CN108116270A - Vehicle control instability method, vehicle control instability device and vehicle - Google Patents

Vehicle control instability method, vehicle control instability device and vehicle Download PDF

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Publication number
CN108116270A
CN108116270A CN201611093516.0A CN201611093516A CN108116270A CN 108116270 A CN108116270 A CN 108116270A CN 201611093516 A CN201611093516 A CN 201611093516A CN 108116270 A CN108116270 A CN 108116270A
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China
Prior art keywords
wheel
driving force
vehicle
outboard wheels
force
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Granted
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CN201611093516.0A
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Chinese (zh)
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CN108116270B (en
Inventor
姚伟
王世友
岳光俊
胡梦蝶
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BYD Co Ltd
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BYD Co Ltd
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Priority to CN201611093516.0A priority Critical patent/CN108116270B/en
Publication of CN108116270A publication Critical patent/CN108116270A/en
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    • 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of 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
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
    • 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
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a kind of vehicle control instability method, vehicle control instability device and vehicle, each wheel in the vehicle is correspondingly arranged wheel motor, the described method comprises the following steps：During vehicle travels, whether vehicle is judged in instability status, wherein, instability status include understeer state and ovdersteering state；When vehicle is in understeer state, by being controlled wheel motor to increase the driving force of outboard wheels, reduce the driving force of inboard wheel and increase the brake force of inboard wheel；When vehicle is in ovdersteering state, by being controlled wheel motor to increase the driving force of inboard wheel, reduce the driving force of outboard wheels and increase the brake force of outboard wheels.So as to progressively strengthen indicating brake action by carrying out control by stages to wheel motor so that Ackermann steer angle faster, more steadily, not only ensure that security and dynamic property, but also the limit speed higher of treatable vehicle unstability.

Description

Vehicle control instability method, vehicle control instability device and vehicle
Technical field
The present invention relates to automobile technical field, more particularly to a kind of vehicle control instability method, a kind of vehicle control instability Device and a kind of vehicle with the device.
Background technology
In general, vehicle is when turning, in fact it could happen that two kinds of unstability situations, when since trailing wheel and traction are insufficient, Vehicle whipping, causes ovdersteering；Second is that due to front-wheel and traction deficiency, headstock is thrown away, and causes understeer.
At present, in face of both the above unstability situation, the situation of vehicle is usually detected according to the signal of sensor, then The torque output of engine and the brake fluid pressure of each wheel, when understeer, inside rear wheel are controlled according to the situation of vehicle It is braked；When ovdersteering, outside front-wheel is braked, so as to achieve the purpose that mitigate vehicle unstable state.But due to vehicle It is by reducing torque and mitigating vehicle unstable state, thus the power damage of vehicle to vehicle braking control during unstability Mistake is very big, and friction disc wear is serious.
The content of the invention
It is contemplated that it solves at least some of the technical problems in related technologies.For this purpose, the present invention One purpose is to propose a kind of vehicle control instability method, by controlling wheel motor, faster, more stably to repair The instability status of positive vehicle, not only ensure that security, but also ensure that the dynamic property of vehicle.
It is another object of the present invention to propose a kind of vehicle control instability device.
A further object of the present invention is to propose a kind of vehicle.
To achieve the above object, one aspect of the present invention embodiment proposes a kind of vehicle control instability method, the vehicle In each wheel be correspondingly arranged wheel motor, the described method comprises the following steps：During the vehicle travels, judge Whether the vehicle is in instability status, wherein, the instability status include understeer state and ovdersteering state；Work as institute When stating vehicle and being in the understeer state, by the driving for being controlled the wheel motor to increase outboard wheels Power, the driving force for reducing inboard wheel and the brake force for increasing inboard wheel；When the vehicle is in the ovdersteering state When, by being controlled the wheel motor to increase the driving force of inboard wheel, the driving force of reduction outboard wheels and increasing The brake force of big outboard wheels.
Vehicle control instability method according to embodiments of the present invention in vehicle travel process, turns to not when vehicle is in During sufficient state, by the driving force that is controlled wheel motor to increase outboard wheels, the driving force for reducing inboard wheel and Increase the brake force of inboard wheel；When vehicle is in ovdersteering state, by being controlled wheel motor in increase The driving force of side wheel, the driving force for reducing outboard wheels and the brake force for increasing outboard wheels.So as to by wheel motor It is controlled, faster, more stably to correct the instability status of vehicle, not only ensure that security, but also ensure that vehicle Dynamic property..
According to one embodiment of present invention, it is described by being controlled the wheel motor to increase outboard wheels Driving force, the driving force for reducing inboard wheel and the brake force for increasing inboard wheel, including：The wheel motor is controlled To incrementally increase the driving force of the outboard wheels, until when the driving force of the outboard wheels reaches the first predetermined threshold value, such as Vehicle described in fruit then controls the wheel motor progressively to reduce inboard wheel still in the understeer state Driving force；When the driving force of inboard wheel is decreased to default simulation force threshold, if the vehicle is still in described Understeer state then controls the wheel motor to incrementally increase the brake force of inboard wheel.
According to one embodiment of present invention, it is described by being controlled the wheel motor to increase outboard wheels Driving force, the driving force for reducing inboard wheel and the brake force for increasing inboard wheel, including：The wheel motor is controlled Progressively to reduce the driving force of the inboard wheel；When the driving force of the inboard wheel is decreased to default simulation power threshold During value, if the vehicle is controlled to incrementally increase the wheel motor still in the understeer state State the brake force of inboard wheel；When the brake force of the inboard wheel increases to default maximum braking force threshold value, if institute Vehicle is stated still in the understeer state, then the wheel motor is controlled to incrementally increase the outboard wheels Driving force.
According to one embodiment of present invention, it is described by being controlled the wheel motor to increase outboard wheels Driving force, the driving force for reducing inboard wheel and the brake force for increasing inboard wheel, including：The wheel motor is controlled To incrementally increase the driving force of the outboard wheels, while the wheel motor is controlled progressively to reduce the inside vehicle The driving force of wheel, wherein, when the driving force of the inboard wheel is decreased to default simulation force threshold, if the vehicle Still in the understeer state, then the wheel motor is controlled to incrementally increase the braking of the inboard wheel Power.
Further, according to one embodiment of present invention, in being controlled the wheel motor progressively to reduce Before the driving force of side wheel, also judge whether the driving force of the inboard wheel is less than or equal to the default simulation power Threshold value, wherein, if the driving force of the inboard wheel is less than or equal to the default simulation force threshold and the vehicle Still in the understeer state, then directly the wheel motor is controlled to incrementally increase the braking of inboard wheel Power.
According to one embodiment of present invention, it is described by being controlled the wheel motor to increase inboard wheel Driving force, the driving force for reducing outboard wheels and the brake force for increasing outboard wheels, including：The wheel motor is controlled To incrementally increase the driving force of the inboard wheel, until when the driving force of the inboard wheel reaches the second predetermined threshold value, such as Vehicle described in fruit then controls the wheel motor progressively to reduce outboard wheels still in the ovdersteering state Driving force；When the driving force of outboard wheels is decreased to default simulation force threshold, if the vehicle is still in described Ovdersteering state then controls the wheel motor to incrementally increase the brake force of outboard wheels.
According to one embodiment of present invention, it is described by being controlled the wheel motor to increase inboard wheel Driving force, the driving force for reducing outboard wheels and the brake force for increasing outboard wheels, including：The wheel motor is controlled Progressively to reduce the driving force of the outboard wheels；When the driving force of the outboard wheels is decreased to default simulation power threshold During value, if the vehicle is controlled to incrementally increase the wheel motor still in the understeer state State the brake force of outboard wheels；When the brake force of the outboard wheels increases to default maximum braking force threshold value, if institute Vehicle is stated still in the understeer state, then the wheel motor is controlled to incrementally increase the inboard wheel Driving force.
According to one embodiment of present invention, it is described by being controlled the wheel motor to increase inboard wheel Driving force, the driving force for reducing outboard wheels and the brake force for increasing outboard wheels, including：The wheel motor is controlled To incrementally increase the driving force of the inboard wheel, while the wheel motor is controlled progressively to reduce the outside vehicle The driving force of wheel, wherein, when the driving force of the outboard wheels is decreased to default simulation force threshold, if the vehicle Still in the understeer state, then the wheel motor is controlled to incrementally increase the braking of the outboard wheels Power.
Further, according to one embodiment of present invention, the wheel motor is being controlled progressively to reduce outside Before the driving force of side wheel, also judge whether the driving force of the outboard wheels is less than or equal to the default simulation power Threshold value, wherein, if the driving force of the outboard wheels is less than or equal to the default simulation force threshold and the vehicle Still in the ovdersteering state, then directly the wheel motor is controlled to incrementally increase the braking of outboard wheels Power.
To achieve the above object, another aspect of the present invention embodiment also proposed a kind of vehicle control instability device, described Each wheel in vehicle is correspondingly arranged wheel motor, and described device includes：Judgment module, for the mistake travelled in the vehicle Whether Cheng Zhong judges the vehicle in instability status, wherein, the instability status include understeer state and ovdersteering State；Control module, the control module wheel motor with each wheel in the judgment module and the vehicle respectively It is connected, the control module is used for when the vehicle is in the understeer state, by being carried out to the wheel motor Control works as institute increasing the driving force of outboard wheels, reducing the driving force of inboard wheel and increasing the brake force of inboard wheel When stating vehicle and being in the ovdersteering state, by the driving for being controlled the wheel motor to increase inboard wheel Power, the driving force for reducing outboard wheels and the brake force for increasing outboard wheels.
Vehicle control instability device according to embodiments of the present invention, in vehicle travel process, when judgment module judges vehicle Be in understeer state when, control module is by controlling wheel motor to increase the driving force of outboard wheels, be subtracted The driving force of small inboard wheel and the brake force of increase inboard wheel；When judgment module judges that vehicle is in ovdersteering state When, control module is by controlling wheel motor to increase the driving force of inboard wheel, reducing the driving force of outboard wheels With the brake force of increase outboard wheels.Thus by controlling wheel motor, faster, more stably to correct the mistake of vehicle Steady state not only ensure that security, but also ensure that the dynamic property of vehicle.
According to one embodiment of present invention, the control module is outer by being controlled to increase to the wheel motor During the brake force of the driving force of side wheel, the driving force for reducing inboard wheel and increase inboard wheel, wherein, the control module Controlled the wheel motor to incrementally increase the driving force of the outboard wheels, until the driving force of the outboard wheels When reaching the first predetermined threshold value, if the judgment module judges the vehicle still in the understeer state, the control Molding block then controls the wheel motor progressively to reduce the driving force of inboard wheel；When the driving force of inboard wheel subtracts As low as default simulation force threshold when, if the judgment module judges the vehicle still in the understeer shape State, the control module then control the wheel motor to incrementally increase the brake force of inboard wheel.
According to one embodiment of present invention, the control module is outer by being controlled to increase to the wheel motor During the brake force of the driving force of side wheel, the driving force for reducing inboard wheel and increase inboard wheel, wherein, the control module The wheel motor is controlled progressively to reduce the driving force of the inboard wheel；When the driving force of the inboard wheel subtracts As low as default simulation force threshold when, if the judgment module judges the vehicle still in the understeer shape State, the control module then control the wheel motor to incrementally increase the brake force of the inboard wheel；When described When the brake force of inboard wheel increases to default maximum braking force threshold value, if the judgment module judges that the vehicle is still located In the understeer state, the control module then controls the wheel motor to incrementally increase the outboard wheels Driving force.
According to one embodiment of present invention, the control module is outer by being controlled to increase to the wheel motor During the brake force of the driving force of side wheel, the driving force for reducing inboard wheel and increase inboard wheel, wherein, the control module It is controlled the wheel motor to incrementally increase the driving force of the outboard wheels, while the wheel motor is controlled System progressively to reduce the driving force of the inboard wheel, wherein, when the driving force of the inboard wheel is decreased to default minimum When driving force threshold, if the judgment module judges the vehicle still in the understeer state, the control module Then controlled the wheel motor to incrementally increase the brake force of the inboard wheel.
Further, according to one embodiment of present invention, the control module is controlled to the wheel motor Before progressively reducing the driving force of inboard wheel, also to judge it is described default whether the driving force of the inboard wheel is less than or equal to Simulation force threshold, wherein, if the driving force of the inboard wheel be less than or equal to the default simulation power threshold It is worth and the judgment module judges the vehicle still in the understeer state, the control module is then directly to the wheel Side motor is controlled to incrementally increase the brake force of inboard wheel.
According to one embodiment of present invention, the control module is by controlling in increase the wheel motor During the brake force of the driving force of side wheel, the driving force for reducing outboard wheels and increase outboard wheels, wherein, the control module Controlled the wheel motor to incrementally increase the driving force of the inboard wheel, until the driving force of the inboard wheel When reaching the second predetermined threshold value, if the judgment module judges the vehicle still in the ovdersteering state, the control Molding block then controls the wheel motor progressively to reduce the driving force of outboard wheels；When the driving force of outboard wheels subtracts As low as default simulation force threshold when, if the judgment module judges the vehicle still in the ovdersteering shape State, the control module then control the wheel motor to incrementally increase the brake force of outboard wheels.
According to one embodiment of present invention, the control module is by controlling in increase the wheel motor During the brake force of the driving force of side wheel, the driving force for reducing outboard wheels and increase outboard wheels, wherein, the control module The wheel motor is controlled progressively to reduce the driving force of the outboard wheels；When the driving force of the outboard wheels subtracts As low as default simulation force threshold when, if the judgment module judges the vehicle still in the understeer shape State, the control module then control the wheel motor to incrementally increase the brake force of the outboard wheels；When described When the brake force of outboard wheels increases to default maximum braking force threshold value, if the judgment module judges that the vehicle is still located In the understeer state, the control module then controls the wheel motor to incrementally increase the inboard wheel Driving force.
According to one embodiment of present invention, the control module is by controlling in increase the wheel motor During the brake force of the driving force of side wheel, the driving force for reducing outboard wheels and increase outboard wheels, wherein, the control module It is controlled the wheel motor to incrementally increase the driving force of the inboard wheel, while the wheel motor is controlled System progressively to reduce the driving forces of the outboard wheels, wherein, when the driving force of the outboard wheels is decreased to default minimum When driving force threshold, if the judgment module judges the vehicle still in the understeer state, the control module Then controlled the wheel motor to incrementally increase the brake force of the outboard wheels.
Further, according to one embodiment of present invention, the control module is controlled to the wheel motor Before progressively reducing the driving force of outboard wheels, also to judge it is described default whether the driving force of the outboard wheels is less than or equal to Simulation force threshold, wherein, if the driving force of the outboard wheels be less than or equal to the default simulation power threshold It is worth and the judgment module judges the vehicle still in the ovdersteering state, the control module is then directly to the wheel Side motor is controlled to incrementally increase the brake force of outboard wheels.
In addition, the embodiment of the present invention also proposed a kind of vehicle, including above-mentioned vehicle control instability device.
The vehicle of the embodiment of the present invention, can be according to instability status, by right by above-mentioned vehicle control instability device Wheel motor carries out control by stages progressively to strengthen indicating brake action so that Ackermann steer angle faster, more steadily, not only ensure that Security and dynamic property, and the limit speed higher of treatable vehicle unstability, simultaneously because using wheel motor to each Wheel is controlled, and is controlled compared with hydraulic braking, effectively reduces friction loss and power performance loss that braking generates.
Description of the drawings
Fig. 1 is the structure diagram of vehicle according to an embodiment of the invention；
Fig. 2 is the flow chart of vehicle control instability method according to embodiments of the present invention；
Fig. 3 is the vehicle control instability signal according to an embodiment of the invention when vehicle is in understeer state Figure；
Fig. 4 is the vehicle control instability signal according to an embodiment of the invention when vehicle is in ovdersteering state Figure；
Fig. 5 is the flow chart of vehicle control instability method according to an embodiment of the invention；
Fig. 6 is the block diagram of vehicle control instability device according to embodiments of the present invention；
Fig. 7 is the block diagram of vehicle according to embodiments of the present invention.
Reference numeral：
1fl, 1fr, 1rl and 1rr are respectively the wheel speed sensors of the near front wheel, off-front wheel, left rear wheel and off hind wheel；2fl、 2fr, 2rl and 2rr are respectively the near front wheel, off-front wheel, left rear wheel and off hind wheel；3fl, 3fr, 3rl and 3rr be respectively the near front wheel, The wheel motor of off-front wheel, left rear wheel and off hind wheel；4 be steering wheel angle sensor；5 be yaw rate sensor；6 be acceleration Sensor；7 be electronic controller；8 be electric machine controller；10 be judgment module；20 modules in order to control；100 be vehicle unstability control Device processed；1000 be vehicle.
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.
The vehicle control instability method proposed according to embodiments of the present invention, vehicle control instability described with reference to the accompanying drawings Device and the vehicle with the device.
Fig. 1 is the structure diagram of vehicle according to an embodiment of the invention.
As shown in Figure 1, each wheel in vehicle is correspondingly arranged wheel motor and wheel speed sensors, and also set in vehicle It is equipped with steering wheel angle sensor, yaw rate sensor, acceleration transducer, electronic controller and electric machine controller etc..Wherein, Wheel motor is connected directly with wheel, and to drive or inhibit corresponding wheel rotation, wheel speed sensors are used to obtain corresponding wheel Wheel speed, steering wheel angle sensor are used to obtain the corner of steering wheel, and yaw rate sensor is used to obtain the yaw angle speed of vehicle Degree, acceleration transducer are used to obtain the longitudinal acceleration and transverse acceleration of vehicle, and electronic controller is used for according to wheel The signal outputs motor control signals such as wheel speed, the corner of steering wheel, yaw velocity are to electric machine controller, to be controlled by motor Device controls each wheel motor.
Fig. 2 is the flow chart of vehicle control instability method according to embodiments of the present invention.As shown in Fig. 2, the vehicle unstability Control method may include following steps：
Whether S1 during vehicle travels, judges vehicle in instability status, wherein, instability status include turning to Insufficient state and ovdersteering state.
Specifically, in vehicle travel process, can according to the corner of steering wheel, yaw velocity, transverse acceleration, Whether the signals such as wheel speed of each wheel judge the vehicle in instability status such as understeer or ovdersteerings.It is specific how Judge that whether in instability status, determination methods of the prior art can be used, I will not elaborate in vehicle.
S2, when vehicle is in understeer state, by the drive for being controlled wheel motor to increase outboard wheels Power, the driving force for reducing inboard wheel and the brake force for increasing inboard wheel.
Specifically, causing the operating mode that vehicle is in understeer has very much, for example, normally step on the gas, spin to or It is normal step on braking, spin to etc., spin when because normally stepping on the gas to when vehicle being caused to be in understeer state, in this case, Outboard wheels brakeless power is capable of the advantage of each wheel of independent control using wheel motor at this time, by wheel motor come Outboard wheels increase driving force is controlled, inboard wheel reduces driving force and provides brake force etc. to inboard wheel, to taking turns side Motor carries out control by stages, progressively to strengthen indicating brake action so that Ackermann steer angle faster, more steadily, not only ensure that peace Quan Xing, and ensure that dynamic property.
According to one embodiment of present invention, by wheel motor is controlled increase outboard wheels driving force, Reduce the driving force of inboard wheel and the brake force of increase inboard wheel, including：Wheel motor is controlled to incrementally increase The driving force of outboard wheels, until when the driving forces of outboard wheels reaches the first predetermined threshold value, if vehicle is still in turning to not Sufficient state then controls wheel motor progressively to reduce the driving force of inboard wheel；When the driving force of inboard wheel reduces During to default simulation force threshold, if vehicle still in understeer state, wheel motor is controlled with by The brake force of step increase inboard wheel.Wherein, the first predetermined threshold value and simulation force threshold can be according to actual conditions into rower Fixed, particularly, simulation force threshold can be zero.
It specifically, can be according to the signal of sensor feedback, for vehicle when judging that vehicle is in understeer state The difference of unstability degree carries out control by stages to wheel motor.As shown in Figure 3a, when vehicle is turned to the left, Ke Yixian The driving force of outside (right side) wheel is incrementally increased, until the driving force of outboard wheels reaches threshold value, if vehicle is still located at this time In understeer state, then start progressively to reduce the driving force of inside (left side) wheel, as shown in Figure 3b, when the drive of inboard wheel When power has diminished to simulation force threshold (such as zero), if the instability status of vehicle still cannot be corrected, start by The brake force of step increase inboard wheel, as shown in Figure 3c, can not only so generate the yaw moment of bigger, reach better control Effect processed, and the participation of hydraulic braking can be reduced.
According to another embodiment of the invention, by being controlled wheel motor to increase the drivings of outboard wheels Power, the driving force for reducing inboard wheel and the brake force for increasing inboard wheel, including：Wheel motor is controlled progressively to subtract The driving force of small inboard wheel；When the driving force of inboard wheel is decreased to default simulation force threshold, if vehicle is still In understeer state, then wheel motor is controlled to incrementally increase the brake force of inboard wheel；When inboard wheel When brake force increases to default maximum braking force threshold value, if vehicle still in understeer state, to wheel motor into Row controls to incrementally increase the driving force of outboard wheels.
Specifically, when vehicle is turned to the left, the driving force of inside (left side) wheel first can progressively be reduced, until interior The driving force of side wheel reaches threshold value, if vehicle starts to incrementally increase an inside (left side still in understeer state at this time Side) wheel brake force, when the brake force of inboard wheel reaches threshold value, if the unstability shape of vehicle still cannot be corrected State then starts to incrementally increase the driving force of outboard wheels, can not only so generate the yaw moment of bigger, reach better control Effect processed, and the participation of hydraulic braking can be reduced.
According to still another embodiment of the invention, by being controlled wheel motor to increase the drivings of outboard wheels Power, the driving force for reducing inboard wheel and the brake force for increasing inboard wheel, including：Wheel motor is controlled progressively to increase The driving force of big outboard wheels, while wheel motor is controlled progressively to reduce the driving force of inboard wheel, wherein, when interior When the driving force of side wheel is decreased to default simulation force threshold, if vehicle still in understeer state, to wheel Side motor is controlled to incrementally increase the brake force of inboard wheel.
Specifically, when vehicle is turned to the left, can incrementally increase outside (right side) wheel driving force while, Progressively reduce the driving force of inboard wheel, in the process, if the driving force of inboard wheel reaches threshold value, and vehicle is still In understeer state, then wheel motor is controlled to incrementally increase the brake force of inboard wheel, so can not only The yaw moment of bigger is generated, reaches better control effect, and the participation of hydraulic braking can be reduced.
Further, wheel motor is being controlled in before progressively reducing the driving force of inboard wheel, also to judge Whether the driving force of side wheel is less than or equal to default simulation force threshold, wherein, if the driving force of inboard wheel is less than Equal to default simulation force threshold and vehicle still in understeer state, then directly wheel motor is controlled with by The brake force of step increase inboard wheel.
It is understood that since the driving force and brake force of single wheel are generated by motor, progressively subtracting Before the driving force of small inboard wheel, judge whether the driving force of the wheel is more than zero, if it is greater than zero, then starting progressively to reduce The driving force of the wheel, until when driving force is decreased to zero, then begin through wheel motor and generate Return moment, to be applied to wheel Braking forces thereto；Otherwise, Return moment is directly generated by wheel motor, to apply brake force to wheel.
Therefore, vehicle control instability method according to embodiments of the present invention, can be independently to each vehicle using wheel motor The advantage for being driven or braking is taken turns, when Vehicular turn deficiency, driving force can be applied to single wheel, to opposite side wheel Apply brake force, to generate the yaw moment of bigger, so that the limit speed higher for the unstability that vehicle can be handled.And During vehicle unstability, hydraulic braking is not required, but vehicle is controlled by wheel motor, thus effectively reduces braking production Raw friction loss and power performance loss, while controlled by wheel motor, it is easier to the stability of vehicle is controlled, And using progressively control mode, it both ensure that security, in turn ensure dynamic property.
S3, when vehicle is in ovdersteering state, by the drive for being controlled wheel motor to increase inboard wheel Power, the driving force for reducing outboard wheels and the brake force for increasing outboard wheels.
Specifically, in vehicle travel process, if vehicle is in ovdersteering state, wheel motor can be utilized It is capable of the advantage of each wheel of independent control, by wheel motor inboard wheel is controlled to increase driving force, outboard wheels reduce Driving force and brake force etc. is provided to outboard wheels, control by stages is carried out to wheel motor, progressively to strengthen brake force Degree so that Ackermann steer angle faster, more steadily, not only ensure that security, but also ensure that dynamic property.
According to one embodiment of present invention, by wheel motor is controlled increase inboard wheel driving force, Reduce the driving force of outboard wheels and the brake force of increase outboard wheels, including：Wheel motor is controlled to incrementally increase The driving force of inboard wheel, until when the driving force of inboard wheel reaches the second predetermined threshold value, if vehicle was still in turning to Degree state then controls wheel motor progressively to reduce the driving force of outboard wheels；When the driving force of outboard wheels reduces During to default simulation force threshold, if vehicle still in ovdersteering state, wheel motor is controlled with by The brake force of step increase outboard wheels.Wherein, the second predetermined threshold value can be demarcated according to actual conditions.
It specifically, can be according to the signal of sensor feedback, for vehicle when judging that vehicle is in ovdersteering state The difference of unstability degree carries out control by stages to wheel motor.As shown in fig. 4 a, when vehicle is turned to the left, Ke Yixian The driving force of inside (left side) wheel is incrementally increased, until the driving force of inboard wheel reaches threshold value, if vehicle is still located at this time In ovdersteering state, then start progressively to reduce the driving force of outside (right side) wheel, as shown in Figure 4 b, when the drive of outboard wheels When power has diminished to simulation force threshold (such as zero), if the instability status of vehicle still cannot be corrected, start by The brake force of step increase outboard wheels, as illustrated in fig. 4 c, ensures the rapidity and stability of Ackermann steer angle.
According to another embodiment of the invention, by being controlled wheel motor to increase the driving of inboard wheel Power, the driving force for reducing outboard wheels and the brake force for increasing outboard wheels, including：Wheel motor is controlled progressively to subtract The driving force of small outboard wheels；When the driving force of outboard wheels is decreased to default simulation force threshold, if vehicle is still In understeer state, then wheel motor is controlled to incrementally increase the brake force of outboard wheels；When outboard wheels When brake force increases to default maximum braking force threshold value, if vehicle still in understeer state, to wheel motor into Row controls to incrementally increase the driving force of inboard wheel.
Specifically, when vehicle is turned to the left, the driving force of outside (right side) wheel first can progressively be reduced, until outer The driving force of side wheel reaches threshold value, if vehicle starts to incrementally increase the outside (right side still in ovdersteering state at this time Side) wheel brake force, when the brake force of outboard wheels reaches threshold value, if the unstability shape of vehicle still cannot be corrected State then starts to incrementally increase the driving force of inboard wheel, ensures the rapidity and stability of Ackermann steer angle.
According to still another embodiment of the invention, by being controlled wheel motor to increase the driving of inboard wheel Power, the driving force for reducing outboard wheels and the brake force for increasing outboard wheels, including：Wheel motor is controlled progressively to increase The driving force of big inboard wheel, while wheel motor is controlled progressively to reduce the driving force of outboard wheels, wherein, when outer When the driving force of side wheel is decreased to default simulation force threshold, if vehicle still in understeer state, to wheel Side motor is controlled to incrementally increase the brake force of outboard wheels.
Specifically, when vehicle is turned to the left, can incrementally increase inside (left side) wheel driving force while, Progressively reduce the driving force of outside (right side) wheel, in the process, when the driving force of outboard wheels has diminished to minimum drive During power threshold (such as zero), if the instability status of vehicle still cannot be corrected, start to incrementally increase the braking of outboard wheels Power ensures the rapidity and stability of Ackermann steer angle.
Further, wheel motor is being controlled outside before progressively reducing the driving force of outboard wheels, also to judge Whether the driving force of side wheel is less than or equal to default simulation force threshold, wherein, if the driving force of outboard wheels is less than Equal to default simulation force threshold and vehicle still in ovdersteering state, then directly wheel motor is controlled with by The brake force of step increase outboard wheels.
Similarly, since the driving force and brake force of single wheel are generated by motor, on the outside of progressively reducing Before the driving force of wheel, judge whether the driving force of the wheel is more than zero, if it is greater than zero, then starting progressively to reduce the wheel Driving force, until driving force is when being decreased to zero, then begins through wheel motor and generates Return moment, wheel to be given to apply braking Power；Otherwise, Return moment is directly generated by wheel motor, to apply brake force to wheel.
Therefore, vehicle control instability method according to embodiments of the present invention, can be independently to each vehicle using wheel motor The advantage for being driven or braking is taken turns, when Vehicular turn is excessive, driving force can be applied to single wheel, to opposite side wheel Apply brake force, to reach better control effect, ensure the stability of Ackermann steer angle.It, need not and during vehicle unstability Hydraulic braking, but vehicle is controlled by wheel motor, thus effectively reduce friction loss and the vehicle that braking generates Dynamic property loss, while controlled by wheel motor, it is easier to control the stability of vehicle, and using progressively controlling Mode both ensure that security, in turn ensure dynamic property.
For those skilled in the art is made to be better understood upon the present invention, Fig. 5 is the vehicle of a specific example according to the present invention The flow chart of control instability method, as shown in figure 5, the vehicle control instability method may include following steps：
S101 obtains the yaw velocity of vehicle, acceleration, the corner of steering wheel, wheel wheel speed.
S102 judges whether vehicle turns according to the yaw velocity of acquisition, acceleration, the corner of steering wheel, wheel wheel speed To deficiency.If so, perform step S103；If not, perform step S108.
S103 judges to drive whether be less than the first predetermined threshold value Fmax1 outside the driving force F of outboard wheels.If so, perform step Rapid S105；If not, perform step S104.
S104 judges whether be more than 0 on the inside of the driving force F of inboard wheel.If so, perform step S106；If not, it holds Row step S107.
S105, increases the driving force of outboard wheels, and real-time judge vehicle whether understeer.If Vehicular turn is not Foot, then constantly increase the driving force of outboard wheels, until reaching the first predetermined threshold value Fmax1, if still understeer, returns Step S104；If vehicle is in stable state, stop increasing the driving force of outboard wheels.So as to vehicle unstability degree compared with In the case of low, ensure the stability of vehicle by increasing the driving force of outboard wheels, during adjustment, do not reduce vehicle The driving force of wheel, thus can ensure the dynamic property of vehicle.
S106, reduces the driving force of inboard wheel, and real-time judge vehicle whether understeer.If Vehicular turn is not Foot then constantly reduces the driving force of inboard wheel, until the driving force of inboard wheel reaches 0, if still understeer, performs Step S107；If vehicle is in stable state, stop reducing the driving force of inboard wheel.So as in vehicle unstability degree It is stable achieve the purpose that vehicle by the driving force for continuing to reduce inboard wheel Deng in the case of.
S107, increases the brake force of inboard wheel, and real-time judge vehicle whether understeer.If Vehicular turn is not Foot then constantly increases the brake force of inboard wheel, to generate the yaw moment of bigger, reaches better control effect, make simultaneously Obtain the limit speed higher for the vehicle unstability that vehicle can be handled.
S108 judges whether vehicle turns according to the yaw velocity of acquisition, acceleration, the corner of steering wheel, wheel wheel speed To excessive.If so, perform step S109；If not, terminate.
S109 judges to drive whether be less than the second predetermined threshold value Fmax2 in the driving force F of inboard wheel.If so, perform step Rapid S111；If not, perform step S110.
S110 judges whether be more than 0 on the outside of the driving force F of outboard wheels.If so, perform step S112；If not, it holds Row step S113.
S111, increases the driving force of inboard wheel, and real-time judge vehicle whether ovdersteering.If Vehicular turn mistake Degree, then constantly increase the driving force of inboard wheel, until reaching the second predetermined threshold value Fmax2, if still ovdersteering, returns Step S110；If vehicle is in stable state, stop increasing the driving force of inboard wheel.So as to vehicle unstability degree compared with In the case of low, ensure the stability of vehicle by increasing the driving force of inboard wheel, during adjustment, do not reduce vehicle The driving force of wheel, thus can ensure the dynamic property of vehicle.
S112, reduces the driving force of outboard wheels, and real-time judge vehicle whether ovdersteering.If Vehicular turn mistake Degree then constantly reduces the driving force of outboard wheels, until the driving force of outboard wheels reaches 0, if still ovdersteering, performs Step S113；If vehicle is in stable state, stop reducing the driving force of outboard wheels.So as in vehicle unstability degree It is stable achieve the purpose that vehicle by the driving force for continuing to reduce outboard wheels Deng in the case of.
S113, increases the brake force of outboard wheels, and real-time judge vehicle whether ovdersteering.If Vehicular turn mistake Degree then constantly increases the brake force of outboard wheels, to reach better control effect, while allows the vehicle to the vehicle of processing The limit speed higher of unstability.
In conclusion vehicle control instability method according to embodiments of the present invention, in vehicle travel process, at vehicle When understeer state, by being controlled wheel motor to increase the driving force of outboard wheels, reducing inboard wheel The brake force of driving force and increase inboard wheel；When vehicle is in ovdersteering state, by controlling wheel motor Increasing the driving force of inboard wheel, reducing the driving force of outboard wheels and increasing the brake force of outboard wheels.So as to according to mistake Steady state progressively strengthens indicating brake action by carrying out control by stages to wheel motor so that Ackermann steer angle faster, it is more flat Surely, security and dynamic property, but also the limit speed higher of treatable vehicle unstability not only be ensure that, simultaneously because using wheel Side motor controls each wheel, is controlled compared with hydraulic braking, effectively reduces friction loss and vehicle that braking generates The loss of dynamic property.
The vehicle control instability device of the embodiment of the present invention is described in detail below.
In an embodiment of the present invention, each wheel in vehicle is correspondingly arranged wheel motor.Specifically as shown in Figure 1, vehicle Each wheel (be respectively 2fl, 2fr, 2rl and 2rr) in be correspondingly arranged wheel motor (be respectively 3fl, 3fr, 3rl and 3rr) and wheel speed sensors (be respectively 1fl, 1fr, 1rl and 1rr), and be additionally provided in vehicle steering wheel angle sensor 4, Yaw rate sensor 5, acceleration transducer 6, electronic controller 7 and electric machine controller 8 etc..Wherein, wheel motor 3fl, 3fr, 3rl and 3rr is corresponding with wheel 2fl, 2fr, 2rl and 2rr to be connected directly, to drive or inhibit corresponding wheel rotation, wheel speed sensing Device 1fl, 1fr, 1rl and 1rr are used to obtain the wheel speed of corresponding wheel 2fl, 2fr, 2rl and 2rr, and steering wheel angle sensor 4 is used In the corner for obtaining steering wheel, yaw rate sensor 5 is used to obtain the yaw velocity of vehicle, and acceleration transducer 6 is used to obtain The longitudinal acceleration and transverse acceleration of pick-up, electronic controller 7 are used for according to the wheel speed of wheel, the corner of steering wheel, horizontal stroke The signal outputs such as pivot angle speed motor control signal is to electric machine controller 8, to be carried out by electric machine controller 8 to each wheel motor Control.
Fig. 6 is the block diagram of vehicle control instability device according to embodiments of the present invention.As shown in fig. 6, the vehicle unstability Control device may include judgment module 10 and control module 20.
Wherein, judgment module 10 is used for during vehicle travels, and whether judges vehicle in instability status, wherein, Instability status include understeer state and ovdersteering state.Control module 20 respectively with it is every in judgment module 10 and vehicle The wheel motor of a wheel is connected, control module 20 be used for when vehicle is in understeer state, by wheel motor into Row control is worked as with increasing the driving force of outboard wheels, reducing the driving force of inboard wheel and increasing the brake force of inboard wheel When vehicle is in ovdersteering state, by being controlled wheel motor to increase the driving force of inboard wheel, reducing outside The driving force of wheel and the brake force of increase outboard wheels.
Specifically, judgment module 10 can be integrated in electronic controller 7 shown in FIG. 1, and control module 20 can integrate In electric machine controller 8 shown in Fig. 1.
According to one embodiment of present invention, control module 20 increases outboard wheels by being controlled wheel motor Driving force, reduce inboard wheel driving force and increase inboard wheel brake force when, wherein, control module 20 to wheel side electricity Machine is controlled to incrementally increase the driving force of outboard wheels, until when the driving force of outboard wheels reaches the first predetermined threshold value, If it is determined that module 10 judges vehicle still in understeer state, control module 20 is then controlled with progressively wheel motor Reduce the driving force of inboard wheel；When the driving force of inboard wheel is decreased to default simulation force threshold, if it is determined that Module 10 judges vehicle still in understeer state, and control module 20 then controls wheel motor to incrementally increase inside The brake force of wheel.
According to another embodiment of the invention, control module 20 increases outside vehicle by being controlled wheel motor During the brake force of the driving force of wheel, the driving force for reducing inboard wheel and increase inboard wheel, wherein, control module 20 is to taking turns side Motor is controlled progressively to reduce the driving force of inboard wheel；When the driving force of inboard wheel is decreased to default simulation During force threshold, if it is determined that module 10 judges vehicle still in understeer state, control module then controls wheel motor System is to incrementally increase the brake force of inboard wheel；When the brake force of inboard wheel increases to default maximum braking force threshold value, If it is determined that module 10 judges vehicle still in understeer state, control module 20 is then controlled with progressively wheel motor Increase the driving force of outboard wheels.
According to still another embodiment of the invention, control module 20 increases outside vehicle by being controlled wheel motor During the brake force of the driving force of wheel, the driving force for reducing inboard wheel and increase inboard wheel, wherein, control module 20 is to taking turns side Motor is controlled to incrementally increase the driving force of outboard wheels, while wheel motor is controlled progressively to reduce inside vehicle The driving force of wheel, wherein, when the driving force of inboard wheel is decreased to default simulation force threshold, if it is determined that module 10 Vehicle is judged still in understeer state, and control module then controls wheel motor to incrementally increase the system of inboard wheel Power.
Further, according to one embodiment of present invention, control module 20 is controlled to wheel motor with progressively Before the driving force for reducing inboard wheel, also judge whether the driving force of inboard wheel is less than or equal to default simulation power threshold Value, wherein, if the driving force of inboard wheel is less than or equal to default simulation force threshold and judgment module 10 judges vehicle Still in understeer state, control module 20 then directly controls wheel motor to incrementally increase the braking of inboard wheel Power.
According to one embodiment of present invention, control module 20 increases inboard wheel by being controlled wheel motor Driving force, reduce outboard wheels driving force and increase outboard wheels brake force when, wherein, control module 20 to wheel side electricity Machine is controlled to incrementally increase the driving force of inboard wheel, until when the driving force of inboard wheel reaches the second predetermined threshold value, If it is determined that module 10 judges vehicle still in ovdersteering state, control module 20 is then controlled with progressively wheel motor Reduce the driving force of outboard wheels；When the driving force of outboard wheels is decreased to default simulation force threshold, if it is determined that Module 10 judges vehicle still in ovdersteering state, and control module 20 then controls wheel motor to incrementally increase outside The brake force of wheel.
According to another embodiment of the invention, control module 20 increases inside vehicle by being controlled wheel motor During the brake force of the driving force of wheel, the driving force for reducing outboard wheels and increase outboard wheels, wherein, control module 20 is to taking turns side Motor is controlled progressively to reduce the driving force of outboard wheels；When the driving force of outboard wheels is decreased to default simulation During force threshold, if it is determined that module 10 judges vehicle still in understeer state, control module 20 then carries out wheel motor Control is to incrementally increase the brake force of outboard wheels；When the brake force of outboard wheels increases to default maximum braking force threshold value When, if it is determined that module 10 judges vehicle still in understeer state, control module 20 then wheel motor is controlled with Incrementally increase the driving force of inboard wheel.
According to still another embodiment of the invention, control module 20 increases inside vehicle by being controlled wheel motor During the brake force of the driving force of wheel, the driving force for reducing outboard wheels and increase outboard wheels, wherein, control module 20 is to taking turns side Motor is controlled to incrementally increase the driving force of inboard wheel, while wheel motor is controlled progressively to reduce outside vehicle The driving force of wheel, wherein, when the driving force of outboard wheels is decreased to default simulation force threshold, if it is determined that module 10 Vehicle is judged still in understeer state, and control module 20 then controls wheel motor to incrementally increase outboard wheels Brake force.
Further, according to one embodiment of present invention, control module 20 is controlled to wheel motor with progressively Before the driving force for reducing outboard wheels, also judge whether the driving force of outboard wheels is less than or equal to default simulation power threshold Value, wherein, if the driving force of outboard wheels is less than or equal to default simulation force threshold and judgment module 20 judges vehicle Still in ovdersteering state, control module 20 then directly controls wheel motor to incrementally increase the braking of outboard wheels Power.
It should be noted that the details not disclosed in the vehicle control instability device of the embodiment of the present invention, refer to this Details disclosed in the vehicle control instability method of inventive embodiments, specific I will not elaborate.
Vehicle control instability device according to embodiments of the present invention, in vehicle travel process, when judgment module judges vehicle Be in understeer state when, control module is by controlling wheel motor to increase the driving force of outboard wheels, be subtracted The driving force of small inboard wheel and the brake force of increase inboard wheel；When judgment module judges that vehicle is in ovdersteering state When, control module is by controlling wheel motor to increase the driving force of inboard wheel, reducing the driving force of outboard wheels With the brake force of increase outboard wheels.So as to according to instability status, progressively be added by carrying out control by stages to wheel motor Strong indicating brake action so that Ackermann steer angle faster, more steadily, not only ensure that security and dynamic property, but also treatable vehicle The limit speed higher of unstability, simultaneously because being controlled using wheel motor each wheel, compared with hydraulic braking control System effectively reduces friction loss and power performance loss that braking generates.
Fig. 7 is the block diagram of vehicle according to embodiments of the present invention.As shown in fig. 7, the vehicle 1000 includes above-mentioned vehicle Control instability device 100.It is specific that I will not elaborate.
The vehicle of the embodiment of the present invention, can be according to instability status, by right by above-mentioned vehicle control instability device Wheel motor carries out control by stages progressively to strengthen indicating brake action so that Ackermann steer angle faster, more steadily, not only ensure that Security and dynamic property, and the limit speed higher of treatable vehicle unstability, simultaneously because using wheel motor to each Wheel is controlled, and is controlled compared with hydraulic braking, effectively reduces friction loss and power performance loss that braking generates.
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 at least one this feature.In the description of the present invention, " multiple " are meant that at least two, such as two, three It is a etc., 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, unless otherwise restricted clearly.For those of ordinary skill in the art For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
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 (19)

  1. A kind of 1. vehicle control instability method, which is characterized in that each wheel in the vehicle is correspondingly arranged wheel motor, institute The method of stating comprises the following steps：
    During the vehicle travels, whether the vehicle is judged in instability status, wherein, the instability status include Understeer state and ovdersteering state；
    When the vehicle is in the understeer state, by being controlled the wheel motor to increase outboard wheels Driving force, reduce inboard wheel driving force and increase inboard wheel brake force；
    When the vehicle is in the ovdersteering state, by being controlled the wheel motor to increase inboard wheel Driving force, reduce outboard wheels driving force and increase outboard wheels brake force.
  2. 2. vehicle control instability method as described in claim 1, which is characterized in that described by being carried out to the wheel motor Brake force of the control to increase the driving force of the driving force of outboard wheels, reduction inboard wheel and increase inboard wheel, including：
    Controlled the wheel motor to incrementally increase the driving force of the outboard wheels, until the drive of the outboard wheels When power reaches the first predetermined threshold value, if the vehicle still in the understeer state, to the wheel motor into Row controls progressively to reduce the driving force of inboard wheel；
    When the driving force of inboard wheel is decreased to default simulation force threshold, if the vehicle is still in the steering Insufficient state then controls the wheel motor to incrementally increase the brake force of inboard wheel.
  3. 3. vehicle control instability method as described in claim 1, which is characterized in that described by being carried out to the wheel motor Brake force of the control to increase the driving force of the driving force of outboard wheels, reduction inboard wheel and increase inboard wheel, including：
    The wheel motor is controlled progressively to reduce the driving force of the inboard wheel；
    When the driving force of the inboard wheel is decreased to default simulation force threshold, if the vehicle is still in described Understeer state then controls the wheel motor to incrementally increase the brake force of the inboard wheel；
    When the brake force of the inboard wheel increases to default maximum braking force threshold value, if the vehicle is still in described Understeer state then controls the wheel motor to incrementally increase the driving force of the outboard wheels.
  4. 4. vehicle control instability method as described in claim 1, which is characterized in that described by being carried out to the wheel motor Brake force of the control to increase the driving force of the driving force of outboard wheels, reduction inboard wheel and increase inboard wheel, including：
    Controlled the wheel motor to incrementally increase the driving force of the outboard wheels, at the same to the wheel motor into Row control progressively to reduce the driving force of the inboard wheel, wherein, when the driving force of the inboard wheel be decreased to it is default During simulation force threshold, if the vehicle controls the wheel motor still in the understeer state To incrementally increase the brake force of the inboard wheel.
  5. 5. the vehicle control instability method as any one of claim 2-4, which is characterized in that the wheel motor Before being controlled the driving force progressively to reduce inboard wheel, also judge whether the driving force of the inboard wheel is less than or equal to The default simulation force threshold, wherein,
    If the driving force of the inboard wheel be less than or equal to the default simulation force threshold and the vehicle still in The understeer state then directly controls the wheel motor to incrementally increase the brake force of inboard wheel.
  6. 6. vehicle control instability method as described in claim 1, which is characterized in that described by being carried out to the wheel motor Brake force of the control to increase the driving force of the driving force of inboard wheel, reduction outboard wheels and increase outboard wheels, including：
    Controlled the wheel motor to incrementally increase the driving force of the inboard wheel, until the drive of the inboard wheel When power reaches the second predetermined threshold value, if the vehicle still in the ovdersteering state, to the wheel motor into Row controls progressively to reduce the driving force of outboard wheels；
    When the driving force of outboard wheels is decreased to default simulation force threshold, if the vehicle is still in the steering Transient state then controls the wheel motor to incrementally increase the brake force of outboard wheels.
  7. 7. vehicle control instability method as described in claim 1, which is characterized in that described by being carried out to the wheel motor Brake force of the control to increase the driving force of the driving force of inboard wheel, reduction outboard wheels and increase outboard wheels, including：
    The wheel motor is controlled progressively to reduce the driving force of the outboard wheels；
    When the driving force of the outboard wheels is decreased to default simulation force threshold, if the vehicle is still in described Understeer state then controls the wheel motor to incrementally increase the brake force of the outboard wheels；
    When the brake force of the outboard wheels increases to default maximum braking force threshold value, if the vehicle is still in described Understeer state then controls the wheel motor to incrementally increase the driving force of the inboard wheel.
  8. 8. vehicle control instability method as described in claim 1, which is characterized in that described by being carried out to the wheel motor Brake force of the control to increase the driving force of the driving force of inboard wheel, reduction outboard wheels and increase outboard wheels, including：
    Controlled the wheel motor to incrementally increase the driving force of the inboard wheel, at the same to the wheel motor into Row control progressively to reduce the driving forces of the outboard wheels, wherein, when the driving force of the outboard wheels be decreased to it is default During simulation force threshold, if the vehicle controls the wheel motor still in the understeer state To incrementally increase the brake force of the outboard wheels.
  9. 9. the vehicle control instability method as any one of claim 6-8, which is characterized in that the wheel motor Before being controlled the driving force progressively to reduce outboard wheels, also judge whether the driving force of the outboard wheels is less than or equal to The default simulation force threshold, wherein,
    If the driving force of the outboard wheels be less than or equal to the default simulation force threshold and the vehicle still in The ovdersteering state then directly controls the wheel motor to incrementally increase the brake force of outboard wheels.
  10. 10. a kind of vehicle control instability device, which is characterized in that each wheel in the vehicle is correspondingly arranged wheel motor, Described device includes：
    Whether judgment module during being travelled in the vehicle, judges the vehicle in instability status, wherein, institute Stating instability status includes understeer state and ovdersteering state；
    Control module, the control module wheel motor phase with each wheel in the judgment module and the vehicle respectively Even, the control module is used for when the vehicle is in the understeer state, by being controlled to the wheel motor System is worked as described with increasing the driving force of outboard wheels, reducing the driving force of inboard wheel and increasing the brake force of inboard wheel When vehicle is in the ovdersteering state, by the wheel motor is controlled to increase inboard wheel driving force, Reduce the driving force of outboard wheels and the brake force of increase outboard wheels.
  11. 11. vehicle control instability device as claimed in claim 10, which is characterized in that the control module passes through to the wheel Side motor, which is controlled, to be increased the driving force of outboard wheels, reduce the driving force of inboard wheel and increases the braking of inboard wheel During power, wherein,
    The control module controls the wheel motor to incrementally increase the driving force of the outboard wheels, until described When the driving force of outboard wheels reaches the first predetermined threshold value, if the judgment module judges the vehicle still in the steering Insufficient state, the control module then control the wheel motor progressively to reduce the driving force of inboard wheel；
    When the driving force of inboard wheel is decreased to default simulation force threshold, if the judgment module judges the vehicle Still in the understeer state, the control module then controls the wheel motor to incrementally increase inside vehicle The brake force of wheel.
  12. 12. vehicle control instability device as claimed in claim 10, which is characterized in that the control module passes through to the wheel Side motor, which is controlled, to be increased the driving force of outboard wheels, reduce the driving force of inboard wheel and increases the braking of inboard wheel During power, wherein,
    The control module controls the wheel motor progressively to reduce the driving force of the inboard wheel；
    When the driving force of the inboard wheel is decreased to default simulation force threshold, if the judgment module judges institute Vehicle is stated still in the understeer state, the control module is then controlled to incrementally increase the wheel motor State the brake force of inboard wheel；
    When the brake force of the inboard wheel increases to default maximum braking force threshold value, if the judgment module judges institute Vehicle is stated still in the understeer state, the control module is then controlled to incrementally increase the wheel motor State the driving force of outboard wheels.
  13. 13. vehicle control instability device as claimed in claim 10, which is characterized in that the control module passes through to the wheel Side motor, which is controlled, to be increased the driving force of outboard wheels, reduce the driving force of inboard wheel and increases the braking of inboard wheel During power, wherein,
    The control module controls the wheel motor to incrementally increase the driving force of the outboard wheels, while to institute Wheel motor is stated to be controlled progressively to reduce the driving force of the inboard wheel, wherein, when the driving force of the inboard wheel When being decreased to default simulation force threshold, if the judgment module judges the vehicle still in the understeer shape State, the control module then control the wheel motor to incrementally increase the brake force of the inboard wheel.
  14. 14. the vehicle control instability device as any one of claim 11-13, which is characterized in that the control module Being controlled the wheel motor before progressively reducing the driving force of inboard wheel, also to judge the drive of the inboard wheel Whether power is less than or equal to the default simulation force threshold, wherein,
    If the driving force of the inboard wheel is less than or equal to the default simulation force threshold and the judgment module is sentenced Break the vehicle still in the understeer state, the control module then directly the wheel motor is controlled with by The brake force of step increase inboard wheel.
  15. 15. vehicle control instability device as claimed in claim 10, which is characterized in that the control module passes through to the wheel Side motor, which is controlled, to be increased the driving force of inboard wheel, reduce the driving force of outboard wheels and increases the braking of outboard wheels During power, wherein,
    The control module controls the wheel motor to incrementally increase the driving force of the inboard wheel, until described When the driving force of inboard wheel reaches the second predetermined threshold value, if the judgment module judges the vehicle still in the steering Transient state, the control module then control the wheel motor progressively to reduce the driving force of outboard wheels；
    When the driving force of outboard wheels is decreased to default simulation force threshold, if the judgment module judges the vehicle Still in the ovdersteering state, the control module then controls the wheel motor to incrementally increase outside vehicle The brake force of wheel.
  16. 16. vehicle control instability device as claimed in claim 10, which is characterized in that the control module passes through to the wheel Side motor, which is controlled, to be increased the driving force of inboard wheel, reduce the driving force of outboard wheels and increases the braking of outboard wheels During power, wherein,
    The control module controls the wheel motor progressively to reduce the driving force of the outboard wheels；
    When the driving force of the outboard wheels is decreased to default simulation force threshold, if the judgment module judges institute Vehicle is stated still in the understeer state, the control module is then controlled to incrementally increase the wheel motor State the brake force of outboard wheels；
    When the brake force of the outboard wheels increases to default maximum braking force threshold value, if the judgment module judges institute Vehicle is stated still in the understeer state, the control module is then controlled to incrementally increase the wheel motor State the driving force of inboard wheel.
  17. 17. vehicle control instability device as claimed in claim 10, which is characterized in that the control module passes through to the wheel Side motor, which is controlled, to be increased the driving force of inboard wheel, reduce the driving force of outboard wheels and increases the braking of outboard wheels During power, wherein,
    The control module controls the wheel motor to incrementally increase the driving force of the inboard wheel, while to institute Wheel motor is stated to be controlled progressively to reduce the driving force of the outboard wheels, wherein, when the driving force of the outboard wheels When being decreased to default simulation force threshold, if the judgment module judges the vehicle still in the understeer shape State, the control module then control the wheel motor to incrementally increase the brake force of the outboard wheels.
  18. 18. the vehicle control instability device as any one of claim 15-17, which is characterized in that the control module Being controlled the wheel motor before progressively reducing the driving force of outboard wheels, also to judge the drive of the outboard wheels Whether power is less than or equal to the default simulation force threshold, wherein,
    If the driving force of the outboard wheels is less than or equal to the default simulation force threshold and the judgment module is sentenced Break the vehicle still in the ovdersteering state, the control module then directly the wheel motor is controlled with by The brake force of step increase outboard wheels.
  19. 19. a kind of vehicle, which is characterized in that including the vehicle control instability device as any one of claim 10-18.
CN201611093516.0A 2016-11-30 2016-11-30 Vehicle instability control method, vehicle instability control device and vehicle Active CN108116270B (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5633544A (en) * 1993-09-28 1997-05-27 Honda Giken Kogyo Kabushiki Kaisha Wheel motor
CN101342904A (en) * 2007-07-09 2009-01-14 三菱自动车工业株式会社 Device operable to control turning of vehicle
CN103057436A (en) * 2012-12-27 2013-04-24 西安交通大学 Yawing moment control method of individual driven electromobile based on multi-agent

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5633544A (en) * 1993-09-28 1997-05-27 Honda Giken Kogyo Kabushiki Kaisha Wheel motor
CN101342904A (en) * 2007-07-09 2009-01-14 三菱自动车工业株式会社 Device operable to control turning of vehicle
CN103057436A (en) * 2012-12-27 2013-04-24 西安交通大学 Yawing moment control method of individual driven electromobile based on multi-agent

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