CN108248583A - A kind of automobile electron stabilization control system and its hierarchical control method - Google Patents
A kind of automobile electron stabilization control system and its hierarchical control method Download PDFInfo
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- CN108248583A CN108248583A CN201810131748.3A CN201810131748A CN108248583A CN 108248583 A CN108248583 A CN 108248583A CN 201810131748 A CN201810131748 A CN 201810131748A CN 108248583 A CN108248583 A CN 108248583A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
Abstract
The invention discloses a kind of automobile electron stabilization control system and its hierarchical control method, automobile electron stabilization control system includes sensor assembly, state estimation device, electronic control unit（ECU）And hydraulic control unit（HCU）；Sensor assembly includes steering wheel angle sensor, wheel speed sensors, gyroscope, engine load sensor, master cylinder pressure sensor and pressure of wheel cylinder sensor.The present invention controls the yaw velocity of vehicle, side slip angle, pressure of wheel cylinder etc. using heterarchical architecture, and the driving trace of vehicle is kept by stability control, prevents vehicle unstability.
Description
Technical field
The present invention relates to Vehicle Engineering equipment control technology field more particularly to a kind of automobile electronic stabilization system and its divide
Coating control method.
Background technology
The electronic stabilizing control system of automobile is a kind of (ESC) novel active safety control system, in ANTI LOCK
It is developed on the basis of system (ABS) and traction control system (TCS), it can be travelled according to the intention of driver, real
When adjust the operating status of vehicle, prevent vehicle unstability, be the research hotspot of current field of automotive active safety in the world.
Electronic stabilizing control system directly can adjust and distribute longitudinal direction of car power size, make vehicle in steering or by lateral
Air-drying has good control stability when disturbing, start intervening measure when vehicle begins to deviate from road, vehicle is led back to just
True route, for improving the active safety of vehicle, accident being prevented to be of great significance.The country is for electronic stability at present
Systematic research is not deep enough, and the equipment rate of vehicle ESC system is not high, and there is also certain tired for the exploitation of electric stabilizing system
Required certain state of motion of vehicle are difficult to directly measure to obtain by sensor during difficulty, such as vehicle steadily control.
Therefore, it is necessary to which electric stabilizing system and its control method are studied and improved, it is made to play maximum function.
Invention content
The technical problems to be solved by the invention are to be directed to the defects of involved in background technology, provide a kind of automobile electricity
Sub- systems stabilisation and its hierarchical control method improve operational stability of the automobile when turning to or being interfered by lateral wind, reduce
Safety accident incidence.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of automobile electron stabilization control system, comprising sensor assembly, state estimation device, electronic control unit and
Hydraulic control unit；
The sensor assembly includes steering wheel angle sensor, wheel speed sensors, gyroscope, throttle opening sensing
Device, master cylinder pressure sensor and pressure of wheel cylinder sensor are respectively used to measure the steering wheel angle of automobile, wheel turn
Operating mode, master cylinder pressure and wheel cylinder pressure residing for fast, the omnidirectional angular speed of three axis of automobile and acceleration value, engine
Power, and pass it to the electronic control unit；
The state estimation device is used to indulge with reference to steering wheel angle, yaw velocity, vehicle body side acceleration, vehicle body
To acceleration, longitudinal speed, side slip angle, coefficient of road adhesion are calculated by extended Kalman filter, and will
Result of calculation passes to the electronic control unit；
The electronic control unit is connected respectively with sensor assembly, state estimation device, hydraulic control unit, is used for
It, will after calculating preferable yaw velocity and preferable side slip angle according to the pressure gauge of the steering wheel angle of automobile and master cylinder
The automobile side slip angle difference that practical automobile yaw velocity, the state estimation device that gyroscope detects are estimated
It is compared with preferable automobile yaw velocity, side slip angle, acquires its difference, longitudinally braked with reference to yaw moment, wheel
Relationship between power and steering wheel angle calculates the additional yaw moment needed for from current state to perfect condition, and ought
Preceding master cylinder pressure, pressure of wheel cylinder and required yaw moment signal pass to hydraulic control unit；
The hydraulic control unit is used to determine the system of current brake device according to current master cylinder, wheel cylinder signal
Traverse degree, and master cylinder, wheel cylinder are adjusted according to required yaw moment signal.
The present invention also provides a kind of hierarchical control methods of the automobile electron stabilization control system, comprise the following steps：
Step 1), driver is by steering wheel rotation or manipulates acceleration/brake pedal；
Step 2), steering wheel angle sensor, wheel speed sensors, gyroscope, engine load sensor, master cylinder pressure
Force snesor and pressure of wheel cylinder sensor measure the steering wheel angle, vehicle wheel rotational speed, three axis omnidirection of automobile of automobile respectively
Angular speed and acceleration value, engine residing for operating mode, master cylinder pressure and pressure of wheel cylinder, and pass it to electronics
Control unit；
Step 3), state estimation device combination steering wheel angle, yaw velocity, vehicle body side acceleration, vehicle body are indulged
To acceleration, longitudinal speed, side slip angle, coefficient of road adhesion are calculated by extended Kalman filter, and will
Result of calculation passes to the electronic control unit；
Step 4), electronic control unit is using 7 Degrees of Freedom Model of vehicle as its control object：
Step 4.1), based on vehicle longitudinally, laterally, weaving and wheel around the rotary motion of respective axis, establish
7 Degrees of Freedom Model of vehicle, kinetics equation are：
Wherein, m is complete vehicle quality；vxFor longitudinal speed；vyFor lateral speed；ω is yaw velocity；δfFor preceding rotation
Angle；Fxi、FyiLongitudinal force, longitudinal force respectively on wheel, i=fl, fr, rl, rr, fl, fr, rl, rr represent automobile respectively
The near front wheel, off-front wheel, left rear wheel, off hind wheel；IzFor yaw rotation inertia；A, b be respectively vehicle barycenter to axle away from
From；Bf、BrRespectively front and rear wheel away from；
Step 4.2), electronic control unit are obtained according to the sensor signal received and state estimator signal, solution
The preferable yaw velocity of vehicle and preferable side slip angle：
Step 4.2.1), according to classical linear two degrees of freedom vehicle dynamic model, obtain ideal vehicle movement reference
Model, and then obtain the preferable yaw velocity ω of vehicledWith side slip angle βdFor：
Wherein, kf、krFor forward and backward wheel cornering stiffness；
Step 4.2.2), consider wheel lateral path ability of tracking, road surface attachment condition limitation and vehicle not
Sufficient steering characteristic, the constraints of preferable yaw velocity and side slip angle for obtaining vehicle are：
Wherein, μ is coefficient of road adhesion；G is acceleration of gravity；E1、E2For stability boundaris constant；
Yaw velocity, the actual value of side slip angle and ideal value are compared by step 4.3), electronic control unit,
The additional yaw moment Δ M needed for from current state to perfect condition is calculated, and required additional yaw moment signal is transmitted
To hydraulic control unit；
Step 4.3.1), practical yaw velocity and preferable yaw velocity are compared, pass through fuzzy control logic
Yaw velocity is controlled, it is made to approach perfect condition, obtains the torque Δ generated required for yaw velocity controller
Mω；
Step 4.3.2), practical side slip angle and preferable side slip angle are compared, by PD control to barycenter
Side drift angle is controlled, it is made to approach perfect condition, obtains the torque Δ M generated required for side slip angle controllerβ；
Step 4.3.3), the yaw moment Δ M=Δs M for needing to apply on automobile is calculatedω+ΔMβ, and this is needed
The yaw moment signal to apply on automobile passes to hydraulic control unit；
Step 5), hydraulic control unit use braking moment control method, the needs that electronic computing units calculate are existed
The yaw moment applied on automobile is converted to the braking moment that wheel can be controlled actually, implements braking, tool on single wheel
Body step is as follows：
Step 5.1), according to steering wheel angle δf, steering wheel angle speedThe practical yaw velocity of automobile and ideal
The difference e of yaw velocityωThree indexs judge vehicle condition, select brake wheel, eω=ω-ωd；
Step 5.2) solves wheel cylinder goal pressure according to additional yaw velocity, is as follows：
Step 5.2.1), the yaw moment that the needs that electronic computing units calculate apply on automobile is converted into side
The longitudinal force variable quantity of wheel：
Step 5.2.2), homonymy wheel wheel cylinder brake pressure is identical, and longitudinal brake force approximately equal enables desired single vehicle
The longitudinal brake force of wheel is Fd, obtain：
It can further obtain：
Step 5.2.3), using drum brake, according to braking moment and the relationship of pressure of wheel braking cylinder, braking moment is converted
For wheel pressure of wheel braking cylinder, obtaining wheel cylinder goal pressure is：
Wherein, IwFor vehicle wheel rotation inertia；r0For radius of wheel；ω is angular speed of wheel；AwFor brake-shoe area；ubFor
Brake-shoe friction coefficient；RbFor brake-shoe and core wheel distance；
Practical pressure of wheel cylinder is compared, using PID control strategy adjustment by step 5.3) with target wheel cylinder pressure
Brake system pressure of wheel braking cylinder；
Step 6), braking system implement braking maneuver, implement stability control to vehicle.
The present invention compared with prior art, has following technique effect using above technical scheme：
1), by the control to yaw velocity ω, side slip angle β, wheel cylinder brake pressure P etc., it is steady to realize vehicle
Qualitative contrlol, to improve control stability of the automobile under bad working environments.
2), using heterarchical architecture, the complexity of control system can be reduced, each level is made to obey whole mesh
On the basis of target, carry out control activity relatively independently, effectively improve whole control quality.
Description of the drawings
Fig. 1 is the composition structure chart of automobile electronic stabilization system of the present invention；
Fig. 2 is heterarchical architecture block diagram in the present invention；
Fig. 3 is present invention controller control block diagram at the middle and upper levels；
Fig. 4 is lower floor's controller control block diagram in the present invention.
Specific embodiment
Technical scheme of the present invention is described in further detail below in conjunction with the accompanying drawings：
The present invention can be embodied in many different forms, and should not be assumed that be limited to the embodiments described herein.On the contrary,
These embodiments are provided so that the disclosure is thorough and complete, and the model for the present invention being given full expression to those skilled in the art
It encloses.In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in Figure 1, the invention discloses a kind of automobile electron stabilization control systems, which is characterized in that includes sensor
Module, state estimation device, electronic control unit (ECU) and hydraulic control unit (HCU)；
The sensor assembly includes steering wheel angle sensor, wheel speed sensors, gyroscope, throttle opening sensing
Device, master cylinder pressure sensor and pressure of wheel cylinder sensor, be respectively used to measure driver input steering wheel angle,
Operating mode, master cylinder pressure and braked wheel residing for vehicle wheel rotational speed, the omnidirectional angular speed of three axis of automobile and acceleration value, engine
Cylinder pressure, and pass it to the electronic control unit；
The state estimation device is used to be indulged according to steering wheel angle, yaw velocity, vehicle body side acceleration, vehicle body
Signal can be surveyed to acceleration etc., longitudinal speed, side slip angle, coefficient of road adhesion are carried out by extended Kalman filter
It calculates, and result of calculation is passed into the electronic control unit；The electronic control unit respectively with sensor assembly, state
Parameter estimator, hydraulic control unit are connected, and calculate and manage for the pressure gauge of the steering wheel angle according to automobile and master cylinder
After thinking yaw velocity and preferable side slip angle, practical automobile yaw velocity, state parameter that gyroscope is detected
The automobile side slip angle that estimator is estimated is compared respectively with preferable automobile yaw velocity, side slip angle, is asked
Its difference, with reference to the relationship between yaw moment, wheel longitudinal direction brake force and steering wheel angle, calculate from current state to
Additional yaw moment needed for perfect condition, and by current brake master cylinder pressure, pressure of wheel cylinder and required sideway power
Square signal passes to hydraulic control unit；
The hydraulic control unit is used to determine the system of current brake device according to current master cylinder, wheel cylinder signal
Traverse degree, further according to the required yaw moment signal of vehicle steadily is kept, to braking system, each wheel cylinder, which is adjusted, comes
Generate required yaw moment.
Electronic stabilizing control system response proposed by the present invention is rapid, using conventional control strategy, such as PID control, string
Grade control etc., can also reach certain control purpose.But if using conventional control strategy, since entire control system is more multiple
Miscellaneous, control effect can be affected to some extent.
Therefore, as shown in Fig. 2, the invention also discloses a kind of hierarchical control sides based on the automobile electronic stabilization system
Entire control system can be divided into different levels by method, make each level on the basis of overall goals are obeyed, relatively independent
Control activity is carried out on ground, effectively improves whole control quality, specifically comprises the following steps：
Step 1), driver transmit the driving intention of itself by steering wheel rotation or manipulation acceleration/brake pedal；
Step 2), steering wheel angle sensor, wheel speed sensors, gyroscope, engine load sensor, master cylinder pressure
Force snesor and pressure of wheel cylinder sensor measure the steering wheel angle, vehicle wheel rotational speed, three axis of automobile of driver's input respectively
Operating mode, master cylinder pressure and pressure of wheel cylinder residing for omnidirectional angular speed and acceleration value, engine, and transmitted
Electron control unit；
Step 3), the state estimation device are used to laterally be accelerated according to steering wheel angle, yaw velocity, vehicle body
Degree, vehicle body longitudinal acceleration etc. can survey signal, attached to longitudinal speed, side slip angle, road surface by extended Kalman filter
It coefficient to be calculated, and result of calculation is passed into the electronic control unit；
Step 4), as shown in figure 3, electronic control unit is using 7 Degrees of Freedom Model of vehicle as its control object, it is specific to walk
It is rapid as follows：
Step 4.1), based on vehicle longitudinally, laterally, weaving and wheel around the rotary motion of respective axis, establish
7 Degrees of Freedom Model of vehicle, kinetics equation are：
Wherein, m is complete vehicle quality；vxFor longitudinal speed；vyFor lateral speed；ω is yaw velocity；δfFor preceding rotation
Angle；Fxi、FyiLongitudinal force, longitudinal force respectively on wheel, i=fl, fr, rl, rr, fl, fr, rl, rr represent automobile respectively
The near front wheel, off-front wheel, left rear wheel, off hind wheel；IzFor yaw rotation inertia；A, b be respectively vehicle barycenter to axle away from
From；Bf、BrRespectively front and rear wheel away from；
Step 4.2), electronic control unit are obtained according to the sensor signal received and state estimator signal, solution
The preferable yaw velocity of vehicle and preferable side slip angle；
Step 4.2.1), according to classical linear two degrees of freedom vehicle dynamic model, obtain ideal vehicle movement reference
Model, and then obtain the preferable yaw velocity of vehicle and side slip angle is：
Wherein, kf、krFor forward and backward wheel cornering stiffness；
Step 4.2.2), consider wheel lateral path ability of tracking, road surface attachment condition limitation and vehicle not
Sufficient steering characteristic, the constraints of preferable yaw velocity and side slip angle for obtaining vehicle are：
Wherein, μ is coefficient of road adhesion；G is acceleration of gravity；E1、E2For stability boundaris constant.
Yaw velocity, the actual value of side slip angle and ideal value are compared by step 4.3), electronic control unit,
Additional yaw moment Δ M needed for being calculated from current state to perfect condition by certain control logic, and will be required attached
Yaw moment signal is added to pass to hydraulic control unit；
Step 4.3.1), practical yaw velocity and preferable yaw velocity are compared, pass through fuzzy control logic
Yaw velocity is controlled, it is made to approach perfect condition, obtains the torque Δ generated required for yaw velocity controller
Mω；
Step 4.3.2), practical side slip angle and preferable side slip angle are compared, by PD control to barycenter
Side drift angle is controlled, it is made to approach perfect condition, obtains the torque Δ M generated required for side slip angle controllerβ；
Step 4.3.3), it obtains needing the yaw moment Δ M=Δs M applied on automobileω+ΔMβ, by additional sideway power
Square signal passes to hydraulic control unit；
Step 5), hydraulic control unit use braking moment control method, the additional sideway that top level control device is calculated
Torque is converted to the braking moment that wheel can be controlled actually, implements braking on single wheel, is as follows：
Step 5.1), according to steering wheel angle δf, steering wheel angle speedThe practical yaw velocity of automobile and ideal
The difference e of yaw velocityω(eω=ω-ωd) three indexs judge vehicle condition, pass through wheel and select logic selection braking
Wheel；
Step 5.2) solves wheel cylinder goal pressure according to additional yaw velocity, is as follows：
Step 5.2.1), the longitudinal force that the additional yaw moment that electronic control unit obtains is converted into single wheel changes
Amount：
Step 5.2.2), homonymy wheel wheel cylinder brake pressure is identical, longitudinal brake force approximately equal, if desired single vehicle
The longitudinal brake force of wheel is Fd, above formula is converted to:
It can further obtain：
Step 5.2.3), the present invention is using drum brake, according to braking moment and the relationship of pressure of wheel braking cylinder, by brake force
Square is converted into wheel pressure of wheel braking cylinder, obtains wheel cylinder goal pressure and is：
Wherein, IwFor vehicle wheel rotation inertia；r0For radius of wheel；ω is angular speed of wheel；AwFor brake-shoe area；ubFor
Brake-shoe friction coefficient；RbFor brake-shoe and core wheel distance；
Practical pressure of wheel cylinder is compared, using PID control strategy adjustment by step 5.3) with target wheel cylinder pressure
Brake system pressure of wheel braking cylinder；
Step 6), braking system implement braking maneuver, implement stability control to vehicle.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein are (including skill
Art term and scientific terminology) there is the meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that with in the context of the prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the meaning of idealization or too formal.
Above-described specific embodiment has carried out the purpose of the present invention, technical solution and advantageous effect further
It is described in detail, it should be understood that the foregoing is merely the specific embodiment of the present invention, is not limited to this hair
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection domain within.
Claims (2)
1. a kind of automobile electron stabilization control system, which is characterized in that include sensor assembly, state estimation device, electronics
Control unit and hydraulic control unit；
The sensor assembly includes steering wheel angle sensor, wheel speed sensors, gyroscope, engine load sensor, system
Dynamic master cylinder pressure sensor and pressure of wheel cylinder sensor are respectively used to measure steering wheel angle, vehicle wheel rotational speed, the vapour of automobile
Operating mode, master cylinder pressure and pressure of wheel cylinder residing for the omnidirectional angular speed of three axis of vehicle and acceleration value, engine, and will
It passes to the electronic control unit；
The state estimation device is used to longitudinally add with reference to steering wheel angle, yaw velocity, vehicle body side acceleration, vehicle body
Speed calculates longitudinal speed, side slip angle, coefficient of road adhesion by extended Kalman filter, and will calculate
As a result the electronic control unit is passed to；
The electronic control unit is connected respectively with sensor assembly, state estimation device, hydraulic control unit, for basis
After the steering wheel angle of automobile and the pressure gauge of master cylinder calculate preferable yaw velocity and preferable side slip angle, by gyro
The automobile side slip angle that practical automobile yaw velocity, the state estimation device that instrument detects are estimated respectively with reason
Think that automobile yaw velocity, side slip angle are compared, acquire its difference, with reference to yaw moment, wheel longitudinal direction brake force with
Relationship between steering wheel angle calculates the additional yaw moment needed for from current state to perfect condition, and will currently make
Dynamic master cylinder pressure, pressure of wheel cylinder and required yaw moment signal pass to hydraulic control unit；
The hydraulic control unit is used to determine the braking journey of current brake device according to current master cylinder, wheel cylinder signal
Degree, and master cylinder, wheel cylinder are adjusted according to required yaw moment signal.
2. the hierarchical control method based on automobile electron stabilization control system described in claim 1, which is characterized in that comprising such as
Lower step：
Step 1), driver is by steering wheel rotation or manipulates acceleration/brake pedal；
Step 2), steering wheel angle sensor, wheel speed sensors, gyroscope, engine load sensor, master cylinder pressure pass
Sensor and pressure of wheel cylinder sensor measure the steering wheel angle, vehicle wheel rotational speed, the omnidirectional angle of three axis of automobile of automobile respectively
Operating mode, master cylinder pressure and pressure of wheel cylinder residing for speed and acceleration value, engine, and pass it to electronic control
Unit；
Step 3), state estimation device combination steering wheel angle, yaw velocity, vehicle body side acceleration, vehicle body longitudinally add
Speed calculates longitudinal speed, side slip angle, coefficient of road adhesion by extended Kalman filter, and will calculate
As a result the electronic control unit is passed to；
Step 4), electronic control unit is using 7 Degrees of Freedom Model of vehicle as its control object：
Step 4.1), based on vehicle longitudinally, laterally, weaving and wheel around the rotary motion of respective axis, establish vehicle 7
Degrees of Freedom Model, kinetics equation are：
Wherein, m is complete vehicle quality；vxFor longitudinal speed；vyFor lateral speed；ω is yaw velocity；δfFor front wheel angle；Fxi、
FyiLongitudinal force, longitudinal force respectively on wheel, i=fl, fr, rl, rr, fl, fr, rl, rr represent respectively automobile the near front wheel,
Off-front wheel, left rear wheel, off hind wheel；IzFor yaw rotation inertia；A, b is respectively distance of the vehicle barycenter to axle；Bf、BrPoint
Not Wei front and rear wheel away from；
Step 4.2), electronic control unit obtain vehicle according to the sensor signal received and state estimator signal, solution
Preferable yaw velocity and preferable side slip angle：
Step 4.2.1), according to classical linear two degrees of freedom vehicle dynamic model, ideal vehicle movement reference model is obtained,
And then obtain the preferable yaw velocity ω of vehicledWith side slip angle βdFor：
Wherein, kf、krFor forward and backward wheel cornering stiffness；
Step 4.2.2), the limitation and vehicle deficiency for considering the lateral path ability of tracking, road surface attachment condition of wheel turn
To characteristic, the constraints of preferable yaw velocity and side slip angle for obtaining vehicle is：
Wherein, μ is coefficient of road adhesion；G is acceleration of gravity；E1、E2For stability boundaris constant；
Yaw velocity, the actual value of side slip angle and ideal value are compared by step 4.3), electronic control unit, are calculated
Go out the additional yaw moment Δ M needed for from current state to perfect condition, and required additional yaw moment signal is passed into liquid
Press control unit；
Step 4.3.1), practical yaw velocity and preferable yaw velocity are compared, by fuzzy control logic to horizontal stroke
Pivot angle speed is controlled, it is made to approach perfect condition, obtains the torque Δ M generated required for yaw velocity controllerω；
Step 4.3.2), practical side slip angle and preferable side slip angle are compared, by PD control to barycenter lateral deviation
Angle is controlled, it is made to approach perfect condition, obtains the torque Δ M generated required for side slip angle controllerβ；
Step 4.3.3), the yaw moment Δ M=Δs M for needing to apply on automobile is calculatedω+ΔMβ, and by the needs in vapour
The yaw moment signal applied on vehicle passes to hydraulic control unit；
Step 5), hydraulic control unit use braking moment control method, and the needs that electronic computing units are calculated are in automobile
The yaw moment of upper application is converted to the braking moment that wheel can be controlled actually, implements braking on single wheel, specific to walk
It is rapid as follows：
Step 5.1), according to steering wheel angle δf, steering wheel angle speedThe practical yaw velocity of automobile and preferable sideway
The difference e of angular speedωThree indexs judge vehicle condition, select brake wheel, eω=ω-ωd；
Step 5.2) solves wheel cylinder goal pressure according to additional yaw velocity, is as follows：
Step 5.2.1), the yaw moment that the needs that electronic computing units calculate apply on automobile is converted into single wheel
Longitudinal force variable quantity：
Step 5.2.2), homonymy wheel wheel cylinder brake pressure is identical, and longitudinal brake force approximately equal enables desired single wheel indulge
It is F to brake forced, obtain：
It can further obtain：
Step 5.2.3), using drum brake, according to braking moment and the relationship of pressure of wheel braking cylinder, braking moment is converted into vehicle
Pressure of wheel braking cylinder is taken turns, obtaining wheel cylinder goal pressure is：
Wherein, IwFor vehicle wheel rotation inertia；r0For radius of wheel；ω is angular speed of wheel；AwFor brake-shoe area；ubFor brake-shoe
Friction coefficient；RbFor brake-shoe and core wheel distance；
Practical pressure of wheel cylinder is compared by step 5.3) with target wheel cylinder pressure, is braked using PID control strategy adjustment
Braking system pressure of wheel braking cylinder；
Step 6), braking system implement braking maneuver, implement stability control to vehicle.
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| CN201810131748.3A CN108248583B (en) | 2018-02-09 | 2018-02-09 | Automobile electronic stability control system and layering control method thereof |
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| CN201810131748.3A CN108248583B (en) | 2018-02-09 | 2018-02-09 | Automobile electronic stability control system and layering control method thereof |
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| CN109733398A (en) * | 2018-12-05 | 2019-05-10 | 南京航空航天大学 | Self-adaption cruise system and control method with stability active control |
| CN109941246A (en) * | 2018-11-13 | 2019-06-28 | 清华大学 | A kind of integrated form line traffic control brake fluid system and its vehicle stability control method |
| CN110871794A (en) * | 2018-08-31 | 2020-03-10 | 上汽通用汽车有限公司 | Intelligent driving automobile path following method and intelligent driving automobile path following system |
| CN111216559A (en) * | 2020-01-22 | 2020-06-02 | 湘潭大学 | Electric vehicle multi-sensor cooperative braking energy recovery system and recovery method |
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| CN113682282A (en) * | 2021-09-10 | 2021-11-23 | 中国第一汽车股份有限公司 | Vehicle stability control method and system, vehicle and storage medium |
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