CN106218616B - A kind of ESC system and its control method of no pressure sensor - Google Patents
A kind of ESC system and its control method of no pressure sensor Download PDFInfo
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- CN106218616B CN106218616B CN201610624267.7A CN201610624267A CN106218616B CN 106218616 B CN106218616 B CN 106218616B CN 201610624267 A CN201610624267 A CN 201610624267A CN 106218616 B CN106218616 B CN 106218616B
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- master cylinder
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- 238000006243 chemical reaction Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000010992 reflux Methods 0.000 description 3
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- 241000208340 Araliaceae Species 0.000 description 2
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 2
- 235000003140 Panax quinquefolius Nutrition 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 235000008434 ginseng Nutrition 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 206010020852 Hypertonia Diseases 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
- B60T8/1761—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to wheel or brake dynamics, e.g. wheel slip, wheel acceleration or rate of change of brake fluid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/04—Pedal travel sensor, stroke sensor; Sensing brake request
Abstract
The present invention provides a kind of ESC control method of ESC system for no pressure sensor, and the ESC system includes at least ABS module and AYC module, and the ESC system is mounted on controlled vehicle.Conventional ESC control method is all the control that the brake master cylinder pressure measured using pressure sensor is carried out.ESC control method of the invention improves conventional ESC control method, can be applied to the ESC system of no pressure sensor, thus can reduce the cost of ESC system, is more advantageous to its popularization and application.The exercise data of vehicle itself is dexterously utilized in ESC control method of the invention and tire rotational speed data effectively assess master cylinder pressure, and can correct the error that assessment occurs, and precision is high, adaptability is good.
Description
Technical field
This patent generally relates to the braking control system of motor vehicles, and in particular in the feelings of not master cylinder pressure sensor
The method that electronic stability control (ESC) is realized to vehicle under condition.
Background technique
ESC is a kind of active safety braking control system for being now widely used for passenger car, it contains anti-braking
Extremely (ABS), traction control system (TCS), the active sideway moment of couple control (AYC) three subsystems.ESC passes through to four vehicles
Wheel carries out independent control for brake and guarantees that wheel makes full use of traction always, to control the stability of longitudinal direction of car.
Simultaneously ESC by left and right wheels apply different brake force generate the sideway moment of couple so as to adjust the yaw velocity of vehicle and
Vehicle body side drift angle runs vehicle according to the desired trajectory of driver as far as possible.
It include a pressure sensor in ESC controller commonly used at present, for measuring in brake master cylinder
Brake fluid pressure.Brake master cylinder pressure value is used for the pressure estimation of brake piping, and the pressure value of estimation be used to calculate again
Control instruction.There is the top level control program clearly divided in the ESC controller designed in this way and brake controls program, upper layer journey
Brake pressure needed for sequence only needs to calculate each wheel according to built-in kinetic model, the realization and calculating of goal pressure
Realize decoupling.Also facilitate the function of expanding other by control brake pressure to realize on this basis.In braking force control
The speed and accuracy for improving that target is followed using feedforward+feedback control mode are equivalent in level.
But this configuration also increases liquid because a master cylinder pressure sensor has been used to cause certain cost
Press the manufacturing procedure of control unit (HCU) ontology.
Summary of the invention
In view of the above-mentioned problems, the present invention is desirable to provide one kind without being equally able to carry out essence in the case where pressure sensor
The control method of ESC control is carried out quasi-ly.In turn, the cost of ESC controller can be reduced, while it is functionally due to lacking
The problem of master cylinder pressure information is brought can be compensated by the method for making full use of feedback control, still can achieve basic
Functional requirement.
Specifically, the present invention provides a kind of ESC control method of ESC system for no pressure sensor, the ESC
System includes at least ABS module and AYC module, and the ABS module is used for carrying out braking anti-lock control, the AYC module
In carrying out the control of vehicle body lateral stability, the ESC system is mounted on controlled vehicle, which is characterized in that the method includes
Following step:
Step (1) obtains the brake pedal signal of the controlled vehicle, and judges institute based on the brake pedal signal
State the brake pedal status of controlled vehicle；
Step (2) obtains the wheel deceleration information of the controlled vehicle if the brake pedal is operated；
Step (3) estimates the master cylinder pressure of the brake of the controlled vehicle based on the wheel deceleration information, obtains institute
The first estimated value of master cylinder pressure is stated, and brake pressure is controlled based on first estimated value；
Step (4) obtains the slip rate of wheel on the controlled vehicle, and judges the cunning of wheel on the controlled vehicle
Whether shifting rate reaches predetermined threshold；
Step (5) is if the slip rate of wheel is not up to the predetermined threshold, return step (4)；If the sliding of wheel
Rate reaches the predetermined threshold, then the gradient based on the wheel deceleration estimates the master cylinder pressure of the brake, obtains institute
State the second estimated value of master cylinder pressure of brake；
Step (6) judges whether the ESC system triggers the control program of ABS module, if triggering the control of ABS module
Processing procedure sequence then sets the initial value for controlling the brake parameter of the controlled vehicle according to second estimated value, otherwise returns
It is back to the step (5)；
Step (7) based on the wheel speed signal of the controlled vehicle adjusts second estimated value and for controlling the quilt
The parameter value of the brake of vehicle is controlled, and the parameter value based on second estimated value adjusted and the brake is to described
The brake pressure of brake is controlled.
Preferably, the method also includes:
Step (8) judges whether the ESC system triggers the control program of AYC module, if triggering the control of AYC module
Minimum possible value of the processing procedure sequence then based on master cylinder pressure estimated value controls brake pressure.
Step (9) is based on vehicle movement information and judges whether the braking force control occurs overshoot, the root if overshoot occurs
Overshoot degree is judged according to vehicle movement information and adjusts brake pressure in time.
Preferably, the step (3) includes: to be estimated based on master cylinder pressure of following formula to brake:
pmc=0.5mawiR/(k1+k2)
Wherein pmcFor master cylinder pressure, k1, k2For antero posterior axis brake pressure-braking moment conversion coefficient, R is radius of wheel, m
For complete vehicle quality, awiTo take turns deceleration, i indicates the label of wheel.
Preferably, further include after the step (6) step (6.1) judge the brake brake pressure speedup whether
More than the first speedup threshold value or it is lower than the second speedup threshold value, wherein the first speedup threshold value is higher than the second speedup threshold value,
If the brake pressure speedup of the brake is higher than the first speedup threshold value, the pressure charging valve for reducing the brake is opened
Degree reduces master cylinder pressure estimated value；If the brake pressure speedup of the brake is lower than the second speedup threshold value, increase
The pressurization valve opening of the brake improves master cylinder pressure estimated value.
Preferably, after the step (8) further include: believed according to yaw rate, side acceleration and wheel speed
Number judge the brake brake pressure whether overshoot, the reversed adjustment of brake pressure is carried out if overshoot.
It should be noted that present invention is mainly used in the vehicles that the ESC control system of brake does not install pressure sensor
It is used cooperatively.It is commercially available most conventional brake with the brake that method of the invention is used cooperatively.In addition, control of the invention
Method is based on ESC control system, not except control method used by specified otherwise of the present invention and routine ESC control system
Outside with place, each control module in ESC control method that the present invention is previously mentioned is conventional control module, using routine
ESC control method.Only, method of the invention realizes no pressure sensor on the basis of conventional ESC control method
Control mode.
The minimum possible value for the master cylinder pressure estimated value that the present invention is previously mentioned refers to estimating in estimation master cylinder pressure first
Lower wheel deceleration calculation value is used when value, and lower master cylinder pressure gradient is used when estimating the second estimated value of master cylinder pressure
Calculated value calculates.
Technical solution more than present invention use has the advantage that
(1) information of control method of the invention due to not needing to obtain brake master cylinder pressure sensor, it can be with
The hardware cost that pressure sensor is reduced in corresponding brake, simplifies the preparation section of ESC controller, simplifies hydraulic control
The structure of unit (HCU) ontology, can reduce the production cost of 6%-8%.
(2) hardware configuration that the present invention uses need to only control ESC software and increase master cylinder pressure estimating algorithm and simply repair
Changing AYC control logic can be used, and transplantability is preferable.
(3) method that the present invention uses while cost is reduced can reach identical tractive force control with traditional ESC system
Performance processed can reach the anti-lock control performance of conventional ABS-system, and the control of the sideway moment of couple can reach identical control intensity,
Substantially the comfort of control will not be reduced.
Detailed description of the invention
Fig. 1 is the brake piping schematic diagram for the ESC system that control method of the present invention is applicable in；
Fig. 2 is the control logic block diagram for the ESC system that the present invention uses.
Description of symbols:
10: master cylinder, 11: motor, 12: reflux plunger pump, 14: normally opened pressure limiting valve, 15: normally closed inlet valve, 16: normally opened
Pressure charging valve, 17: normally closed pressure reducing valve, 18: accumulator, 19: damper, 20~24: pipeline, 31: wheel cylinder, 131~136: single
To valve,
Specific embodiment
Embodiment 1
A kind of brake piping schematic diagram for the ESC system that Fig. 1 is applicable in for control method of the present invention.Certainly, this field skill
Art personnel are it should be understood that present invention can also apply to the brake pipings of other forms.Below for brake piping introduction only
Those skilled in the art are merely for convenience of to understanding of the invention.
As shown in Figure 1, the brake system of car includes: master cylinder 10, motor 11, flow back plunger pump 12,1# check valve
131,2# check valves 132,3# check valve 133,4# check valve 134,5# check valve 135,6# check valve 136, normally opened pressure limiting valve 14,
Normally closed inlet valve 15, normally opened pressure charging valve 16, normally closed pressure reducing valve 17, accumulator 18, damper 19,0# pipeline 20,1# pipeline 21,2#
Pipeline 22,3# pipeline 23,4# pipeline 24, wheel cylinder 31.
Component in figure inside dotted line frame is integrated in aluminum hydraulic control unit ontology, referred to as hydraulic control unit
(HCU).Solenoid valve is driven by electronic coil, and the terminal of electromagnetic coil and motor is all directly welded at electronic control unit
(ECU) on.The 0# pipeline 20 that HCU master cylinder is made up of hard tube connects, and HCU and wheel cylinder hard tube and hose connection by being made of
Pipeline 24 connects.
The working principle of the brake system of car is as follows:
(1) when normal brake application, brake pedal is operated, and master cylinder 10 establishes pressure.Brake fluid passes through 0# pipeline 20, often
Pressure limiting valve 14 and 1# check valve 131 are opened, 2# pipeline 22, normally opened pressure charging valve 16,4# pipeline 24 eventually enters into wheel cylinder 31, in vehicle
Braking moment is generated on wheel.
(2) normally closed when control system thinks that the hypertonia of wheel cylinder 31 needs to reduce the pressure of wheel cylinder 31
Pressure reducing valve 17, which is powered, to be opened, and normally opened pressure charging valve 16, which is powered, closes, and the brake fluid in wheel cylinder 31 is flowed by 3# pipeline 23 to be stored
It can device 18.Motor 11, which is powered, simultaneously drives reflux plunger pump 12 to work, and the brake fluid in accumulator 18 is pumped by 0# pipeline 20
Enter into master cylinder 10.
(3) when control system judgement needs the normally closed suction when wheel cylinder 31 establishes pressure but brake pedal is not stepped on
Enter the energization of valve 15 to open, the normally opened energization of pressure limiting valve 14 is closed or part closing, and motor 11, which is powered, simultaneously drives 12 work of plunger pump that flows back
Make, the brake fluid in master cylinder 10 is by 0# pipeline 20, normally closed inlet valve 15,1# pipeline 21, reflux plunger pump 12,2# pipeline
22, normally opened pressure charging valve 16 enters the realization braking maneuver of wheel cylinder 31.
(4) when control system judges the pressure for needing to reduce the wheel cylinder 31 actively established, normally closed inlet valve 15 is disconnected
It is electrically turn off, the normally opened power-off of pressure limiting valve 14 is open or partially open, and the brake fluid in wheel cylinder 31 passes through 4# pipeline 24, normally opened increasing
Pressure valve 16 and 6# check valve 136,2# pipeline 22, normally opened pressure limiting valve 14,0# pipeline 20 flow back into master cylinder 10.
Fig. 2 is the control logic block diagram for the ESC system that the present invention uses.
1) judge whether driver has stepped on brake pedal according to brake pedal signal first.Since the method for the present invention is corresponding
ESC control system and traditional ESC system difference be only that and lack master cylinder pressure sensor, so when driver does not step on
When brake pedal, ESC control system can determine that the exact value of master cylinder pressure is 0, at this point, control used by the method for the present invention
Mode is identical with control method employed in traditional ESC system, and control effect is also without difference.
2) when driver's brake pedal
Judge whether the slip rate of wheel reaches threshold value λth1, if not reaching the thresholding according to brake pressure with
The master cylinder pressure of the kinetics relation estimation brake of deceleration is taken turns, when the slip rate of wheel is smaller, the wheel speed of wheel is about etc.
In the speed of vehicle, it is believed that master cylinder pressure and the relationship of wheel deceleration are shown below
(2pmck1/R+2pmck2/ R)/m=awi
Wherein pmcFor master cylinder pressure, k1, k2For antero posterior axis brake pressure-braking moment conversion coefficient, R is radius of wheel, m
For complete vehicle quality, awTo take turns deceleration.So master cylinder pressure when into ABS may be considered pmc=0.5mawiR/(k1+k2)。
3) if the slip rate of wheel reaches threshold value λth1, then it is assumed that the formula in step 2) has been not suitable for.Master cylinder at this time
Pressure is pmc1, driver do not trigger the control of ESC also still in the power for continuing growing pedal.Through overtesting it can be found that
Driver is to increase pedal force according to close to uniform speed during pedal in emergency braking, so in slip rate
Reach thresholding λth1The rate of change dp of master cylinder pressure before this thresholding can be reached according to slip rate latermc/ dt continues estimation master
The variable quantity of cylinder pressure.That is: pmc=pmc1+dpmc/dt*Δt.Wherein Δ t is to reach thresholding λth1Time afterwards.
Slip rate is to be judged to obtain speed according to the wheel speed sensors signal of four wheels and then slip rate λ is calculated again
=(wheel speed-speed) wheel speed.This amount is the amount that the software algorithm in ESC controller can obtain.
The circular of wheel slip is as follows: obtaining the wheel speed of four wheels by wheel speed sensors measurement first
Signal vwi(i=1,2,3,4 represents four wheels).Wheel acceleration a is calculated using wheel speed signalwi=(vwi_k-vwi_k-1)/
Tcycle, wherein vwi_kFor the wheel speed in this period, vwi_k-1For the wheel speed in upper period, TcycleFor the controller cycle of operation.Choose second
Initial value v of the big wheel wheel speed as reference speedref0, then judge the wheel acceleration a of the wheelw2ndWhether absolute value surpasses
Road surface limit of adhesion is gone out.Assuming that the estimated value for the coefficient of road adhesion that ESC program provides is μ, then wheel acceleration limiting value
It should be μ g, if | aw2nd| < μ g, illustrates that wheel slip is smaller, vref0Confidence level it is higher, at this time use vref0As ginseng
Examine speed, i.e. vref=vref0, vrefFor reference speed.If | aw2nd| > μ g, illustrates that wheel slip is larger, vref0Confidence level
It is lower, cumulative estimation reference speed, i.e. v are carried out using the acceleration that road surface limit of adhesion calculates at this timeref=vref_k-1+sign
(awi)|awi|Tcycle, wherein vref_k-1For the reference speed of estimation of upper period, sign () is to take sign function.Obtain vehicle
The slip rate of each wheel is calculated after reference speed according to following formula:
Wherein, λiFor the slip rate of i-th of wheel.
If 4) trigger ABS control during estimating master cylinder pressure, set according to the master cylinder pressure estimated at this time
Determine the initial value of brake control, such as the revolving speed of the aperture of pressure charging valve, motor.The trigger condition of ABS be usually 1) wheel cylinder deposit
In brake pressure, 2) wheel slip reaches certain thresholding (thresholding is related with attachment coefficient), 3) wheel deceleration reaches certain
Thresholding.It should be noted that the present invention does not carry out any restrictions to ABS trigger condition, method of the invention can be with difference
ABS control program be used cooperatively.
5) since the master cylinder pressure of estimation may be not allowed, (can be increased according to each control loop in the control process of ABS
Pressure-pressure maintaining-is depressurized as a control loop) in wheel speed signal feedback characteristic adjust the control in next control loop ginseng
Number.Such as increase too fast excessive in pressurization hour wheel slip rate, illustrate that the master cylinder pressure estimated value of brake is relatively low, subsequent cycle
It needs to reduce the aperture of pressure charging valve when pressurization, while improving the estimated value of master cylinder pressure.If increased in pressurization hour wheel slip rate
It crosses slow too small, illustrates that master cylinder pressure estimated value is higher, subsequent cycle needs to increase the aperture of pressure charging valve when being pressurized, reduce simultaneously
The estimated value of master cylinder pressure.If there is not above situation, illustrate that master cylinder pressure estimated value is more accurate, keeps control parameter not
Become.This step is repeated until ABS control is exited.
6) after step 3) other than the ABS for being likely to occur step 4) is controlled, while AYC control may be triggered.AYC control
Device processed is calculated according to two degrees of freedom auto model first using the yaw velocity of vehicle and vehicle body side drift angle as control variable
The desired yaw velocity ω of driver under current vehicle conditionnomWith vehicle body side drift angle βnom, then compare actually measured cross
Pivot angle speed omegarealAnd the vehicle body side drift angle β that estimation obtainsestWith deviation delta ω=ω of desired valuereal-ωnom, Δ β=
βest-βnomIf sideway deviation delta ω or side drift angle deviation delta β reach certain threshold value ωthr_over(negative understeer sideway
Angular speed deviation threshold), ωthr_under(understeer yaw velocity deviation threshold), βthr_over(negative understeer vehicle body lateral deviation
Angular displacement thresholding), βthr_under(understeer vehicle body side drift angle deviation threshold), AYC control will be triggered.Specifically trigger
Logic is as follows:
It is generally necessary to which cracking rate of pressurization is to guarantee to guarantee vehicle lateral stability in a short time in AYC control,
Cause active boost rate not fast enough in order to avoid master cylinder pressure estimated value is higher, it may according to the minimum of master cylinder pressure estimated value
Value setting control parameter, that is, electromagnetism valve opening and motor speed.Being guaranteed with this will not be because of master cylinder pressure estimated value in AYC control
Deviation causes to be pressurized the insufficient control ability for reducing AYC controller.
7) due to taking more conservative master cylinder pressure estimated value in AYC control, control intensity may be bigger than normal, to lead
Cause overshoot.It can decide whether the case where overshoot has occurred by the feedback information of yaw velocity, side drift angle, wheel speed, if
Overshoot occurs can then adjust the brake pressure of each wheel cylinder at any time.The method for judging overshoot is as follows, for turning left, when excessive
When turning to generation, if Δ ω is from greater than ω by controlthr_overNumerical value be controlled to less than ωthr_over_osOr Δ β from
Less than βthr_overNumerical value be controlled to greater than βthr_over_osOr the slip rate of tire has been more than thresholding λthr_os, think AYC
Braking force control overshoot has occurred, wherein ωthr_over_osYaw velocity overshoot thresholding when for negative understeer, βthr_over
Vehicle body side drift angle overshoot thresholding when for negative understeer, λthr_osFor slip rate overshoot thresholding.Understeer and turn right the case where with
It is similar.
Such as during a negative understeer, ωnom=0.2rad/s, ωthr_over=0.06rad/s, ωreal=
0.3rad/s, βnom=-0.03rad, βest=-0.087rad, βthr_over=-0.035rad, Δ β=0.057rad,
ωthr_over_os=-0.15rad/s, βthr_over=0.05rad, λthr_os=45%.According to the decision logic Δ ω of AYC >
ωthr_over, Δ β > βthr_over, so being judged as that left-hand rotation is excessive, control of the AYC to off-front wheel and off hind wheel is triggered, is controlled
Off-front wheel brake pressure reaches 62.5bar during system, and slip rate reaches 67.9%, and off hind wheel brake pressure reaches
21.7bar, slip rate reach 12.5%, ωreal0.02rad/s, β are reachedestReached 0.014rad, at this time Δ ω=-
0.18rad/s, Δ β=0.044rad may determine that the slip-based controller of yaw velocity and off-front wheel according to above method
There is overshoot, there is no slip-based controller overshoot for off hind wheel.At this time in order to reduce overshoot and keep control intensity as far as possible, need
Reduce the brake pressure of off-front wheel.
8) because TCS controller is only possible to work when driver steps on the throttle pedal, master cylinder pressure is at this time
0, so the control method of TCS is identical with tradition ESC in the ESC system that the present invention uses.
It the composite can be widely applied to require not right and wrong to the low level passenger car of cost sensitivity and to comfort and NVH
Often high agricultural, goods light vehicle.
Although the principle of the present invention is described in detail above in conjunction with the preferred embodiment of the present invention, this field skill
Art personnel are it should be understood that above-described embodiment is only the explanation to exemplary implementation of the invention, not to present invention packet
Restriction containing range.Details in embodiment is simultaneously not meant to limit the scope of the invention, without departing substantially from spirit of the invention and
In the case where range, any equivalent transformation based on technical solution of the present invention, simple replacement etc. obviously change, and all fall within
Within the scope of the present invention.
Claims (5)
1. a kind of ESC control method of the ESC system for no pressure sensor, the ESC system include at least ABS module and
AYC module, the ABS module is for carrying out braking anti-lock control, and the AYC module is for carrying out vehicle body lateral stability control
System, the ESC system are mounted on controlled vehicle, which is characterized in that the method includes the following steps:
Step (1) obtains the brake pedal signal of the controlled vehicle, and judges the quilt based on the brake pedal signal
Control the brake pedal status of vehicle；
Step (2) obtains the wheel deceleration information of the controlled vehicle if the brake pedal is operated；
Step (3) estimates the master cylinder pressure of the brake of the controlled vehicle based on the wheel deceleration information, obtains the master
First estimated value of cylinder pressure, and brake pressure is controlled based on first estimated value；
Step (4) obtains the slip rate of wheel on the controlled vehicle, and judges the slip rate of wheel on the controlled vehicle
Whether predetermined threshold is reached；
Step (5) is if the slip rate of wheel is not up to the predetermined threshold, return step (4)；If the slip rate of wheel reaches
To the predetermined threshold, then the gradient based on the wheel deceleration estimates the master cylinder pressure of the brake, obtains the system
The second estimated value of master cylinder pressure of dynamic device；
Step (6) judges whether the ESC system triggers the control program of ABS module, if triggering the control journey of ABS module
Sequence then sets the initial value for controlling the brake parameter of the controlled vehicle according to second estimated value, is otherwise back to
The step (5)；
Step (7) based on the wheel speed signal of the controlled vehicle adjusts second estimated value and for controlling the controlled vehicle
Brake parameter value, and the parameter value based on second estimated value adjusted and the brake is to the braking
The brake pressure of device is controlled.
2. the ESC control method of the ESC system according to claim 1 for no pressure sensor, which is characterized in that institute
State method further include:
Step (8) judges whether the ESC system triggers the control program of AYC module, if triggering the control journey of AYC module
Minimum possible value of the sequence then based on master cylinder pressure estimated value controls brake pressure；
Step (9) is based on vehicle movement information and judges whether the braking force control occurs overshoot, according to vehicle if overshoot occurs
Motion information judges overshoot degree and adjusts brake pressure in time.
3. the ESC control method of the ESC system according to claim 1 for no pressure sensor, which is characterized in that institute
Stating step (3) includes: to be estimated based on master cylinder pressure of following formula to brake:
pmc=0.5mawiR/(k1+k2)
Wherein pmcFor master cylinder pressure, k1, k2For antero posterior axis brake pressure-braking moment conversion coefficient, R is radius of wheel, and m is whole
Vehicle quality, awiTo take turns deceleration, i indicates the label of wheel.
4. the ESC control method of the ESC system according to claim 1 for no pressure sensor, which is characterized in that
It further include whether step (6.1) judges the brake pressure speedup of the brake more than the first increasing after the step (6)
Fast threshold value is lower than the second speedup threshold value, wherein the first speedup threshold value is higher than the second speedup threshold value, if the system
The brake pressure speedup of dynamic device is higher than the first speedup threshold value, then reduces the pressurization valve opening of the brake, reduces master cylinder
Pressure estimation value；If the brake pressure speedup of the brake is lower than the second speedup threshold value, increase the brake
Pressurization valve opening, improve master cylinder pressure estimated value.
5. the ESC control method of the ESC system according to claim 2 for no pressure sensor, which is characterized in that
After the step (8) further include: judge the system according to yaw rate, side acceleration and wheel speed signal
The brake pressure of dynamic device whether overshoot, the reversed adjustment of brake pressure is carried out if overshoot.
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| JP6711301B2 (en) * | 2017-03-02 | 2020-06-17 | 株式会社アドヴィックス | Brake control device |
| CN109910850B (en) * | 2017-12-13 | 2020-06-19 | 比亚迪股份有限公司 | Vehicle and brake control method and device thereof |
| CN110843755B (en) * | 2019-11-19 | 2021-09-28 | 奇瑞汽车股份有限公司 | Method and equipment for estimating braking pressure of electric automobile |
| CN111605526A (en) * | 2020-06-03 | 2020-09-01 | 安徽江淮汽车集团股份有限公司 | Brake pressure adjusting method, device, equipment and readable storage medium |
| CN112660089B (en) * | 2020-12-31 | 2022-09-09 | 拿森汽车科技(杭州)有限公司 | Master cylinder pressure estimation and control method and device, and computer storage medium |
| CN114312700B (en) * | 2022-03-04 | 2022-06-03 | 万向钱潮股份有限公司 | Anti-lock pressure coordination control method for multi-axis commercial vehicle brake-by-wire system |
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| CN105339224A (en) * | 2013-06-25 | 2016-02-17 | 株式会社爱德克斯 | Vehicular brake device |
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