CN106945670A - Anti-rollover system for automobiles and control strategy based on driver's input prediction - Google Patents
Anti-rollover system for automobiles and control strategy based on driver's input prediction Download PDFInfo
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- CN106945670A CN106945670A CN201710082590.0A CN201710082590A CN106945670A CN 106945670 A CN106945670 A CN 106945670A CN 201710082590 A CN201710082590 A CN 201710082590A CN 106945670 A CN106945670 A CN 106945670A
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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
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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Abstract
The invention discloses a kind of anti-rollover system for automobiles and control strategy based on driver's input prediction, Vehicle rollover mitigation system estimates unit, front-wheel differential braking module, rollover evaluation unit and controller ECU comprising sensor assembly, steering wheel angle.The steering wheel input value that the present invention passes through grey forecasting model on-line prediction auto model, and based on this predictable vehicle side turning evaluation index of proposition, set up car LTR estimation model, when vehicle LTR estimates reach rollover threshold, pass through front-wheel differential braking module and carry out anti-rollover control, it is to avoid the influence that the time lag of control system is judged rollover.
Description
Technical field
The invention belongs to technical field of vehicle safety, and in particular to a kind of car for guarding against side turned over based on driver's input prediction
System and control strategy.
Background technology
The life style for appearing as the mankind of automobile brings great variety, the high speed development and economic level of auto industry
Continuous improvement promoted the popularization of automobile to use, at the same time, also bring a series of social concern.With the day of automobile
Benefit popularization increases with road wagon flow, and road traffic accident turns into public safety problem increasingly serious in global range, into
For a big public hazards of modern society.
Some vehicles such as SUV, car, heavy semi-trailer etc. due to centroid position is higher, quality and volume relatively
Greatly, the features such as wheelspan is relatively narrow, easily occurs rollover event.When rollover event occurs, driver is nearly all detectable
The generation of rollover.According to American Highway traffic safety, office counts, 1992 to 1996, the etesian all kinds of vehicle side turnings in the U.S.
Accident is up to 22700, is the driving accident for being only second to head-on crash.1993 to 1998, more than 35000 people died from traffic thing
Therefore wherein non-collision accident accounts for 10%, and 90% in great non-collision accident is rollover event.With Chinese automobile quantity
Constantly increase, the fast development of communications and transportation, the major traffic accidents such as vehicle rollover also continue to increase.It can be seen that developing a kind of rollover
Early warning system avoids the frequent generation of rollover event very necessary.
At present, most traffic accident is all due to caused by the faulty operation of driver, therefore to being anticipated based on driving
The demand of the active safety control research of figure is very urgent.And utilize existing anti-rollover control strategy, then unavoidably exist
Following problem：First, there is time lag in control system, so that obtained rollover evaluation index has hysteresis quality；Second, it is impossible to
In view of driving intention；3rd, it is impossible to estimate the roll-over state of future time instance.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of pre- based on driver's input
The anti-rollover system for automobiles and control strategy of survey, the steering wheel input of prediction future time instance driver, effectively prevent vehicle rollover.
Technical scheme：To achieve the above object, the technical solution adopted by the present invention is：
A kind of anti-rollover system for automobiles based on driver's input prediction, including be sequentially connected sensor assembly, direction
Disk corner estimate unit, automobile parameter estimate unit and rollover evaluation unit, wherein, the sensor assembly also with automobile parameter
Unit connection is estimated, sensor assembly includes vehicle speed sensor, steering wheel angle sensor, speed and the side of vehicle are measured respectively
To disk corner；The steering wheel angle is estimated unit and is connected with steering wheel angle sensor, the automobile parameter estimate unit with
Steering wheel angle estimate unit and vehicle speed sensor connection, it is described rollover evaluation unit estimated respectively with steering wheel angle unit and
Automobile parameter is estimated unit and is connected；
The rollover evaluation unit exports gained information to front-wheel differential braking module and control ECU, wherein defeated respectively
Go out trigger signal and give differential braking module, export rollover evaluation of estimate to ECU；The control ECU export brake pressure difference signal to
Front-wheel differential braking module.
The control strategy of the above-mentioned anti-rollover system for automobiles based on driver's input prediction, is comprised the steps of：
Step 1), steering wheel angle sensor senses the steering wheel angle of vehicle, and by the steering wheel angle value side of passing to
Unit is estimated to disk corner；Vehicle speed sensor senses the speed of vehicle, and passes it to automobile parameter and estimate unit；
Step 2), steering wheel angle estimates steering wheel angle value and grey forecasting model reason of the unit based on current time
By estimating the steering wheel input value of future time instance, and this discreet value is output into automobile parameter estimates unit and carry out vehicle side turning
The prediction of relevant parameter；
Step 3), automobile parameter estimates unit by obtained steering wheel predicted value and speed as input, and calculating obtains vapour
The predicted value of car parameters, including vehicle body side acceleration predicted value, vehicle roll angle predicted value, body roll angular speed are pre-
Measured value, and it is entered into rollover evaluation unit；
Step 4), rollover evaluation unit according to the vehicle roll angle predicted value received, vehicle roll angle rate predictions,
Vehicle body side acceleration predictor calculation goes out evaluation of estimate of turning on one's side, and passes it to controller ECU, and in the rollover evaluation of estimate
Trigger signal is sent during more than default rollover threshold and gives front-wheel differential braking module；
Step 5), control ECU compares the rollover evaluation of estimate received and default rollover threshold, if receive
Evaluation of estimate of turning on one's side is more than default rollover threshold, then exports brake pressure difference signal and give front-wheel differential braking module；
Step 6), front-wheel differential braking module adjusts the braking of the outer front-wheel of vehicle according to the brake pressure difference signal received
Pressure so that the difference of two front wheel braking pressures and the front-wheel differential braking signal received are corresponding, are braked to vehicle.
Further, step 2) grey forecasting model is：Using gray prediction GM (1,1) model, by current time
Steering wheel angle value as input value, when sampling time Ts is 0.02s, look-ahead step number k takes 5, represents look-ahead
Time T (T=Ts × k) is 0.1s, can calculate the steering wheel angle value after the 5th i.e. 0.1s of step；Take the direction that sensor is obtained
Disk corner is input quantity, using the steering wheel angle value after grey forecasting model look-ahead 0.1s, and is output to automobile
Parameter prediction unit.
Further, the step 3) to implement step as follows：
Step 3.1), set up a linear Three Degree Of Freedom vehicle side turning model
Step 3.1.1), auto model
The model ignores automobile longitudinal and the dynamic characteristic of pitch orientation, and assumes vehicle right and left wheel dynamics on X
Axle is symmetrical, i.e., model is made up of " bicycle model " and roll plane model, including along the transverse movement of Y-direction, about the z axis
Weaving, and around the roll motion of X-axis；
Consider the coupling influence between 3 frees degree, vehicle side turning kinetics equation is：
Transverse movement：
Weaving：
Roll motion：
Can obtain Location of Mass Center of Automobiles transverse acceleration by yaw and transverse movement coupled relation is：
In formula：A and b are respectively distance of the automobile barycenter to antero posterior axis；FfAnd FrRespectively front and back wheel lateral deviation power；H is inclination
Center is to centroid distance；IxFor the inclination rotary inertia of spring carried mass；IzFor yaw rotation inertia；WithFor the equivalent side of suspension
Rigidity of inclining and equivalent inclination damped coefficient；M is complete vehicle quality；msFor spring carried mass；The additional yaw exported for control system
Torque；R is yaw velocity；V is lateral velocity；For spring carried mass angle of heel；U is automobile longitudinal speed；ayFor automobile side angle
Acceleration；FfAnd FrFor front and back wheel lateral deviation power；
Step 3.1.2) set up tire model
Consider roll steer, the influence of flare, deflection steer and deformation flare to the lateral characteristic of tire rolled, by lateral
Power and speed and angle relation, the side drift angle that can obtain front and back wheel is：
In formula：kaFor camber coefficient, δswFor steering wheel angle value, i is system of vehicle transmission ratio；
The lateral deviation power that then can obtain front and back wheel is：
Ff=kfβf
Fr=krβr
In formula：kfFor front-wheel cornering stiffness, krFor trailing wheel cornering stiffness；
Step 3.2), according to steering wheel angle predicted value, speed and above-mentioned formula, the vehicle body that calculating obtains automobile laterally adds
Rate predictions, vehicle roll angle predicted value and vehicle roll angle rate predictions.
Further, the step 4) comprise the following steps that：
Step 4.1) using the transverse load rate of transform as the rollover factor of automobile, the transverse load rate of transform is defined as left and right wheels
The ratio between difference and the total vertical load of vehicle of tire vertical load, expression formula is as follows：
F in formulazlAnd FzrRespectively vehicle right and left vertical load, and understanding：
Fzr+Fzl=mg
M is automobile gross mass in formula；LTR value is [- 1, l], and as LTR=0, automobile is not rolled, and would not also be sent out
Raw rollover, when LTR=± 1, it is 0 to have single wheel vertical load, and rollover occurs for side tire liftoff dangerous；
Step 4.2), automobile is around the stress balance equation of roll center：
Automobile is around the stress balance equation for the wheelspan central point resting on the ground：
The lateral load rate of transform that automobile can be obtained is：
In formula：twFor wheelspan, hRFor the distance of roll center to ground.
Further, step 5) specific method be：ECU is controlled by the rollover evaluation of estimate received and default rollover threshold
Value is compared,
Step 5.1), if the rollover evaluation of estimate received is more than default rollover threshold；
Step 5.1.1), the rollover evaluation of estimate received and default rollover threshold are obtained into difference of turning on one's side as difference, according to
Rollover mathematic interpolation obtains brake pressure difference signal；
Step 5.1.2), brake pressure difference signal is exported to the front-wheel differential braking module；
Further, step 5) described in rollover threshold be 0.7-0.9.
Beneficial effect：The anti-rollover system for automobiles and control strategy based on driver's input prediction that the present invention is provided, with
Prior art is compared, with following technique effect：
1. the steering wheel input of future time instance driver can be predicted, preferably simulate in Traditional control strategy due to control
The influence that the time lag of system processed is brought.
2. this method can reflect that the steering of driver is intended to a certain extent.
Brief description of the drawings
Fig. 1 is anti-rollover control system workflow diagram；
Fig. 2 estimates cell operation flow chart for steering wheel angle；
Fig. 3 is front-wheel differential braking module workflow diagram；
Fig. 4 inputs schematic diagram for the steering wheel angle of embodiment.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
The present invention for it is a kind of based on gray prediction driver's steering wheel input prediction model, using gray prediction GM (1,
1) model, regard the steering wheel angle value at current time as input value, when sampling time Ts is 0.02s, look-ahead step number k
5 are taken, it is 0.1s to represent look-ahead time T (T=Ts × k), can calculate the steering wheel angle value in the 5th step (after 0.1s).
Steering wheel angle is estimated unit and is connected with steering wheel angle sensor and rollover evaluation unit, takes what sensor was obtained
Steering wheel angle is input quantity, using the steering wheel angle value after grey forecasting model look-ahead 0.1s, and is output to
Automobile parameter estimates unit.
As shown in figure 1, the invention discloses a kind of Vehicle rollover mitigation system, including sensor assembly, front-wheel differential braking
Module, steering wheel angle estimate unit, automobile parameter and estimate unit, rollover evaluation unit and controller ECU；
Sensor assembly includes vehicle speed sensor and steering wheel angle sensor.
Sensor assembly includes vehicle speed sensor, steering wheel angle sensor and acceleration transducer, is respectively used to measurement
The speed and steering wheel angle of vehicle.
Steering wheel angle is estimated unit and is connected with steering wheel angle sensor, and it act as the steering wheel based on current time
Corner value and grey forecasting model are theoretical, estimate the steering wheel input value of future time instance, and this discreet value is output into automobile ginseng
Number estimates the prediction that unit carries out vehicle side turning relevant parameter；
Automobile parameter estimates that unit estimates unit with steering wheel angle and vehicle speed sensor module is connected, with obtained direction
Disk predicted value and speed calculate predicted value (vehicle body side acceleration predicted value, the vehicle body for obtaining automobile parameters as input
Angle of heel predicted value, vehicle roll angle rate predictions).
Rollover evaluation unit, which estimates unit with steering wheel angle respectively and estimates unit with automobile parameter, to be connected, for according to side
Calculated to the sensed data of disk corner predicted value and vehicle speed sensor and controller ECU is passed it to after rollover evaluation of estimate, and
It is that front-wheel differential braking signal gives front-wheel differential system dynamic model that evaluation of estimate of turning on one's side sends trigger signal when being more than default rollover threshold
Block；
The brake pressure of front-wheel is constant in vehicle, and front-wheel differential braking module is used for according to the brake pressure difference letter received
The brake pressure of the outer front-wheel of number regulation vehicle so that the difference of two front wheel braking pressures and the front-wheel differential braking letter received
It is number corresponding；
Control ECU is connected with rollover evaluation unit, front-wheel differential braking module respectively, in the rollover evaluation received
When value is more than default rollover threshold, the rollover evaluation of estimate received and default rollover threshold are obtained into front-wheel differential system as difference
Dynamic signal, and brake pressure difference signal is exported give front-wheel differential braking module.
The realization of the car for guarding against side turned over control strategy is comprised the steps of：
Step 1), steering wheel angle sensor senses the steering wheel angle of vehicle, and by the steering wheel angle value side of passing to
Unit is estimated to disk corner；Vehicle speed sensor senses the speed of vehicle, and passes it to automobile parameter and estimate unit；
Step 2), steering wheel angle estimates steering wheel angle value and grey forecasting model reason of the unit based on current time
By estimating the steering wheel input value of future time instance, and this discreet value is output into automobile parameter estimates unit and carry out vehicle side turning
The prediction of relevant parameter；
Step 3), automobile is by obtained steering wheel predicted value and speed as input, and calculating obtains automobile parameters
Predicted value (vehicle body side acceleration predicted value, vehicle roll angle predicted value, vehicle roll angle rate predictions), and be inputted
To rollover evaluation unit；
Step 4), rollover evaluation unit according to the vehicle roll angle predicted value received, vehicle roll angle rate predictions,
Vehicle body side acceleration predictor calculation, which goes out, passes it to controller ECU after evaluation of estimate of turning on one's side, and is more than in rollover evaluation of estimate
Trigger signal is sent during default rollover threshold and gives front-wheel differential braking module；
Step 5), control ECU compares the rollover evaluation of estimate received and default rollover threshold；
Step 5.1), if the rollover evaluation of estimate received is more than default rollover threshold；
Step 5.1.1), the rollover evaluation of estimate received and default rollover threshold are obtained into difference of turning on one's side as difference, according to
Rollover mathematic interpolation obtains front-wheel differential braking signal；
Step 5.1.2), brake pressure difference signal is exported and gives front-wheel differential braking module.
Step 6), front-wheel differential braking adjusts the braking pressure of the outer front-wheel of vehicle according to the brake pressure difference signal received
Power so that the difference of two front wheel braking pressures and the brake pressure difference signal received are corresponding, are braked to vehicle.
As shown in Fig. 2 as supplementary notes, steering wheel angle estimates unit and employs a kind of driving based on gray prediction
Member steering wheel input prediction model, using GM (1,1) model, step 2) realization have the following steps：
Step 2.1), generate the original input data sequence of forecast model：
X(0)=[x(0)(1), x(0)(2) ..., x(0)(n)]
In formula：N is modeling dimension, represents the historical data amount used during prediction；x(0)(i), i=1,2 ..., n are prediction
The input of model.
Step 2.2), carrying out one-accumulate to initial data can obtain：
X(1)=[x(1)(1), x(1)(2) ..., x(1)(n)]
In formula
Step 2.3), composition data matrix B and Y：
Step 2.4), calculate development coefficientWith
Step 2.5), according to GM (1,1) model, in predicted value of the j moment to the j+k momentIt is expressed as：
In formula：For the predicted value at j-n+1 moment；K is the step number of look-ahead.
Step 2.6), it is input quantity to take steering wheel angle, and when sampling time Ts is 0.02s, look-ahead step number k takes 5,
It is 0.1s to represent look-ahead time T (T=Ts × k), can calculate the steering wheel angle value in the 5th step (after 0.1s).
As supplementary notes, automobile parameter estimates unit, and it estimates unit with steering wheel angle and vehicle speed sensor is connected,
By obtained steering wheel predicted value and speed as input, calculate and obtain the predicted values of automobile parameters (vehicle body laterally accelerates
Spend predicted value, vehicle roll angle predicted value, vehicle roll angle rate predictions).Step 3) to implement step as follows：
Step 3.1), set up a 3DOF vehicle model.The present invention establishes linear Three Degree Of Freedom vehicle side turning model.
Step 3.1.1), auto model
The model ignores automobile longitudinal and the dynamic characteristic of pitch orientation, and assumes vehicle right and left wheel dynamics on X
Axle is symmetrical, i.e., model is made up of " bicycle model " and roll plane model, including along the transverse movement of Y-direction, about the z axis
Weaving, and around the roll motion of X-axis.
Consider the coupling influence between 3 frees degree, vehicle side turning kinetics equation can be obtained according to dAlembert principle.
Transverse movement：
Weaving：
Roll motion：
Can obtain Location of Mass Center of Automobiles transverse acceleration by yaw and transverse movement coupled relation is：
In formula：A and b are respectively distance of the automobile barycenter to antero posterior axis；FfAnd FrRespectively front and back wheel lateral deviation power；H is inclination
Center is to centroid distance；IxFor the inclination rotary inertia of spring carried mass；IzFor yaw rotation inertia；WithFor the equivalent side of suspension
Rigidity of inclining and equivalent inclination damped coefficient；M is complete vehicle quality；msFor spring carried mass；The additional yaw exported for control system
Torque；R is yaw velocity；V is lateral velocity；For spring carried mass angle of heel.
Step 3.1.2) set up tire model.
Consider roll steer, the influence of flare, deflection steer and deformation flare to the lateral characteristic of tire rolled, by lateral
Power and speed and angle relation, the side drift angle that can obtain front and back wheel is：
In formula：kaFor camber coefficient, δswFor steering wheel angle value, i is system of vehicle transmission ratio.
The lateral deviation power that then can obtain front and back wheel is
Ff=kfβf
Fr=krβr
In formula：kfFor front-wheel cornering stiffness, krFor trailing wheel cornering stiffness.
Step 3.2), according to steering wheel angle predicted value, speed and above-mentioned formula, the vehicle body that calculating obtains automobile laterally adds
Rate predictions, vehicle roll angle predicted value and vehicle roll angle rate predictions.
As supplementary notes, vehicle side turning evaluation unit is according to the vehicle roll angle predicted value, vehicle roll angle received
Rate predictions, vehicle body side acceleration predictor calculation go out turn on one's side evaluation of estimate, step 4) comprise the following steps that：
Step 4.1) wheel vertical load change can pass through the transverse load rate of transform (load of Lateral mono-
Transfer rate, LTR) describe, while the transverse load rate of transform can evaluate vehicle steadily state, therefore, carried horizontal
The lotus rate of transform as automobile the rollover factor.It is total that the transverse load rate of transform is defined as the difference of left and right tire vertical load and vehicle
The ratio between vertical load, expression formula is as follows：
F in formulazlAnd FzrRespectively vehicle right and left vertical load, and understanding：
Fzr+Fzl=mg
M is automobile gross mass in formula, and when automobile is rolled, vertical load is redistributed on left and right wheelses, it is clear that
LTR value is between [- 1, l], and as LTR=0, automobile is not rolled, and would not also turn on one's side, and when LTR=± 1, has
Single wheel vertical load is 0, and rollover occurs for side tire liftoff dangerous.
Due to needing to predict the generation of rollover in advance, therefore it is 0.85 to take rollover threshold.
Step 4.2), automobile is around the stress balance equation of roll center：
Automobile is around the stress balance equation for the wheelspan central point resting on the ground：
The lateral load rate of transform that automobile can be obtained is：
In formula：twFor wheelspan, hRFor the distance of roll center to ground.
The control ECU is connected with rollover evaluation unit, front-wheel differential braking module respectively, in the rollover received
When evaluation of estimate is more than default rollover threshold, the rollover evaluation of estimate received and default rollover threshold are obtained into braking pressure as difference
Power difference signal, and brake pressure difference signal is exported to the front-wheel differential braking module.Its specific implementation step is as follows：
Step 5.1), if the rollover evaluation of estimate received is more than default rollover threshold；
Step 5.1.1), the rollover evaluation of estimate received and default rollover threshold are obtained into difference of turning on one's side as difference, according to
Difference of turning on one's side is calculated by PID control, obtains brake pressure difference signal；
Step 5.1.2), brake pressure difference signal is exported and gives front-wheel differential braking module.
As shown in figure 3, the front-wheel differential braking module is used for according to the brake pressure difference signal regulation vehicle received
The brake pressure of outer front-wheel so that the difference of two front wheel braking pressures is corresponding with the front-wheel differential braking signal received.Tool
Body implementation steps are as follows：
Step 6.1), the brake pressure of front-wheel is constant in the vehicle, and front-wheel differential braking module is calculated according to ECU and obtained
Brake pressure difference regulation turn to outside front-wheel brake pressure value；
Step 6.2), the side force for implementing the wheel before braking is Ff, apply after brake pressure, obtain the ground system of the wheel
Power is Fx1, the additional yaw moment produced by brake force is：
External front-wheel is applied with brake force Fx1Afterwards, due to the limitation of friction circle, the side force of the wheel can decline, so that again
Produce an additional yaw moment：
ΔMy=-(Fy1-F′y1)a
The anti-rollover yaw moment value for obtaining acting on vehicle is：
As shown in figure 3, the differential braking module, which obtains anti-rollover yaw moment value, acts on vehicle, to reach anti-rollover control
Effect processed.
Differential braking module is connected with ECU and rollover evaluation unit.Wherein differential braking module is determined comprising differential braking
Plan device and the outer front-wheel of vehicle, differential braking decision-making device are connected with ECU and rollover evaluation unit, outer front-wheel and differential braking decision-making device
And vehicle is connected.Rollover evaluation unit sends trigger signal and LTR discreet values and passed through to differential braking decision-making device and ECU, ECU respectively
Cross after calculating, output brake pressure difference to differential braking decision-making device, differential braking decision-making device passes through decision-making, output wheel is lateral
Power FfFront-wheel outside to vehicle, the outer front-wheel of vehicle passes through wheel lateral force FfEffect, with ground formed ground brake force Fx1, the ground
Face brake force produces yaw moment Δ M, acts on vehicle.
Embodiment
Emulation operating mode elects J-Turn experiments as.In J-Turn experiments, the initial velocity of vehicle is 100km/h, and road surface is attached
It is 0.85 coefficient, and steering wheel hard-over is 180 °, and steering wheel angle input is as shown in Figure 4：
Flow as shown in Figure 1：
(1) sensor receives steering wheel for vehicle angular signal and outbound course disk corner δswUnit is estimated to steering wheel, is connect
Receive GES v and be output to；
(2) steering wheel angle estimates the steering wheel input value δ that unit estimates future time instance by calculatingswf, and this is estimated
Value is output to automobile parameter and estimates the prediction that unit carries out vehicle side turning relevant parameter.
(3) vehicle parameter estimates module according to steering wheel angle predicted value δswfWith speed v, the vehicle body for obtaining automobile is calculated
Side acceleration predicted value ayf, vehicle roll angle predicted valueWith vehicle roll angle rate predictions
(4) rollover evaluation unit is according to the vehicle roll angle predicted value receivedVehicle roll angle rate predictions
Vehicle body side acceleration predicted value ayfCalculate rollover evaluation of estimate LTRfAfter pass it to controller ECU, and evaluated in rollover
Trigger signal is sent when value LTR is more than default rollover threshold LTRm and gives front-wheel differential braking module；
(5) controller ECU receives rollover evaluation and foreca value LTRf, output brake pressure difference signal Δ p to front-wheel differential system
Dynamic model block；
(6) front-wheel differential braking module adjusts the system of the outer front-wheel of vehicle according to the front-wheel differential braking signal delta p received
Dynamic pressure so that the difference of two front wheel braking pressures and the front-wheel differential braking signal received are corresponding, to vehicle system
It is dynamic, reduce rollover dangerous.
Step 6.1), Fig. 2 estimates the workflow of unit for steering wheel, and the operation principle is based primarily upon grey forecasting model
Steering wheel input is predicted, with the time lag of compensation control system.
In specific implementation, using steering wheel angle as the input of grey forecasting model, determined according to the time lag of control system
The time of look-ahead is needed, the steering wheel angle estimate of future time instance is exported by grey forecasting model.
Pass through Literature Consult and technical advice, it is known that the time lag of preventing vehicle rollover control system is generally 0~0.2s.In advance
The time of prediction is longer, and precision of prediction is lower.From grey forecasting model, the look-ahead time with the sampling time, it is pre- in advance
Step number is surveyed to be directly proportional, it is unrelated with modeling dimension.With the increase of look-ahead time, prediction curve fluctuation increase, precision of prediction
Decline, but in predicted time 0.2s, precision of prediction still has high levels.It is as follows that steering wheel angle estimates cell operation flow：
(1) using 2s to 3s between steering wheel angle input value take 0.2s as object, sampling time interval is originally inputted, generate
The original input data sequence of forecast model：
X(0)=[0,45,87,137,180]
(2) carrying out one-accumulate to initial data can obtain：
X(1)=[x(1)(1), x(1)(2) ..., x(1)(5)]
In formula
(3) composition data matrix B and Y：
(4) development coefficient is calculatedWith
(5) when sampling time Ts is 0.02s, look-ahead step number k takes 5, represents look-ahead time T (T=Ts × k)
For 0.1s, the steering wheel angle value in the 5th step (after 0.1s) can be calculated.According to GM (1,1) model, the side of the 5th step (after 0.1s)
To the predicted value of disk corner valueIt is expressed as：
Differential braking module is connected with ECU and rollover evaluation unit as described in Figure 3.Wherein differential braking module is comprising poor
The dynamic outer front-wheel of braking decision-making device and vehicle, the differential braking decision-making device is connected with ECU and rollover evaluation unit, the outer front-wheel
It is connected with differential braking decision-making device and vehicle.Rollover evaluation unit sends trigger signal and LTR discreet values to differential braking respectively
Decision-making device and ECU, ECU are after calculating, and output brake pressure difference to differential braking decision-making device, differential braking decision-making device passes through
Decision-making, output wheel lateral force FfFront-wheel outside to vehicle, the outer front-wheel of vehicle passes through wheel lateral force FfEffect, formed with ground
Ground brake force Fx1, ground brake force produces yaw moment Δ M, acts on vehicle.The brake pressure of front-wheel in the vehicle
Constant, front-wheel differential braking module calculates the brake pressure that obtained brake pressure difference regulation turns to outside front-wheel according to ECU
Value；
Step 6.2), the side force for implementing the wheel before braking is Ff, apply after brake pressure, obtain the ground system of the wheel
Power is Fx1, the additional yaw moment produced by brake force is：
External front-wheel is applied with brake force Fx1Afterwards, due to the limitation of friction circle, the side force of the wheel can decline, so that again
Produce an additional yaw moment：
ΔMy=-(Fy1-F′y1)a
The anti-rollover yaw moment value for obtaining acting on vehicle is：
By additional anti-rollover yaw moment, the rollover danger of vehicle has been effectively obtained reduction.
The time lag of preventing vehicle rollover control system is generally 0~0.2s, in order to avoid the influence that time lag is brought, the present invention
The control strategy planted is predicted the roll-over state of 0.1s rear vehicles using grey forecasting model and vehicle is done sth. in advance based on this to carry out
Anti-rollover is controlled, dangerous with the rollover for reducing vehicle.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
1. a kind of anti-rollover system for automobiles based on driver's input prediction, it is characterised in that：Including the sensor being sequentially connected
Module, steering wheel angle estimate unit, automobile parameter and estimate unit and rollover evaluation unit, wherein, the sensor assembly is also
Unit is estimated with automobile parameter to be connected, sensor assembly includes vehicle speed sensor, steering wheel angle sensor, and vehicle is measured respectively
Speed and steering wheel angle；The steering wheel angle is estimated unit and is connected with steering wheel angle sensor, the automobile parameter
Estimate that unit estimates unit with steering wheel angle and vehicle speed sensor is connected, the rollover evaluation unit respectively with steering wheel angle
Estimate unit and estimate unit with automobile parameter and be connected；
The rollover evaluation unit exports gained information to front-wheel differential braking module and control ECU respectively, wherein output is touched
Differential braking module is signaled to, rollover evaluation of estimate is exported to ECU；The control ECU exports brake pressure difference signal to front-wheel
Differential braking module.
2. the control strategy of the anti-rollover system for automobiles according to claim 1 based on driver's input prediction, its feature
It is：Comprise the steps of：
Step 1), steering wheel angle sensor senses the steering wheel angle of vehicle, and steering wheel angle value is passed into steering wheel
Corner estimates unit；Vehicle speed sensor senses the speed of vehicle, and passes it to automobile parameter and estimate unit；
Step 2), steering wheel angle estimates steering wheel angle value and grey forecasting model theory of the unit based on current time, in advance
Estimate the steering wheel input value of future time instance, and this discreet value is output to automobile parameter and estimate unit progress vehicle side turning correlation ginseng
Several predictions；
Step 3), automobile parameter estimates unit by obtained steering wheel predicted value and speed as input, and it is each that calculating obtains automobile
The predicted value of item parameter, including vehicle body side acceleration predicted value, vehicle roll angle predicted value, vehicle roll angle prediction of speed
Value, and it is entered into rollover evaluation unit；
Step 4), rollover evaluation unit is according to the vehicle roll angle predicted value received, vehicle roll angle rate predictions, vehicle body
Side acceleration predictor calculation goes out evaluation of estimate of turning on one's side, and passes it to controller ECU, and is more than in the rollover evaluation of estimate
Trigger signal is sent during default rollover threshold and gives front-wheel differential braking module；
Step 5), control ECU compares the rollover evaluation of estimate received and default rollover threshold, if the rollover received
Evaluation of estimate is more than default rollover threshold, then exports brake pressure difference signal and give front-wheel differential braking module；
Step 6), front-wheel differential braking module adjusts the braking pressure of the outer front-wheel of vehicle according to the brake pressure difference signal received
Power so that the difference of two front wheel braking pressures and the front-wheel differential braking signal received are corresponding, are braked to vehicle.
3. the control strategy of the anti-rollover system for automobiles according to claim 2 based on driver's input prediction, its feature
It is：Step 2) grey forecasting model is：Using gray prediction GM (1,1) model, by the steering wheel angle at current time
Value is as input value, and when sampling time Ts is 0.02s, look-ahead step number k takes 5, represent look-ahead time T (T=Ts ×
K) it is 0.1s, the steering wheel angle value after the 5th i.e. 0.1s of step can be calculated；It is input to take the steering wheel angle that sensor is obtained
Amount, using the steering wheel angle value after grey forecasting model look-ahead 0.1s, and is output to automobile parameter and estimates unit.
4. the control strategy of the anti-rollover system for automobiles according to claim 2 based on driver's input prediction, its feature
It is：The step 3) to implement step as follows：
Step 3.1), set up a linear Three Degree Of Freedom vehicle side turning model
Step 3.1.1), auto model
The model ignores automobile longitudinal and the dynamic characteristic of pitch orientation, and assumes that vehicle right and left wheel dynamics is on X-axis
Symmetrical, i.e., model is made up of " bicycle model " and roll plane model, including along the transverse movement of Y-direction, horizontal stroke about the z axis
Pendular motion, and around the roll motion of X-axis；
Consider the coupling influence between 3 frees degree, vehicle side turning kinetics equation is：
Transverse movement：
Weaving：
Roll motion：
Can obtain Location of Mass Center of Automobiles transverse acceleration by yaw and transverse movement coupled relation is：
In formula：A and b are respectively distance of the automobile barycenter to antero posterior axis；FfAnd FrRespectively front and back wheel lateral deviation power；H is roll center
To centroid distance；IxFor the inclination rotary inertia of spring carried mass；IzFor yaw rotation inertia；WithRolled just for suspension is equivalent
Degree and equivalent inclination damped coefficient；M is complete vehicle quality；msFor spring carried mass；The additional yaw power exported for control system
Square；R is yaw velocity；V is lateral velocity；For spring carried mass angle of heel；U is automobile longitudinal speed；ayFor automobile side angle plus
Speed；FfAnd FrFor front and back wheel lateral deviation power；
Step 3.1.2) set up tire model
Consider roll steer, roll flare, the influence to the lateral characteristic of tire of deflection steer and deformation flare, by side force with
Speed and angle relation, the side drift angle that can obtain front and back wheel is：
In formula：kaFor camber coefficient, δswFor steering wheel angle value, i is system of vehicle transmission ratio；
The lateral deviation power that then can obtain front and back wheel is：
Ff=kfβf
Fr=krβr
In formula：kfFor front-wheel cornering stiffness, krFor trailing wheel cornering stiffness；
Step 3.2), according to steering wheel angle predicted value, speed and above-mentioned formula, calculate the vehicle body side acceleration for obtaining automobile
Predicted value, vehicle roll angle predicted value and vehicle roll angle rate predictions.
5. the control strategy of the anti-rollover system for automobiles according to claim 2 based on driver's input prediction, its feature
It is：The step 4) comprise the following steps that：
Step 4.1) using the transverse load rate of transform as automobile the rollover factor, the transverse load rate of transform be defined as left and right tire hang down
The ratio between difference and the total vertical load of vehicle of straight load, expression formula is as follows：
F in formulazlAnd FzrRespectively vehicle right and left vertical load, and understanding：
Fzr+Fzl=mg
M is automobile gross mass in formula；LTR value is [- 1, l], and as LTR=0, automobile is not rolled, and would not also occur side
Turn over, when LTR=± 1, it is 0 to have single wheel vertical load, and rollover occurs for side tire liftoff dangerous；
Step 4.2), automobile is around the stress balance equation of roll center：
Automobile is around the stress balance equation for the wheelspan central point resting on the ground：
The lateral load rate of transform that automobile can be obtained is：
In formula：twFor wheelspan, hRFor the distance of roll center to ground.
6. the control strategy of the anti-rollover system for automobiles according to claim 2 based on driver's input prediction, its feature
It is：Step 5) specific method be：Control ECU compares the rollover evaluation of estimate received and default rollover threshold,
Step 5.1), if the rollover evaluation of estimate received is more than default rollover threshold；
Step 5.1.1), the rollover evaluation of estimate received and default rollover threshold are obtained into difference of turning on one's side as difference, according to rollover
Mathematic interpolation obtains brake pressure difference signal；
Step 5.1.2), brake pressure difference signal is exported to the front-wheel differential braking module.
7. according to the control strategy of any described anti-rollover system for automobiles based on driver's input prediction of claim 2 to 6,
It is characterized in that：Step 5) described in rollover threshold be 0.7-0.9.
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