CN108116234A - Speed when vehicle and its brakeing during cornereing calculates method and apparatus - Google Patents
Speed when vehicle and its brakeing during cornereing calculates method and apparatus Download PDFInfo
- Publication number
- CN108116234A CN108116234A CN201611075973.7A CN201611075973A CN108116234A CN 108116234 A CN108116234 A CN 108116234A CN 201611075973 A CN201611075973 A CN 201611075973A CN 108116234 A CN108116234 A CN 108116234A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- wheel
- speed
- damped condition
- average
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/10—Indicating wheel slip ; Correction of wheel slip
- B60L3/104—Indicating wheel slip ; Correction of wheel slip by indirect measurement of vehicle speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/40—Electrical machine applications
- B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/24—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/46—Drive Train control parameters related to wheels
- B60L2240/461—Speed
Abstract
The invention discloses speeds when a kind of vehicle and its brakeing during cornereing to calculate method and apparatus, wherein, it the described method comprises the following steps：In Ackermann steer angle, the turn direction of vehicle is obtained；The damped condition information of vehicle is obtained, wherein, damped condition information includes brakeless operating mode, single-wheel damped condition and two-wheel damped condition；The speed of vehicle is calculated according to turn direction and damped condition information.The method according to the invention can relatively accurately calculate speed in vehicle turning brake.
Description
Technical field
The present invention relates to speed computational methods, one kind during a kind of technical field of vehicle, more particularly to vehicle turning brake
Speed computing device and a kind of vehicle during vehicle turning brake.
Background technology
With automobile industry and expanding economy, the use of automobile is increasingly popularized, and the traffic of urban road is more next
It is more crowded.Our requirements for the stability of vehicle are also higher and higher, to avoid traffic accident.In turn inside diameter system
It needs to draw an accurate speed when dynamic, enhances vehicle so that vehicle other systems carry out according to speed a series of control
Stability in abnormal conditions or emergency situations.At present, speed is with two front-wheel wheel speeds mostly during vehicle turning brake
Average estimated.However, vehicle braked wheel wheel speed in braking declines obvious, fluctuation is larger.And by
In vehicle barycenter in the center of vehicle, the average of front-wheel wheel speed cannot reflect the row of vehicle in brakeing during cornereing completely
Sail speed.Therefore, speed measured in vehicle turning brake at present is not accurate enough.
The content of the invention
It is contemplated that one of the technical issues of solving at least to a certain extent in above-mentioned technology.For this purpose, the present invention
A kind of speed computational methods when one purpose is to propose vehicle turning brake, can be more accurate in vehicle turning brake
Ground calculates speed.
A kind of speed computing device when second object of the present invention is to propose vehicle turning brake.
Third object of the present invention is to propose a kind of vehicle.
In order to achieve the above objectives, speed when first aspect present invention embodiment proposes a kind of vehicle turning brake calculates
Method, wherein, the vehicle is driven by wheel motor, and each wheel of the vehicle is correspondingly arranged a wheel side electricity
Machine the described method comprises the following steps：In the Ackermann steer angle, the turn direction of the vehicle is obtained；Obtain the vehicle
Damped condition information, wherein, the damped condition information include brakeless operating mode, single-wheel damped condition and two-wheel braking work
Condition；The speed of the vehicle is calculated according to the turn direction and the damped condition information.
Speed computational methods during vehicle turning brake according to embodiments of the present invention, by the turn direction for obtaining vehicle
With damped condition information, and the speed of vehicle is calculated according to turn direction and damped condition information, can turned in vehicle
Speed is relatively accurately calculated when bending dynamic.
In order to achieve the above objectives, speed when second aspect of the present invention embodiment proposes a kind of vehicle turning brake calculates
Device, wherein, the vehicle is driven by wheel motor, and each wheel of the vehicle is correspondingly arranged a wheel side electricity
Machine, described device include：First acquisition module, first acquisition module are used to, in the Ackermann steer angle, obtain the vehicle
Turn direction；Second acquisition module, second acquisition module are used to obtain the damped condition information of the vehicle,
In, the damped condition information includes brakeless operating mode, single-wheel damped condition and two-wheel damped condition；Computing module, the meter
Module is calculated for being calculated according to the turn direction and the damped condition information the speed of the vehicle.
Speed computing device during vehicle turning brake according to embodiments of the present invention, respectively by the first acquisition module and
Second acquisition module obtains the turn direction of vehicle and damped condition information, and passes through computing module according to turn direction and braking
Work information calculates the speed of vehicle, can relatively accurately calculate speed in vehicle turning brake.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of vehicle, including second party of the present invention
Speed computing device during the vehicle turning brake that face embodiment proposes.
Vehicle according to embodiments of the present invention can relatively accurately calculate speed in brakeing during cornereing.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
It obtains substantially or is recognized by the practice of the present invention.
Description of the drawings
The flow chart of speed computational methods when Fig. 1 is the vehicle turning brake according to the embodiment of the present invention；
Fig. 2 is the structure diagram according to the vehicle of one embodiment of the invention；
Fig. 3 is the schematic diagram of the left-hand bend according to one embodiment of the invention and the vehicle in brakeless operating mode；
Fig. 4 is the schematic diagram of the left-hand bend according to one embodiment of the invention and the vehicle in single-wheel damped condition；
Fig. 5 is the schematic diagram of the left-hand bend according to one embodiment of the invention and the vehicle in two-wheel damped condition；
Fig. 6 is the schematic diagram of the right-hand bend according to one embodiment of the invention and the vehicle in brakeless operating mode；
Fig. 7 is the schematic diagram of the right-hand bend according to one embodiment of the invention and the vehicle in single-wheel damped condition；
Fig. 8 is the schematic diagram of the right-hand bend according to one embodiment of the invention and the vehicle in two-wheel damped condition；
The flow chart of speed computational methods when Fig. 9 is the vehicle turning brake according to one specific embodiment of the present invention；
The block diagram of speed computing device when Figure 10 is the vehicle turning brake according to the embodiment of the present invention；
Figure 11 is the block diagram according to the vehicle of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or has the function of same or like element.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below in conjunction with the accompanying drawings come the speed computational methods and dress when describing the vehicle of the embodiment of the present invention and its brakeing during cornereing
It puts.
The flow chart of speed computational methods when Fig. 1 is the vehicle turning brake according to the embodiment of the present invention.
It should be noted that the vehicle of the embodiment of the present invention can be driven by wheel motor, and each vehicle of vehicle
Wheel can be correspondingly arranged a wheel motor.As shown in Fig. 2, the near front wheel 1FL, off-front wheel 1FR, left rear wheel 1RL and off hind wheel 1RR can
Driven or braked by corresponding wheel motor respectively, wheel motor controller can control above-mentioned each wheel motor driving force and
The size and Orientation of brake force.Wheel speed sensors 3FL, 3FR, 3RL and the 3RR that can be set by each wheel of correspondence are obtained respectively
The near front wheel 1FL, off-front wheel 1FR, the wheel speed of left rear wheel 1RL and off hind wheel 1RR.
As shown in Figure 1, the speed computational methods during vehicle turning brake of the embodiment of the present invention, comprise the following steps：
S1 in Ackermann steer angle, obtains the turn direction of vehicle.
In one embodiment of the invention, the turning side of vehicle can be obtained by detecting the steering wheel angle of vehicle
To.As shown in Fig. 2, steering wheel angle sensor can obtain the corner of steering wheel, if steering wheel angle is equal to 0, vehicle is judged
It does not turn；If steering wheel angle is more than 0, judge that vehicle turns left；If steering wheel angle is less than 0, vehicle is judged
It turns right.
S2 obtains the damped condition information of vehicle, wherein, damped condition information includes brakeless operating mode, single-wheel braking work
Condition and two-wheel damped condition.
In one embodiment of the invention, the pressure signal that can be exported by brake-pressure sensor obtains the system of vehicle
It starts building condition.Specifically, if pressure changes, it can determine whether out that vehicle is in damped condition, it is changed by pressure
Position can also further determine that vehicle is in single-wheel damped condition or two-wheel damped condition.
S3 calculates the speed of vehicle according to turn direction and damped condition information.
Usually, when vehicle is not turned and is in brakeless operating mode, the speed of vehicle and the wheel speed average of four wheels
Direct proportionality, can be according to four vehicles so as to the ECU (Electronic Control Unit, electronic control unit) of vehicle
The speed of the wheel speed mean value computation vehicle of wheel.
And in one embodiment of the invention, it, can be according to vehicle if vehicle turns left and in brakeless operating mode
The near front wheel and the average of wheel speed of off hind wheel the speed of vehicle is calculated.Turn left as shown in figure 3, working as vehicle, and four
When a wheel is not applied to brake force, can according to the average of the wheel speed of the near front wheel and off hind wheel of vehicle to the speed of vehicle into
Row calculates.
In one embodiment of the invention, if vehicle turns left and in single-wheel damped condition, in the vehicle of braking
Take turns for the near front wheel or off hind wheel when, the speed of vehicle is counted according to the average of the off-front wheel of vehicle and the wheel speed of left rear wheel
It calculates or when the wheel of braking is off-front wheel or left rear wheel, according to the near front wheel of vehicle and the average pair of the wheel speed of off hind wheel
The speed of vehicle is calculated.As shown in figure 4, when vehicle turns left, and the near front wheel or off hind wheel are applied in brake force Fb, it can
The speed of vehicle is calculated according to the average of the off-front wheel of vehicle and the wheel speed of left rear wheel.When vehicle left-hand bend, and before the right side
Wheel or left rear wheel be when being applied in brake force Fb, can be according to the average of the wheel speed of the near front wheel and off hind wheel of vehicle to the speed of vehicle
It is calculated.
In one embodiment of the invention, if vehicle turns left and in two-wheel damped condition, according to vehicle
The average of the wheel speed of left rear wheel and off hind wheel calculates the speed of vehicle.It should be appreciated that two-wheel system of the vehicle when turning
Condition of starting building only includes the situation that two wheel simultaneous brakes of homonymy move, that is to say, that or the near front wheel and left rear wheel are braked simultaneously, it
Off-front wheel and off hind wheel are braked simultaneously.As shown in figure 5, when vehicle turns left, and the near front wheel and left rear wheel or off-front wheel and
When off hind wheel is applied in brake force Fb, the speed of vehicle can be carried out according to the average of the wheel speed of the left rear wheel and off hind wheel of vehicle
It calculates.
In one embodiment of the invention, if vehicle turns right and in brakeless operating mode, according to the right side of vehicle
The average of the wheel speed of front-wheel and left rear wheel calculates the speed of vehicle.It turns right as shown in fig. 6, working as vehicle, and four vehicles
When wheel is not applied to brake force, the speed of vehicle can be counted according to the average of the wheel speed of the off-front wheel and left rear wheel of vehicle
It calculates.
In one embodiment of the invention, if vehicle turns right and in single-wheel damped condition, in the vehicle of braking
Take turns for the near front wheel or off hind wheel when, the speed of vehicle is counted according to the average of the off-front wheel of vehicle and the wheel speed of left rear wheel
It calculates or when the wheel of braking is off-front wheel or left rear wheel, according to the near front wheel of vehicle and the average pair of the wheel speed of off hind wheel
The speed of vehicle is calculated.As shown in fig. 7, when vehicle is turned right, and the near front wheel or off hind wheel are applied in brake force Fb, it can
The speed of vehicle is calculated according to the average of the off-front wheel of vehicle and the wheel speed of left rear wheel.When vehicle right-hand bend, and before the right side
Wheel or left rear wheel be when being applied in brake force Fb, can be according to the average of the wheel speed of the near front wheel and off hind wheel of vehicle to the speed of vehicle
It is calculated.
In one embodiment of the invention, if vehicle turns left and in two-wheel damped condition, according to vehicle
The average of the wheel speed of left rear wheel and off hind wheel calculates the speed of vehicle.As shown in figure 8, when vehicle right-hand bend, and before the right side
It, can be according to the left rear wheel of vehicle and the wheel of off hind wheel when wheel and off hind wheel or the near front wheel and left rear wheel are applied in brake force Fb
The average of speed calculates the speed of vehicle.
Speed computational methods during vehicle turning brake according to embodiments of the present invention, by the turn direction for obtaining vehicle
With damped condition information, and the speed of vehicle is calculated according to turn direction and damped condition information, can turned in vehicle
Speed is relatively accurately calculated when bending dynamic.
In one particular embodiment of the present invention, as shown in figure 9, speed computational methods during vehicle turning brake can wrap
Include following steps：
S901, judges whether steering wheel angle is more than 0.If it is, perform step S902；If it is not, then perform step
S907。
S902 judges that vehicle travels to the left.
S903 judges the brake condition of wheel.
S904 exports corresponding speed in wheel brakeless.
S905 exports corresponding speed when single-wheel is braked.
S906 exports corresponding speed when two-wheel is braked.
S907 judges vehicle to right travel.
S908 judges the brake condition of wheel.
S909 exports corresponding speed in wheel brakeless.
S910 exports corresponding speed when single-wheel is braked.
S911 exports corresponding speed when two-wheel is braked.
To realize the speed computational methods during vehicle turning brake of above-described embodiment, the present invention also proposes that a kind of vehicle turns
Speed computing device when bending dynamic.
As shown in Figure 10, the speed computing device during vehicle turning brake of the embodiment of the present invention, including：First obtains mould
Block 10, the second acquisition module 20 and computing module 30.
Wherein, the first acquisition module 10 is used to, in Ackermann steer angle, obtain the turn direction of vehicle；Second acquisition module 20
For obtaining the damped condition information of vehicle, wherein, damped condition information includes brakeless operating mode, single-wheel damped condition and two-wheel
Damped condition；Computing module 30 is used to calculate the speed of vehicle according to turn direction and damped condition information.
In one embodiment of the invention, as shown in Fig. 2, the first acquisition module 10 may include that corresponding direction disk 11 is set
Steering wheel angle sensor 12, the turn direction of vehicle can be obtained by detecting the steering wheel angle of vehicle.Specifically, such as
Fruit steering wheel angle is equal to 0, then judges that vehicle is not turned；If steering wheel angle is more than 0, judge that vehicle turns left；If
Steering wheel angle is less than 0, then judges that vehicle is turned right.
In one embodiment of the invention, as shown in Fig. 2, the second acquisition module 20 may include brake-pressure sensor
21, the pressure signal so as to be exported by brake-pressure sensor 21 obtains the damped condition of vehicle.Specifically, if pressure
It changes, then can determine whether out that vehicle is in damped condition, by the changed position of pressure, can also further determine that vehicle
In single-wheel damped condition or two-wheel damped condition.
Usually, when vehicle is not turned and is in brakeless operating mode, the speed of vehicle and the wheel speed average of four wheels
Direct proportionality, so as to computing module 30 can according to the speed of the wheel speed mean value computation vehicle of four wheels, wherein, calculate mould
Block 30 can be integrated in the ECU of vehicle.
And in one embodiment of the invention, when vehicle turns left and is in brakeless operating mode, computing module 30 can
The speed of vehicle is calculated according to the average of the near front wheel of vehicle and the wheel speed of off hind wheel.As shown in figure 3, when vehicle turns left
It is curved, and when four wheels are not applied to brake force, it can be according to the average of the wheel speed of the near front wheel and off hind wheel of vehicle to vehicle
Speed calculated.
In one embodiment of the invention, when vehicle turns left and in single-wheel damped condition, computing module 30 exists
It, can be according to the average of the wheel speed of the off-front wheel and left rear wheel of vehicle to the vehicle of vehicle when the wheel of braking is the near front wheel or off hind wheel
Speed is calculated or when the wheel of braking is off-front wheel or left rear wheel, can be according to the near front wheel of vehicle and the wheel of off hind wheel
The average of speed calculates the speed of vehicle.As shown in figure 4, when vehicle left-hand bend, and the near front wheel or off hind wheel are applied in system
During power Fb, the speed of vehicle can be calculated according to the average of the wheel speed of the off-front wheel and left rear wheel of vehicle.When vehicle is left
It turns, and when off-front wheel or left rear wheel are applied in brake force Fb, it can be according to the average of the wheel speed of the near front wheel and off hind wheel of vehicle
The speed of vehicle is calculated.
In one embodiment of the invention, when vehicle turns left and in two-wheel damped condition, computing module 30 can
The speed of vehicle is calculated according to the average of the left rear wheel of vehicle and the wheel speed of off hind wheel.It should be appreciated that vehicle is being turned
When two-wheel damped condition only include two wheel simultaneous brakes of homonymy situation about moving, that is to say, that or the near front wheel and left rear wheel
Braking simultaneously or off-front wheel and off hind wheel are braked simultaneously.Turn left as shown in figure 5, working as vehicle, and the near front wheel and left rear wheel,
Or off-front wheel and off hind wheel be when being applied in brake force Fb, it can be according to the average of the wheel speed of the left rear wheel and off hind wheel of vehicle to vehicle
Speed calculated.
In one embodiment of the invention, when vehicle is turned right and in brakeless operating mode, computing module 30 can root
The speed of vehicle is calculated according to the average of the wheel speed of the off-front wheel and left rear wheel of vehicle.As shown in fig. 6, when vehicle is turned right
It is curved, and when four wheels are not applied to brake force, it can be according to the average of the wheel speed of the off-front wheel and left rear wheel of vehicle to vehicle
Speed calculated.
In one embodiment of the invention, when vehicle is turned right and in single-wheel damped condition, computing module 30 exists
It, can be according to the average of the wheel speed of the off-front wheel and left rear wheel of vehicle to the vehicle of vehicle when the wheel of braking is the near front wheel or off hind wheel
Speed is calculated or when the wheel of braking is off-front wheel or left rear wheel, can be according to the near front wheel of vehicle and the wheel of off hind wheel
The average of speed calculates the speed of vehicle.As shown in fig. 7, when vehicle right-hand bend, and the near front wheel or off hind wheel are applied in system
During power Fb, the speed of vehicle can be calculated according to the average of the wheel speed of the off-front wheel and left rear wheel of vehicle.When vehicle is right
It turns, and when off-front wheel or left rear wheel are applied in brake force Fb, it can be according to the average of the wheel speed of the near front wheel and off hind wheel of vehicle
The speed of vehicle is calculated.
In one embodiment of the invention, when vehicle turns left and in two-wheel damped condition, then computing module 30
The speed of vehicle can be calculated according to the average of the wheel speed of the left rear wheel and off hind wheel of vehicle.As shown in figure 8, when vehicle is right
Turn, and when off-front wheel and off hind wheel or the near front wheel and left rear wheel are applied in brake force Fb, can according to the left rear wheel of vehicle and
The average of the wheel speed of off hind wheel calculates the speed of vehicle.
Speed computing device during vehicle turning brake according to embodiments of the present invention, respectively by the first acquisition module and
Second acquisition module obtains the turn direction of vehicle and damped condition information, and passes through computing module according to turn direction and braking
Work information calculates the speed of vehicle, can relatively accurately calculate speed in vehicle turning brake.
Corresponding above-described embodiment, the present invention also propose a kind of vehicle.
As shown in figure 11, the vehicle 200 of the embodiment of the present invention, the speed proposed including the above embodiment of the present invention calculate dress
100 are put, specific embodiment can refer to above-described embodiment, and to avoid redundancy, details are not described herein.
Vehicle according to embodiments of the present invention can relatively accurately calculate speed in brakeing during cornereing.
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer ", " up time
The orientation or position relationship of the instructions such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be based on orientation shown in the drawings or
Position relationship is for only for ease of the description present invention and simplifies description rather than instruction or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features contact directly or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.In the present specification, schematic expression of the above terms is not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It is combined in an appropriate manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the different embodiments described in this specification or example and different embodiments or exemplary feature
It closes and combines.
Although the embodiment of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (11)
1. speed computational methods during a kind of vehicle turning brake, which is characterized in that the vehicle is driven by wheel motor
It is dynamic, and each wheel of the vehicle is correspondingly arranged a wheel motor, the described method comprises the following steps：
In the Ackermann steer angle, the turn direction of the vehicle is obtained；
The damped condition information of the vehicle is obtained, wherein, the damped condition information includes brakeless operating mode, single-wheel braking work
Condition and two-wheel damped condition；
The speed of the vehicle is calculated according to the turn direction and the damped condition information.
2. speed computational methods during vehicle turning brake according to claim 1, which is characterized in that by described in detection
The steering wheel angle of vehicle is to obtain the turn direction of the vehicle.
3. speed computational methods during vehicle turning brake according to claim 1, which is characterized in that pass through brake pressure
The pressure signal of sensor output obtains the damped condition of the vehicle.
4. speed computational methods during vehicle turning brake according to claim 1, which is characterized in that according to the turning
Direction and the damped condition information calculate the speed of the vehicle, including：
If the vehicle turns left and in brakeless operating mode, according to the wheel speed of the near front wheel of the vehicle and off hind wheel
Average calculates the speed of the vehicle；
If the vehicle turns left and in single-wheel damped condition, when the wheel of braking is the near front wheel or off hind wheel, root
The speed of the vehicle is calculated according to the average of the wheel speed of the off-front wheel and left rear wheel of the vehicle or the vehicle in braking
Take turns for off-front wheel or left rear wheel when, according to the average of the near front wheel of the vehicle and the wheel speed of off hind wheel to the speed of the vehicle
It is calculated；
If the vehicle turns left and in two-wheel damped condition, according to the wheel speed of the left rear wheel of the vehicle and off hind wheel
Average the speed of the vehicle is calculated.
5. speed computational methods during vehicle turning brake according to claim 1, which is characterized in that according to the turning
Direction and the damped condition information calculate the speed of the vehicle, further include：
If the vehicle turns right and in brakeless operating mode, according to the wheel speed of the off-front wheel of the vehicle and left rear wheel
Average calculates the speed of the vehicle；
If the vehicle turns right and in single-wheel damped condition, when the wheel of braking is the near front wheel or off hind wheel, root
The speed of the vehicle is calculated according to the average of the wheel speed of the off-front wheel and left rear wheel of the vehicle or the vehicle in braking
Take turns for off-front wheel or left rear wheel when, according to the average of the near front wheel of the vehicle and the wheel speed of off hind wheel to the speed of the vehicle
It is calculated；
If the vehicle turns left and in two-wheel damped condition, according to the wheel speed of the left rear wheel of the vehicle and off hind wheel
Average the speed of the vehicle is calculated.
6. speed computing device during a kind of vehicle turning brake, which is characterized in that the vehicle is driven by wheel motor
It is dynamic, and each wheel of the vehicle is correspondingly arranged a wheel motor, described device includes：
First acquisition module, first acquisition module are used to, in the Ackermann steer angle, obtain the turn direction of the vehicle；
Second acquisition module, second acquisition module are used to obtain the damped condition information of the vehicle, wherein, the braking
Work information includes brakeless operating mode, single-wheel damped condition and two-wheel damped condition；
Computing module, the computing module are used for the vehicle to the vehicle according to the turn direction and the damped condition information
Speed is calculated.
7. speed computing device during vehicle turning brake according to claim 6, which is characterized in that described first obtains
Module obtains the turn direction of the vehicle by detecting the steering wheel angle of the vehicle.
8. speed computing device during vehicle turning brake according to claim 6, which is characterized in that described second obtains
Module includes brake-pressure sensor.
9. speed computing device during vehicle turning brake according to claim 6, which is characterized in that the computing module
For：
When the vehicle turns left and is in brakeless operating mode, according to the equal of the wheel speed of the near front wheel of the vehicle and off hind wheel
Value calculates the speed of the vehicle；
When the vehicle turns left and is in single-wheel damped condition, then when the wheel of braking is the near front wheel or off hind wheel, root
The speed of the vehicle is calculated according to the average of the wheel speed of the off-front wheel and left rear wheel of the vehicle or the vehicle in braking
Take turns for off-front wheel or left rear wheel when, according to the average of the near front wheel of the vehicle and the wheel speed of off hind wheel to the speed of the vehicle
It is calculated；
When the vehicle turns left and is in two-wheel damped condition, according to the wheel speed of the left rear wheel of the vehicle and off hind wheel
Average calculates the speed of the vehicle.
10. speed computing device during vehicle turning brake according to claim 6, which is characterized in that the calculating mould
Block is used for：
When the vehicle is turned right and is in brakeless operating mode, according to the equal of the wheel speed of the off-front wheel of the vehicle and left rear wheel
Value calculates the speed of the vehicle；
When the vehicle is turned right and is in single-wheel damped condition, then when the wheel of braking is the near front wheel or off hind wheel, root
The speed of the vehicle is calculated according to the average of the wheel speed of the off-front wheel and left rear wheel of the vehicle or the vehicle in braking
Take turns for off-front wheel or left rear wheel when, according to the average of the near front wheel of the vehicle and the wheel speed of off hind wheel to the speed of the vehicle
It is calculated；
When the vehicle turns left and is in two-wheel damped condition, according to the wheel speed of the left rear wheel of the vehicle and off hind wheel
Average calculates the speed of the vehicle.
11. a kind of vehicle, which is characterized in that during including vehicle turning brake according to any one of claim 6-10
Speed computing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075973.7A CN108116234B (en) | 2016-11-29 | 2016-11-29 | Vehicle and vehicle speed calculation method and device during turning braking of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611075973.7A CN108116234B (en) | 2016-11-29 | 2016-11-29 | Vehicle and vehicle speed calculation method and device during turning braking of vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108116234A true CN108116234A (en) | 2018-06-05 |
| CN108116234B CN108116234B (en) | 2020-07-10 |
Family
ID=62226910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611075973.7A Active CN108116234B (en) | 2016-11-29 | 2016-11-29 | Vehicle and vehicle speed calculation method and device during turning braking of vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108116234B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113353079A (en) * | 2020-03-05 | 2021-09-07 | 纳恩博（常州）科技有限公司 | Method and device for controlling turning posture of vehicle and vehicle |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100256887A1 (en) * | 2007-11-09 | 2010-10-07 | Societe De Technologie Michelin | System for controlling a vehicle with determination of the speed thereof relative to the ground |
| CN102009654A (en) * | 2010-11-12 | 2011-04-13 | 清华大学 | Longitudinal speed evaluation method of full-wheel electrically-driven vehicle |
| JP2011229286A (en) * | 2010-04-20 | 2011-11-10 | Nobuyoshi Muto | Electric vehicle and program |
| CN103454442A (en) * | 2012-05-29 | 2013-12-18 | Ls产电株式会社 | Travel velocity compensation apparatus and method for railway vehicles |
| CN104742888A (en) * | 2015-02-06 | 2015-07-01 | 中国第一汽车股份有限公司 | Full-driven vehicle reference vehicle speed real-time detection method |
| CN104764897A (en) * | 2015-02-13 | 2015-07-08 | 盐城工学院 | Automobile speed measuring device and automobile speed measuring and control method |
| CN105253032A (en) * | 2015-09-02 | 2016-01-20 | 北京航天发射技术研究所 | All wheel individual drive electric car traction control method and device |
| US20160159249A1 (en) * | 2010-03-29 | 2016-06-09 | Wrightspeed, Inc. | Vehicle dynamics control in electric drive vehicles |
-
2016
- 2016-11-29 CN CN201611075973.7A patent/CN108116234B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100256887A1 (en) * | 2007-11-09 | 2010-10-07 | Societe De Technologie Michelin | System for controlling a vehicle with determination of the speed thereof relative to the ground |
| US20160159249A1 (en) * | 2010-03-29 | 2016-06-09 | Wrightspeed, Inc. | Vehicle dynamics control in electric drive vehicles |
| JP2011229286A (en) * | 2010-04-20 | 2011-11-10 | Nobuyoshi Muto | Electric vehicle and program |
| CN102009654A (en) * | 2010-11-12 | 2011-04-13 | 清华大学 | Longitudinal speed evaluation method of full-wheel electrically-driven vehicle |
| CN103454442A (en) * | 2012-05-29 | 2013-12-18 | Ls产电株式会社 | Travel velocity compensation apparatus and method for railway vehicles |
| CN104742888A (en) * | 2015-02-06 | 2015-07-01 | 中国第一汽车股份有限公司 | Full-driven vehicle reference vehicle speed real-time detection method |
| CN104764897A (en) * | 2015-02-13 | 2015-07-08 | 盐城工学院 | Automobile speed measuring device and automobile speed measuring and control method |
| CN105253032A (en) * | 2015-09-02 | 2016-01-20 | 北京航天发射技术研究所 | All wheel individual drive electric car traction control method and device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113353079A (en) * | 2020-03-05 | 2021-09-07 | 纳恩博（常州）科技有限公司 | Method and device for controlling turning posture of vehicle and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108116234B (en) | 2020-07-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106427957B (en) | Electric car stabilizing control system and method and electric car based on four-wheel drive | |
| US9669664B2 (en) | Method, control device and system for determining a tread depth of a tread of a tire | |
| CN105829185B (en) | Potential adhesive force is estimated by assessment rolling radius | |
| CN100526842C (en) | Method and apparatus for judging vehicle load distribution and detecting tyre pressure decrease | |
| CN106608201A (en) | Electric vehicle and active safety control system and method thereof | |
| JPH0616143A (en) | Method of obtaining dynamically marginal safety of vehicle | |
| CN203876738U (en) | Semitrailer and side turning prevention device thereof | |
| CN101678729B (en) | A flat tire monitoring method and a flat tire monitoring device | |
| JP2003503277A (en) | Method and apparatus for detecting vehicle pendulum motion | |
| CN104553992A (en) | Vehicle rollover warning method | |
| EP2147808A2 (en) | Apparatus and method for detecting decrease in tire air pressure and program for detecting decrease in tire air pressure | |
| CN103380034A (en) | Method for detecting and correcting vehicle reference speed, and vehicle system | |
| CN111645653B (en) | Method and system for correcting vehicle crosswind deviation | |
| CN101542297A (en) | Method and device for determining the speed of a vehicle | |
| US20030144777A1 (en) | System and method for monitoring the vehicle dynamics of a motor vehicle | |
| CN105392680B (en) | For controlling the method, system and equipment of motor vehicle braking system | |
| JP2005289347A (en) | Method for evaluating lateral acceleration of vehicle | |
| US20150314759A1 (en) | Vehicle movement dynamics control method | |
| CN108263151A (en) | The tire pressure monitoring method of automobile and automobile | |
| CN104655872B (en) | Automobile speed investigating method and system | |
| CN108248453A (en) | Identify road surface method, apparatus and automobile | |
| CN106364550A (en) | Automobile and electric power steering system and method thereof | |
| CN108116233A (en) | Vehicle and its speed calculate method and apparatus | |
| CN106379314A (en) | Method and system for keeping vehicle stable | |
| CN108116234A (en) | Speed when vehicle and its brakeing during cornereing calculates method and apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |