slip angle speed-side slip angle phase plane Description and research become particularly important.
Invention content
The purpose of the present invention is being directed to side slip angle speed-side slip angle phasor, a kind of novel vehicle row is proposed The processing method of stability region is sailed, and determines the three-dimensional map of the lateral boundary of stability of vehicle.
The purpose of the present invention is what is be achieved through the following technical solutions,
A kind of determining method in vehicle run stability region, includes the following steps：
Step 1: with reference to Vehicle Lateral Motion Based mechanism and Unitire UniTire models, establish complete vehicle and laterally move Mechanical model；
Step 2: according to the vehicle lateral dynamic model that step 1 is established, at the beginning of transmitting vehicle-state by parametric form Including side slip angle and side slip angle speed, driver intention and surface conditions, i.e. speed are inputted by parameter assignment for value And coefficient of road adhesion, under different original states, draw side slip angle speed-barycenter lateral deviation under vehicle difference operating mode Angle phase path family of curves；
Step 3: according to side slip angle speed-side slip angle phase under the vehicle difference operating mode obtained in step 2 Figure determines the phase path of stability boundaris under each operating mode using interpolation method；
Step 4: the phase path of the stability boundaris obtained in step 3 is carried out linear fit, confronted with the form of straight line The stability boundaris of heart yaw angle speed-side slip angle phase plane is described, and obtains the stability boundaris straight line under different operating modes；
Step 5: the slope and intercept to the stability boundaris straight line under operating modes different in step 4 summarize, and make Stability boundaris slope and intercept are about speed and the three-dimensional map of coefficient of road adhesion, so that it is determined that going out the stability region of vehicle.
The present invention has the positive effect that as a result of above-mentioned technical solution, the present invention：
1. the present invention is based on data to carry out the lateral Dynamic Modeling of vehicle, modeling process is simple and practical, can be completely anti- Answer the kinetic characteristics of vehicle；
2. the present invention is fitted boundary locus using the method for fitting a straight line, reduce operand, it is versatile；
3. the stability boundaris three-dimensional map obtained using the present invention, can quickly cook up the stability region of vehicle, right There is reliable guarantee applied to the real-time on real vehicle and accuracy；
4. inventive algorithm is simple and direct, highly reliable, saved a large amount of resource and cost, be intact stability control and Evaluation lays a solid foundation.
Description of the drawings
Fig. 1 is double track auto model schematic diagram；
Fig. 2 is vehiclePhase path curve synoptic diagram；
Fig. 3 (a) is that friction coefficient is 0.8, and speed is the Phase plane curve figure of 10m/s
Fig. 3 (b) is that friction coefficient is 0.8, and speed is the Phase plane curve figure of 20m/s
Fig. 3 (c) is that friction coefficient is 0.8, and speed is the Phase plane curve figure of 25m/s
Fig. 3 (d) is that friction coefficient is 0.8, and speed is the Phase plane curve figure of 35m/s
Fig. 4 (a) is that speed is 30m/s, and friction coefficient is 0.1 Phase plane curve figure
Fig. 4 (b) is that speed is 30m/s, and friction coefficient is 0.3 Phase plane curve figure
Fig. 4 (c) is that speed is 30m/s, and friction coefficient is 0.5 Phase plane curve figure
Fig. 4 (d) is that speed is 30m/s, and friction coefficient is 0.7 Phase plane curve figure
Fig. 5 is stability boundaris slope k three-dimensional map
Fig. 6 is stability boundaris intercept b three-dimensionals map
Specific embodiment
Below in conjunction with the accompanying drawings, the technical solution proposed to invention is further elaborated and illustrates.
The present invention provides a kind of determining method in intact stability region, and this method includes the following steps：
1. combining Vehicle Lateral Motion Based mechanism and Unitire UniTire models, complete vehicle lateral dynamics are established Model
In order to obtain the side slip angle of vehicle speed-side slip angle phasor, the present invention is directed to the weaving of vehicle Complete vehicle dynamic model is established with lateral movement, makes hypothesis below first：
The influence of wheel steering system is not considered, front wheel angle δfInput as system；
Ignore the effect of suspension, it is believed that displacement of the automobile along z-axis, the angle of heel around x-axis are with the pitch angle around y-axis Zero；
The influence of the variation and ground tangential force of tyre load to tire cornering characteristics is not considered；
Ignore aerodynamic effect, driving force is little；
Automobile is constant along the longitudinal velocity of x-axis.
Using iso standard vehicle axis system, coordinate origin is located at the barycenter of vehicle the present invention, and vehicle is along headstock to moving ahead The direction sailed is set as positive direction of the x-axis, and horizontal is to the left the positive direction of y-axis, the plane that z-axis positive direction is formed perpendicular to x-axis, y-axis, Direction is determined by right-hand screw rule.According to up to bright BELL'S THEOREM, power caused by the moment of inertia and inertia force suffered by vehicle Square and equal with the sum of all moment of face suffered by vehicle, so as to obtain the moving equilibrium equation of vehicle.
Resulting side force ∑ F of the vehicle along y-axisy：
The sum of the yaw moment that complete vehicle quality is generated around z-axis ∑ Mz：
The lateral deviation movement of vehicle is only considered herein, ignores the straight skidding of vehicle, due to the longitudinal speed v of settingxIt is constant, Then side slip angle β and its change rateIt can approximately be expressed as：
Formula (1)-(3) are arranged, the expression formula for finally obtaining vehicle about yaw velocity r and side slip angle β is as follows Shown in formula (4)：
Simplified double track auto model according to figure 1, the force analysis of comprehensive four tires, resulting side force ∑ FyWith conjunction Torque ∑ MzIt can be represented by formula (5):
Wherein：M is complete vehicle quality, IzIt is rotary inertia of the vehicle around z-axis, LfAnd LrIt is vehicle centroid respectively to antero posterior axis Wheelbase, d1Represent the front tread of vehicle, vxAnd vyThe longitudinally and laterally speed of vehicle is represented respectively, and β represents side slip angle, r Represent yaw velocity, δfRepresent front wheel angle, Fyfl、Fyfr、Fyrl、FyrrVehicle the near front wheel, off-front wheel, left rear wheel are represented respectively And the side force of tire of off hind wheel.
For the nonlinear characteristic of more accurate reaction vehicle, to vehicle about side slip anglePhase plane into Row research, introduces non-linear tire model and the lateral force of tire is described herein.Due to speed, friction coefficient and direction The extraneous factors such as disk corner, which can result in tire, to be left the range of linearity and enters zone of saturation, so carrying out phase plane stable region During domain analysis, for tire model choose it is suitable whether be decision vehicle phase plane accuracy key factor.In each warp In the tire model of allusion quotation, ' unified index tire model ' that Guo Konghui academician proposes be based on to a large amount of tire test result and Mechanics of tire Analysis on Mechanism is established, and can fully demonstrate the nonlinear characteristic of vehicle tyre under the influence of different factors, be into The ideal tire model of driving stability analysis, therefore in the research of phase plane, the present invention, which selects, ' uniformly to be referred to Number ' Unitire UniTire models.
Because only considering the lateral deviation movement of vehicle in the analysis to vehicle phase plane, ignore the straight skidding of vehicle, because This carries out a series of simplification to Unitire tire models, finally obtains the lateral force F of four wheelsyiExpression formula such as following formula (6) It is shown：
Wherein,
In above formula, i={ fl, fr, rl, rr } represents the near front wheel, off-front wheel, left rear wheel and off hind wheel, similarly hereinafter respectively.μ For surface friction coefficient, structural parameters of the E for tire, KyiCornering stiffness for tire.
In longitudinal speed vxIt is constant, longitudinal acceleration axUnder the premise of being zero, consider vehicle in body quality m, lateral acceleration Spend ayUnder the action of, the vertical load F of each tireziShown in expression formula such as following formula (7)：
In above formula, h is automobile height of center of mass, and d is averaged wheelspan for front and back wheel, and g is acceleration of gravity.
The side acceleration a of vehicleyExpression formula be：
Correspondingly, the side drift angle α of each tire of vehicleiIt can be specifically described as follows by formula (9)：
Aggregative formula (4)-(9) are matched Vehicular system structural parameters, and are built instead using matlab/simulink modules Answer the complete vehicle dynamic model of vehicle lateral stability.
2. it drawsPhase path curve
Since side slip angle phasor can really react the stability status of vehicle, stability region is with extraneous item The variation of part and change, include speed, surface friction coefficient, the steering operation of driver and control system apply additional horizontal stroke Put torque etc..Since during the control of vehicle stability systems, the variation of steering wheel angle will be frequently in speed and road surface The variation of friction coefficient, and additional yaw moment is reasonably applied by theory analysis can increase stability region, therefore this hair Bright considers the influence of speed and surface friction coefficient to side slip angle phase plane stability region.
According to the complete vehicle dynamic model established in step 1, first with m function sets operating modes, including speed and Surface friction coefficient, by inputting vehicle-state initial value i.e. side slip angle and side slip angle speedBy operation Simulation model, you can obtain a phase path curve of vehicle, change state initial value, you can obtain under a kind of operating mode vehicle about Side slip anglePhase path family of curves.The present invention finally obtains surface friction coefficient by running multigroup emulation experiment For 0.1-1 (be divided into 0.1), speed is 60 groups under the straight line operating mode of 10m/s-35m/s (be divided into 5m/s)Phase plane Figure.
3. determining stability boundaris phase path
Multigroup vehicle is depicted in above-mentioned steps 2Phase path curve, this step is with vxThe work of=20m/s, μ=0.1 The vehicle obtained under condition(as shown in Figure 2) is to determining for phase path curveStability boundaris phase path and differentiation The method of stability region and unstable region illustrates.
From figure 2 it can be seen that zero is the focus that system is stablized, if phase path finally converges to stable focus, say Bright vehicle is finally restored to stable state, which is in the stability region of vehicle, if phase path cannot return to stabilization Focus illustrates that the phase path is in the unstable region of vehicle.When vehicle centroid side drift angle state is located at one or three quadrant, Phase path majority is in divergent state, and is located at the phase path of two four-quadrants due to the change rate of side slip angle and barycenter lateral deviation The direction at angle is on the contrary, make side slip angle have the tendency that reduction, so majority belongs to stability region.It is determined using the method for interpolation Two phase path curves l shown in figure1And l2The as theoretical stability boundaris phase path of the phase plane.This two curves are by phase Plane is divided into two regions, i.e. stability region and unstable region.Every original state is located in stability region, vehicle it is equal Surface curve can finally converge to stable focus by own dynamics characteristic, and the movement locus converted at any time can court always The Long-term change trend that the absolute value of side slip angle and side slip angle change rate is made constantly to become smaller, the vehicle in region is in Stable state.And the phase path curve movement that original state is located in unstable region can be dissipated into infinity, it is impossible to converge to Metastable focus, phase path have and make side slip angle and the increased trend of side slip angle change rate absolute value, Huo Zhexu Stable state can be just restored to by undergoing a very long time, defined vehicle at this time and be in instability status.
Since phase plane trajectory has symmetric property, boundary phase path curve l1And l2About origin symmetry.Therefore by true It is fixedStability boundaris phase path l1, you can it is determined using symmetric propertyStability boundaris phase path l2.Utilize this method, sheet Invention is for 60 groups obtained in step 2Phase-plane diagram determines every group of phase plane stability boundaris phase path l1。
4. fitting a straight line stability boundaris
Step 3 is determined using the method for interpolationPhase plane stability boundaris phase path, in order to more simple and accurate The stability boundaris to side slip angle phase plane be described, in this step, method is determined according to conservative, with straight line Form is to theoretical stability boundaris track l1It is fitted.Choose the characteristic point such as A (x in the phase path of boundary1,y1),B(x2,y2), and In the form of such asStraight line L1To stability boundaris track l1It is described, wherein slopeInterceptMost at last L1As theoretical stability boundaris lower limit.It is since phase path has symmetrical property, then rightThe symmetrical stability boundaris phase path l of phase plane2Carry out the stability boundaris upper limit L that fitting a straight line obtains2ForTwo Region between straight line is stability region, can be described asRegion other than two straight lines is range of instability Domain is described as
Using this method to the stability boundaris phase path l of the phase plane under speeds different in step 3 and surface friction coefficient1 It is fitted, and determines the value of corresponding k and b.
The vehicle under the conditions of different speeds and surface friction coefficient is set forth in Fig. 3 and Fig. 4Phase path figure, and refer to Stability boundaris phase path l is gone out1With the stability boundaris L after fitting1.It can be seen from the figure that in the identical situation of other conditions Under,Stability region range can reduce, stability boundaris phase rail with the increase of speed and the reduction of surface friction coefficient The intersection point of mark and horizontal axis can move right, and stability region can also reduce therewith.
5. make stability boundaris slope and intercept three-dimensional map
Combining step 2,3,4 is 0.1-1 (be divided into 0.1) for surface friction coefficient, speed for 10m/s-35m/s ( Be divided into 5m/s) straight line operating mode under 60 groupsPhase-plane diagram obtains 60 groups of difference vx, stability boundaris L under μ1Slope k and The value of intercept b, as shown in table 1, table 2.
1 slope k of table and vx, μ mapping table
Table 2 intercept b and vx, μ mapping table
X-axis is made respectively as speed v using the method for linear interpolationx, y-axis is surface friction coefficient μ, and z-axis is oblique for straight line Rate k and x-axis are speed vx, y-axis is surface friction coefficient μ, and z-axis is the three-dimensional map of Linear intercept b, as shown in Figure 5 and Figure 6.This Sample can find vehicle about side slip angle by searching for mapThe slope k and intercept of phase plane stability boundaris lower limit B, so that it is determined that intact stability region is

Claims (2)

  1. A kind of 1. determining method in vehicle run stability region, which is characterized in that include the following steps：
    Step 1: with reference to Vehicle Lateral Motion Based mechanism and Unitire UniTire models, complete vehicle lateral dynamics are established Model；
    Step 2: according to the vehicle lateral dynamic model that step 1 is established, vehicle-state initial value, packet are transmitted by parametric form Side slip angle and side slip angle speed are included, driver intention and surface conditions, i.e. speed and road are inputted by parameter assignment Face attachment coefficient under different original states, draws side slip angle speed-side slip angle phase under vehicle difference operating mode Geometric locus race；
    Step 3: according to side slip angle speed-side slip angle phasor under the vehicle difference operating mode obtained in step 2, profit The phase path of stability boundaris under each operating mode is determined with interpolation method；
    Step 4: the phase path of the stability boundaris obtained in step 3 is subjected to linear fit, with the form of straight line to barycenter side The stability boundaris of drift angle speed-side slip angle phase plane is described, and obtains the stability boundaris straight line under different operating modes；
    Step 5: the slope and intercept to the stability boundaris straight line under operating modes different in step 4 summarize, and make stabilization Boundary slope and intercept are about speed and the three-dimensional map of coefficient of road adhesion, so that it is determined that going out the stability region of vehicle.
  2. A kind of 2. determining method in vehicle run stability region as described in claim 1, which is characterized in that the step 1 The process for establishing complete vehicle lateral dynamic model includes：
    Vehicle is about the expression formula of yaw velocity r and side slip angle β：
    The force analysis of comprehensive four tires, resulting side force ∑ FyWith resultant moment ∑ MzIt is expressed as：
    ∑Fy=(Fyfl+Fyfr)cosδf+Fyrl+Fyrr
    Wherein：M is complete vehicle quality, IzIt is rotary inertia of the vehicle around z-axis, LfAnd LrIt is axis of the vehicle centroid to antero posterior axis respectively Away from d1Represent the front tread of vehicle, vxAnd vyThe longitudinally and laterally speed of vehicle is represented respectively, and β represents side slip angle, and r is represented Yaw velocity, δfRepresent front wheel angle, Fyfl、Fyfr、Fyrl、FyrrRepresent respectively vehicle the near front wheel, off-front wheel, left rear wheel and The side force of tire of off hind wheel；
    To Unitire UniTire models, the lateral force F of four wheels is finally obtainedyiIt is expressed as：
    Wherein,
    In above formula, i={ fl, fr, rl, rr } represents the near front wheel, off-front wheel, left rear wheel and off hind wheel respectively；μ rubs for road surface Wipe coefficient；E is the structural parameters of tire；KyiCornering stiffness for tire；
    In longitudinal speed vxIt is constant, longitudinal acceleration axUnder the premise of being zero, consider vehicle in body quality m, side acceleration ay Under the action of, the vertical load F of each tireziExpression formula is shown below：
    In formula, h is automobile height of center of mass, and d is averaged wheelspan for front and back wheel, and g is acceleration of gravity；
    The side acceleration a of vehicleyExpression formula be：
    Correspondingly, the side drift angle α of each tire of vehicleiIt can specifically be expressed by following formula：
    Wherein, d2Represent the rear tread of vehicle；
    In summary each formula matches Vehicular system structural parameters, and the complete vehicle for building reaction vehicle lateral stability is lateral Kinetic model.
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