CN106740830A - The anti-rollover control method of four-wheel electric motor car - Google Patents
The anti-rollover control method of four-wheel electric motor car Download PDFInfo
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- CN106740830A CN106740830A CN201611195875.7A CN201611195875A CN106740830A CN 106740830 A CN106740830 A CN 106740830A CN 201611195875 A CN201611195875 A CN 201611195875A CN 106740830 A CN106740830 A CN 106740830A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000001133 acceleration Effects 0.000 claims abstract description 14
- 230000005611 electricity Effects 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000002803 fossil fuel Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002283 diesel fuel Substances 0.000 description 1
- 239000000945 filler Substances 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 239000003502 gasoline Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
-
- 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
- B60W40/112—Roll 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
- 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
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
-
- 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
- B60W2720/10—Longitudinal speed
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides being related to vehicle technology field, more particularly to a kind of anti-rollover control method of four-wheel electric motor car, the anti-rollover control method of this four-wheel electric motor car is detected by acceleration transducer and is calculated the inclination angle of electric motor car institute track, the centripetal force in electric motor car traveling is calculated according to inclination angle, speed and turning radius, centripetal force is contrasted in the component on ground and rollover threshold, when with rollover risk, speed to vehicle is controlled, rollover risk is released as early as possible, improves the driving safety performance of four-wheel electric motor car.
Description
Technical field
The present invention relates to vehicle technology field, more particularly to a kind of four-wheel electric motor car anti-rollover control method.
Background technology
The constantly soaring of car ownership has triggered a series of problems.Most of automobile burning gasoline, diesel oil, natural gas etc.
Fossil fuel, the reserves of fossil fuel are limited, enormous amounts and ever-increasing automobile quantity makes energy crisis on the earth
It is increasingly serious.General 1500kg of weight of orthodox car or so, payload only has 100kg or so, and most of energy waste exists
In invalid load, serious energy waste is caused.In addition, orthodox car is bulky, general automobile floor space about 10 is flat
Square rice, the growth of automobile quantity causes that the nervous problem of traffic congestion and parking stall is increasingly severe.
In recent years, electric motor car is welcome by more and more consumers.Electric motor car price is lower than orthodox car, for electronic
Expense of the expense that car charges also than automobile fuel filler is low；Electric motor car is flexibly compact, in Non-motorized vehicle lane running, is not generally encountered with
Traffic jam, is also easier to find parking stall；Electric motor car does not have exhaust emissions, does not pollute the environment.
With the increasingly popularization of four-wheel electric bicycle, the safety problem that it brings is also more and more concerned.Four-wheel and vapour
Car is compared, and vehicle body is narrow, lightweight, there is rollover risk higher.Therefore a kind of stabilization, four-wheel electric efficiently, economic are designed
There is significance in the anti-rollover control method of car.
The content of the invention
The technical problem to be solved in the present invention is：It is narrow, lightweight in order to solve four-wheel electric motor car vehicle body of the prior art,
In the presence of rollover risk higher, solved the above problems the invention provides a kind of anti-rollover control method of four-wheel electric motor car.
The technical solution adopted for the present invention to solve the technical problems is：A kind of anti-rollover controlling party of four-wheel electric motor car
Method, comprises the following steps：
S1, vehicle control device gather tendency acceleration a by acceleration transducer；
S2, vehicle control device calculate inclination angle, wherein, g is acceleration of gravity；
It is F that S3, vehicle control device calculate electric motor car to the pressure on groundPressure=mgsinθ, by γ * FPressureAs rollover threshold, wherein m
It is the quality of electric motor car；
S4, vehicle control device collection speed v and turning radius r, calculate centripetal force F=mv2/ r, calculates centripetal force F perpendicular to ground
Component on face is FPoint=Fsinθ；
S5, vehicle control device are by power FPointIt is compared with rollover threshold, works as FPointMeet or exceed rollover threshold and be judged as electric motor car
With rollover risk；
S6, vehicle control device are detected when electric motor car has rollover risk and reduce speed v.
Preferably, in step s 6, there is rollover risk, and F when vehicle control device detects electric motor carPointIt is rollover
At 1 ~ 1.2 times of threshold value, the dutycycle of the pulse signal to electric machine controller output is reduced, so as to reduce the rotating speed of motor, reached
To the purpose for reducing speed v.
Preferably, in step s 6, there is rollover risk, and F when vehicle control device detects electric motor carPointMore than side
When turning over 1.2 times of threshold value, the power supply of motor is first disconnected, reverse current is provided to motor by electric machine controller, produce motor
The electromagnetic torque in opposite direction with vehicle wheel rotation, deceleration of electrons is carried out to wheel.
Preferably, also include step S7, when vehicle control device reduction being accounted for the pulse signal of electric machine controller output
After sky ratio, start timing, still there is rollover risk when the time exceedes the electric motor car of braking time threshold value, first disconnect the electricity of motor
Source, reverse current is provided by electric machine controller to motor, motor is produced and vehicle wheel rotation electromagnetic torque in opposite direction, right
Wheel carries out deceleration of electrons.
Preferably, also including step S8, when rollover risk is detected, vehicle control device starts phonetic alarm, leads to
Know that driver is slowed down.
The beneficial effects of the invention are as follows the anti-rollover control method of this four-wheel electric motor car is detected by acceleration transducer
And the inclination angle of electric motor car institute track is calculated, in calculating electric motor car traveling according to inclination angle, speed and turning radius
Centripetal force, centripetal force is contrasted in the component on ground and rollover threshold, when with rollover risk, to vehicle
Speed be controlled, release rollover risk as early as possible, improve the driving safety performance of four-wheel electric motor car.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the flow chart of the optimum embodiment of the anti-rollover control method of four-wheel electric motor car of the invention.
Fig. 2 is the electric motor car force analysis figure of the anti-rollover control method of four-wheel electric motor car of the invention.
Fig. 3 is the hardware structure diagram of the anti-rollover control method for realizing four-wheel electric motor car of the invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not considered as limiting the invention.Conversely, this
Inventive embodiment includes all changes fallen into the range of the spiritual and intension of attached claims, modification and is equal to
Thing.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " axial direction ",
The orientation or position relationship of the instructions such as " radial direction ", " circumference " are based on orientation shown in the drawings or position relationship, merely to just
Described in the description present invention and simplifying, rather than indicate imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying relatively important
Property.In the description of the invention, it is necessary to explanation, unless otherwise clearly defined and limited, term " connected ", " connection " should
It is interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or is integrally connected；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary.It is common for this area
For technical staff, above-mentioned term concrete meaning in the present invention can be understood with concrete condition.Additionally, in description of the invention
In, unless otherwise indicated, " multiple " is meant that two or more.
Any process described otherwise above or method description in flow chart or herein is construed as, and expression includes
It is one or more for realizing specific logical function or process the step of the module of code of executable instruction, fragment or portion
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discussion suitable
Sequence, including function involved by basis by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
As shown in figure 1, the invention provides a kind of anti-rollover control method of four-wheel electric motor car, comprising the following steps：
S1, vehicle control device gather tendency acceleration a by acceleration transducer；
S2, vehicle control device calculate inclination angle, wherein, g is acceleration of gravity；
It is F that S3, vehicle control device calculate electric motor car to the pressure on groundPressure=mgsinθ, by γ * FPressureAs rollover threshold, wherein m
It is the quality of electric motor car；
S4, vehicle control device collection speed v and turning radius r, calculate centripetal force F=mv2/ r, calculates centripetal force F perpendicular to ground
Component on face is FPoint=Fsinθ；
S5, vehicle control device are by power FPointIt is compared with rollover threshold, works as FPointMeet or exceed rollover threshold and be judged as electric motor car
With rollover risk；
S6, vehicle control device are detected when electric motor car has rollover risk and reduce speed v；It is preferred reduce speed process be：
There is rollover risk, and F when vehicle control device detects electric motor carPointFor 1 ~ 1.2 times of rollover threshold when, reduce to electricity
The dutycycle of the pulse signal of machine controller output, so as to reduce the rotating speed of motor, reaches the purpose for reducing speed v；If FPoint
During more than 1.2 times of rollover threshold, the power supply of motor is first disconnected, reverse current is provided to motor by electric machine controller, make electricity
Machine is produced and vehicle wheel rotation electromagnetic torque in opposite direction, and deceleration of electrons is carried out to wheel.
S7, when vehicle control device reduction to electric machine controller output pulse signal dutycycle after, start timing, at that time
Between exceed the electric motor car of braking time threshold value still have rollover risk, first disconnect motor power supply, by electric machine controller to electricity
Machine provides reverse current, motor is produced and vehicle wheel rotation electromagnetic torque in opposite direction, and deceleration of electrons is carried out to wheel；
S8, when rollover risk is detected, vehicle control device starts phonetic alarm, notifies that driver is slowed down.
Reference picture 2, the anti-rollover control method to four-wheel electric motor car of the invention is described further:
In figure, inclination angle theta is 30 °, and electric motor car is travelled about the z axis, and the quality of electric motor car is 800kg, and g takes 10m/s2, then
FPressure=(800kg*10m/s2) * sin30 °=4000N, if speed v=10m/s, turning radius r=10m, then centripetal force F
It is in the component on ground:
FPoint=Fsinθ=sinθ*mv2/r=800kg*(10m/s)2/ (10m*2)=4000N, now FPressure= FPoint, because turning on slope
When curved, the amplitude very little that steering angle can change, so necessarily or in the case of change less, can only pass through in turning radius
Adjust speed v to reduce rollover risk, in this example, the rollover critical value of speed v is 10m/s, should be by step S6 and S7 as early as possible
Speed v is lowered.
As shown in figure 3, realize the anti-rollover control method of this four-wheel electric motor car hardware configuration include vehicle control device,
Hall sensor, acceleration transducer, electric machine controller, motor and power supply, vehicle control device respectively with Hall sensor, accelerate
Degree sensor and electric machine controller electrical connection, electric machine controller respectively with power supply and motor connection；Hall sensor is arranged on electricity
In machine, the rotating speed for detecting rotor, vehicle control device calculates speed v according to rotating speed, and acceleration transducer detects tendency
Acceleration a.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of the term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
With above-mentioned according to desirable embodiment of the invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (5)
1. the anti-rollover control method of a kind of four-wheel electric motor car, it is characterised in that comprise the following steps：
S1, vehicle control device gather tendency acceleration a by acceleration transducer；
S2, vehicle control device calculate inclination angle, wherein, g is acceleration of gravity；
It is F that S3, vehicle control device calculate electric motor car to the pressure on groundPressure=mgsinθ, by γ * FPressureAs rollover threshold, wherein m
It is the quality of electric motor car；
S4, vehicle control device collection speed v and turning radius r, calculate centripetal force F=mv2/ r, calculates centripetal force F perpendicular to ground
Component on face is FPoint=Fsinθ；
S5, vehicle control device are by power FPointIt is compared with rollover threshold, works as FPointMeet or exceed rollover threshold and be judged as electric motor car
With rollover risk；
S6, vehicle control device are detected when electric motor car has rollover risk and reduce speed v.
2. the anti-rollover control method of four-wheel electric motor car as claimed in claim 1, it is characterised in that：In step s 6, car is worked as
Controller detects electric motor car has rollover risk, and FPointFor 1 ~ 1.2 times of rollover threshold when, reduce to electric machine controller
The dutycycle of the pulse signal of output, so as to reduce the rotating speed of motor, reaches the purpose for reducing speed v.
3. the anti-rollover control method of four-wheel electric motor car as claimed in claim 2, it is characterised in that：In step s 6, car is worked as
Controller detects electric motor car has rollover risk, and FPointDuring more than 1.2 times of rollover threshold, the electricity of motor is first disconnected
Source, reverse current is provided by electric machine controller to motor, motor is produced and vehicle wheel rotation electromagnetic torque in opposite direction, right
Wheel carries out deceleration of electrons.
4. the anti-rollover control method of four-wheel electric motor car as claimed in claim 2, it is characterised in that：Also include step S7, when
After vehicle control device reduction is to the dutycycle of the pulse signal of electric machine controller output, start timing, when the time braking is exceeded
Between threshold value electric motor car still have rollover risk, first disconnect motor power supply, by electric machine controller to motor provide reversely electricity
Stream, makes motor produce and vehicle wheel rotation electromagnetic torque in opposite direction, and deceleration of electrons is carried out to wheel.
5. the anti-rollover control method of the four-wheel electric motor car as described in any one of claim 1 ~ 4, it is characterised in that：Also include step
Rapid S8, when rollover risk is detected, vehicle control device starts phonetic alarm, notifies that driver is slowed down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611195875.7A CN106740830B (en) | 2016-12-22 | 2016-12-22 | The anti-rollover control method of four-wheel electric motor car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611195875.7A CN106740830B (en) | 2016-12-22 | 2016-12-22 | The anti-rollover control method of four-wheel electric motor car |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106740830A true CN106740830A (en) | 2017-05-31 |
| CN106740830B CN106740830B (en) | 2019-03-12 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611195875.7A Active CN106740830B (en) | 2016-12-22 | 2016-12-22 | The anti-rollover control method of four-wheel electric motor car |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108162955A (en) * | 2017-12-28 | 2018-06-15 | 长沙理工大学 | A kind of vehicle active anti-rollover control system and method with time lag compensation |
| CN108773376A (en) * | 2018-05-07 | 2018-11-09 | 南京航空航天大学 | A kind of the automobile objective layered Collaborative Control and optimization method of fusion driving intention |
| CN113665592A (en) * | 2021-09-29 | 2021-11-19 | 中国第一汽车股份有限公司 | Longitudinal control method, device, equipment and medium for automatic driving vehicle |
| CN115649084A (en) * | 2022-11-01 | 2023-01-31 | 重庆长安新能源汽车科技有限公司 | Vehicle rollover reminding method and device, vehicle and storage medium |
| CN116691652A (en) * | 2022-02-28 | 2023-09-05 | 比亚迪股份有限公司 | Vehicle stability control method, vehicle-mounted controller, system and automobile |
| CN116691652B (en) * | 2022-02-28 | 2024-10-29 | 比亚迪股份有限公司 | Vehicle stability control method, vehicle-mounted controller, system and automobile |
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| US20080309032A1 (en) * | 2007-03-23 | 2008-12-18 | James Keane | Roll control devices |
| CN101350137A (en) * | 2008-09-04 | 2009-01-21 | 清华大学 | Dynamic detection method for preventing wagon from turning towards one side on bending road and pre-warning apparatus |
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| CN101045449A (en) * | 2007-03-12 | 2007-10-03 | 北京航空航天大学 | Inertia measuring and control method for preventing vehicle rollover |
| US20080309032A1 (en) * | 2007-03-23 | 2008-12-18 | James Keane | Roll control devices |
| CN101100185A (en) * | 2007-06-12 | 2008-01-09 | 陈和平 | Electronic control system for automobile automatically preventing side sliding and side turning |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108162955A (en) * | 2017-12-28 | 2018-06-15 | 长沙理工大学 | A kind of vehicle active anti-rollover control system and method with time lag compensation |
| CN108162955B (en) * | 2017-12-28 | 2019-07-09 | 长沙理工大学 | A kind of vehicle active anti-rollover control system with time delay identification and compensation function |
| CN108773376A (en) * | 2018-05-07 | 2018-11-09 | 南京航空航天大学 | A kind of the automobile objective layered Collaborative Control and optimization method of fusion driving intention |
| CN113665592A (en) * | 2021-09-29 | 2021-11-19 | 中国第一汽车股份有限公司 | Longitudinal control method, device, equipment and medium for automatic driving vehicle |
| CN116691652A (en) * | 2022-02-28 | 2023-09-05 | 比亚迪股份有限公司 | Vehicle stability control method, vehicle-mounted controller, system and automobile |
| CN116691652B (en) * | 2022-02-28 | 2024-10-29 | 比亚迪股份有限公司 | Vehicle stability control method, vehicle-mounted controller, system and automobile |
| CN115649084A (en) * | 2022-11-01 | 2023-01-31 | 重庆长安新能源汽车科技有限公司 | Vehicle rollover reminding method and device, vehicle and storage medium |
| CN115649084B (en) * | 2022-11-01 | 2024-05-28 | 深蓝汽车科技有限公司 | Vehicle rollover reminding method and device, vehicle and storage medium |
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| Publication number | Publication date |
|---|---|
| CN106740830B (en) | 2019-03-12 |
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