CN108501944A - Automotive tyre explosion safety stable control method - Google Patents

Automotive tyre explosion safety stable control method Download PDF

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Publication number
CN108501944A
CN108501944A CN201810453433.0A CN201810453433A CN108501944A CN 108501944 A CN108501944 A CN 108501944A CN 201810453433 A CN201810453433 A CN 201810453433A CN 108501944 A CN108501944 A CN 108501944A
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control
vehicle
wheel
blowing out
parameter
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吕杉
吕柏言
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Priority to CN201810453433.0A priority Critical patent/CN108501944A/en
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Priority to CN201910388016.7A priority patent/CN110481541B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The present invention is a kind of " automotive tyre explosion safety stable control method ", is used for someone and automatic driving vehicle, based on vehicle braking, driving, steering, suspension system, belongs to automotive tyre explosion safety field.This method establishes tire pressure detection, state tire pressure and the judgement of blowing out for turning to mechanics state model, using automotive tyre explosion safety stability contorting pattern, model and algorithm, control structure and flow；Based on runflat condition point, is entered by control of blowing out and exited, normally with control model conversion of blowing out, coordinated to carry out vehicle braking, driving, steering, deflecting roller turning power, suspension balance control, realize the control of blowing out of true or non-genuine process overlapping of blowing out；In process status of blowing out, blow out wheel and under the conditions of state of motion of vehicle drastically changes, wheel and the serious unstability of vehicle flat tire are breached, the important technologies barrier such as extremity of blowing out is difficult to control, to solve the key subjects of this current long-standing problem automotive tyre explosion safety.

Description

Automotive tyre explosion safety stable control method
Technical field
The invention belongs to automotive tyre explosion safety fields
Background technology
Automobile flat tire on automobile flat tire, especially highway is the evil that a kind of danger is high, probability of happening is larger Sexual behavior event, automotive tyre explosion safety is one and not yet obtains the key subjects effectively broken through both at home and abroad, and relevant technical literature retrieves table Bright, the technical solution for being directed to this project at present includes mainly as described below.One, tire pressure monitoring system (TPMS), the system The tire pressure detection technique more mature as one is widely used in various vehicles, and correlation test and technology show：By tire pressure Monitoring, can reduce the probability for generation of blowing out, but blows out and do not have strictly on time-space domain with temperature related parametric in pressure tire, tire Correspondence, thus TPMS cannot really, in real time, effectively solve the problems, such as automobile flat tire and tyre explosion safety.Secondly, automobile flat tire peace Full tyre pressure indicating adjustable suspension system (China Patent No. 97107850.5), which, which proposes, a kind of is mainly sensed by tire pressure The system that device, electronic control unit, brake-force balance device and lift compound suspension frame are constituted, passes through the balanced system power of the system With wheel suspension lift control of blowing out, vehicle flat tire safety is realized, but the structure of technical solution use and control mode are simpler, Thus lateral stability of cars control effect is undesirable.Thirdly, safe stable control system for blowout of automobile tyre (China Patent No. 01128885.x), which proposes a kind of based on vehicle-mounted anti-blocking brake system (ABS) and stabilizing control system (VSC) Vehicle flat tire safety stabilization control system carries out each wheel brake force point by the brake-power regulator that high-speed switch electromagnetic valve is constituted Match, realizes vehicle flat tire security and stability control；Although the technical solution gives a young bird of vehicle flat tire safety control system Shape, but automotive tyre explosion safety this key technical problem is solved, it needs on a higher technology platform, to vehicle flat tire State, judgement of blowing out, stablizing the technical problems such as deceleration and stable state control, there are one important breakthroughs.Four, automotive tyre explosion safety control Method and system (China Patent No. 200810119655.5) processed, the invention propose a kind of by the way that " steering assistance motor controls So that vehicle is maintained original travel direction " technical solution, the program has certain effect to the original direction controlling of vehicle of blowing out, practical During control, the former directive control of vehicle is only carried out, the purpose of vehicle flat tire security and stability control is extremely difficult to.Five, Tire blowout braking control system and method (China Patent No. 201310403290), the system and method propose one kind and passing through vehicle It blows out, the technical solution of the difference signal progress wheel braking control of non-wheel braking anti-lock control of blowing out, but the program is related to Brake force do not consider the Related Technical Issues such as wheeled vehicle stability control and settling mode, thus be extremely difficult to vehicle flat tire The purpose of security control.As modern electronic technology, automatic control technology and automotive safety technology develop, need to release a kind of new Mode, a kind of mode of automotive tyre explosion safety stability contorting solves the key subjects of this long-standing problem automotive tyre explosion safety. The patentee and partner of Chinese invention patent are based on its patent：" automotive tyre explosion safety tyre pressure indicating adjustable suspension system, The patent No.：97107850.5, the applying date, 1997.12.30 ", " safe stable control system for blowout of automobile tyre, the patent No.： The 01128885x. applyings date：2001.9.24 ", it is proposed that a kind of new automotive tyre explosion safety stable control method, it is desirable to rely on A kind of new design concept and technical solution, this domestic and international important technical project of solution automotive tyre explosion safety.
Invention content
The invention aims to provide a kind of automotive tyre explosion safety stable control method (hereinafter referred to as method, we Method), it is a kind of to detect the judgement of blowing out that tire pressure, wheeled vehicle state parameter and control parameter of blowing out determine, one kind by sensor It is related to normal and operating mode of blowing out, wheel and vehicle double unstability method for controlling tire burst, it is a kind of using information unit, control of blowing out Device and execution unit realize that method for controlling tire burst, this method are based on vehicle braking, driving, steering and suspension system, for someone, Vehicle when nobody drives, the object of the present invention is achieved like this：Vehicle flat tire involved by this method, blow out judgement and control of blowing out, Based on runflat condition process, in its state procedure, turned to by wheel braking and driving, engine output, deflecting roller, suspension Lift is adjusted, speed, vehicle attitude, vehicle route tracking and the regulation and control for stablizing deceleration, realizes that vehicle-state overall process dynamic is controlled System.Blow out control and controller is mainly coordinated using each control of blowing out and self adaptive control mode, including the following three kinds of masters of use Dynamic control model and controller.One, manned vehicle flat tire control model and controller.It is main to use manpower intervention of blowing out Control and active control compatibility mode, be independently arranged and with onboard system share sensor, electronic control unit (including structure and function Module), the device resources such as actuator；Set judgement of blowing out, control model conversion, controller of blowing out；It blows out judging device：Mainly adopt With wheel detection tire pressure, state tire pressure and turn to three kinds of determinating modes of mechanical state；Control model converter：It is main to use normally With operating conditions translative mode of blowing out, operating mode of blowing out active control and manpower intervention blow out control model conversion.Secondly, setting people The automatic driving vehicle at work auxiliary operation interface is blown out control model and controller.The controller is by driving, braking, steering control Operation interface processed to blow out control carry out assistant interventional, and with the shared vehicle-mounted system sensor of automatic driving vehicle, machine vision, Judgement of blowing out and blow out, control model conversion and controller of blowing out is arranged in communication, navigation, positioning, artificial intelligence controller；It is logical Environment sensing, navigator fix, path planning, full-vehicle control decision (including control decision of blowing out) are crossed, realizes that vehicle is unmanned Control, including vehicle flat tire anticollision, blow out path trace and gesture stability of blowing out.It blows out judging device：Mainly use wheel detection Tire pressure, state tire pressure and steering three kinds of determinating modes of mechanical state；Control model converter：Mainly using nominal situation, nobody drives Sail control and the unmanned control of manpower intervention, the unmanned control of nominal situation and operating mode Active Control Mode conversion of blowing out： It blows out controller：Main automatic driving vehicle control or automatic driving vehicle control using setting human assistance operation interface, The automatic driving vehicle control and active control compatibility mode of blowing out of manpower intervention or prosthetic intervention.Thirdly, automatic driving car It blows out control and controller.The controller and automatic driving vehicle shared vehicle-mounted system sensor, communication, are determined at machine vision Position, navigation, artificial intelligence controller；Judgement of blowing out, control model conversion and controller of blowing out are set；Structure has been organized in car networking network Under conditions of, as online vehicles, artificial intelligence director of networking is set, by environment sensing, positioning, navigation, path planning, Full-vehicle control decision, including control decision of blowing out, realize the unmanned control of vehicle, including vehicle flat tire anticollision, path with Track and control of blowing out.Judging device of blowing out mainly uses：Three kinds of wheel detection tire pressure, state tire pressure and steering mechanical state judgement moulds Formula；Control model converter mainly uses：Nominal situation it is unmanned control with blow out operating mode active control, nominal situation nobody The control model of Driving control and operating mode active control of blowing out is converted.Above-mentioned control model conversion coordinates signal by control of blowing out Switching is realized.Based on above-mentioned each control model, controller of blowing out passes through vehicle actively anti-skidding driving, engine braking, brake Stable braking, engine electric-controlled air throttle and fuel oil injection, steering power-assisted steering or automatically controlled (line traffic control) turn to, passively, partly Actively or the coordination of main suspension controls, and realization is blown out, and vehicle stabilization slows down, vehicle stable state controls.The information unit of this method setting Mainly the sensor set by vehicle control syetem, blow out each related sensor of control or is constituted with signal acquisition processing circuit；Base In vehicle flat tire control structure and flow, tyre explosion safety stability contorting pattern, model and algorithm, establishment, which is blown out, controls program or soft Part determines electronic control unit or type and structure with central computer, and control hardware and software of blowing out uses non-module or module Change group structure.It blows out during control, controller obtains each sensor that information unit exports directly or by data/address bus and detects Signal or with car networking and global positioning satellite navigation signal, mobile communication signal, pass through set central computer, automatically controlled list Member carries out data and control process, and corresponding adjuster and executive device in output signal control execution unit realize each adjusting The control of object.
This method introduces the concept of vehicle flat tire unstability：Two kinds of unstabilitys after this concept definition vehicle flat tire, including vehicle It blows out unstability caused by the control of vehicle nominal situation under unstability and runflat condition；This method introduce wheel non-equivalence and it is of equal value, Non-equivalent and equivalent relative parameter and its deviation concept, be achieved in it is normal, under the operating modes such as blow out each wheel condition parameter etc. Valence and non-equivalence or equivalent and non-equivalent comparison.This method introduces state tire pressure concept, and one is joined by wheeled vehicle configuration state The broad sense tire pressure concept that number, the mathematical model of control parameter and algorithm determine does not blow out detection tire pressure as judgement Unique technical feature.Include tire pressure, angular speed of wheel, angle acceleration-deceleration, slip rate, attachment coefficient and Vehicular yaw angle at one The scope of the wheels such as speed and vehicle status parameters defines runflat condition concept, blow out characteristic parameter and parameter value concept, fixed Quantization determines runflat condition process and makes runflat condition process and the integration of control process, make its state and control function when Between, in spatial domain be all it is related, can continuity function.Thxe present method defines judgement concepts of blowing out, using a kind of blurring, concept Change and the judgement of blowing out of conditioning, if wheeled vehicle enters a specific state and can be judged to blowing out, and without judging vehicle Whether really blow out, enters control of blowing out immediately；The blow out judgement and control of this method are without being arranged tyre pressure sensor or drop Its low testing conditions, and realistic feasibility is provided for the indirect measurement of tire pressure and its based on the control of blowing out measured indirectly, really The control of blowing out for being arranged or not setting tyre pressure sensor is determined.This method establishes entrance, escape mechanism and the mode for control of blowing out, Vehicle flat tire control is set to be able to enter in real time or exit in the state of not occurring really blowing out；There is no quick-fried control escape mechanism just It can not possibly have defining for runflat condition, it is then not possible to have based on conditioning, blurring, blowing out for generalities and blowing out for entering Control.This method sets when actively entering by the control of blowing out of wheel and vehicle-state, being automatic and exits and carries out in fact manually The control models such as exit；Manual controller is set, completes manual control and active control docking, realizes to probabilistic quick-fried Control that tire was determined blow out makes wheel and the control jumpy of blowing out and blow out of vehicle status parameters moment have practical Controllability, operability.This method establishes runflat condition parameter, the critical point of control parameter of blowing out and control, inflection point, singular point Presence, be based on these points, using models such as condition, thresholdings, control of blowing out be divided into early period of blowing out, the phase of really blowing out, is turned The point phase, the wheel rim separation phase blow out control and control of blowing out such as exits at different phases or the time zone；Using zonal cooling or discontinuous Function control model, make to blow out control with blow out and runflat condition is adapted.This method is turned using program, agreement or converter Mold changing formula and structure actively realize the normally conversion with blow out operating conditions and control model using signal of tyre burst as conversion signal. Driving of this method based on someone or automatic driving vehicle, braking, engine, steering, suspension system are blown out master using system Control, each subsystem coordinate and mode, pattern, model and the algorithm of independent control, realizes engine braking, brake, hair It is more complete to organize structure for motivation output, deflecting roller turning power, active steering and car body balance (anti-inclination) mutually coordinated control It blows out control structure；The driving of vehicle nominal situation, braking, steering, engine and Suspension control constitute outer circulation, and drive, make Dynamic, steering, engine and the control entrance of blowing out of suspension, control process of blowing out, control of blowing out are exited, and composition, which is blown out, coordinates control The interior cycle of system.This method is in the points such as critical point, inflection point, the singular point blown out or the transition period in each control stage, car wheel structure With motion state parameters change dramatically section, controls brake force by reducing wheel stable state of blowing out, each wheel balanced system power of reduction, adds Each wheel differential system power of big vehicle stability contorting, by changing the wheel angle acceleration-deceleration of equal value or equivalent with brake force, cunning The control parameters such as shifting rate are more successful by changing vehicle traction, braking, deflecting roller turning power, steering wheel angle control model Solve wheeled vehicle momentary status drastically change under the conditions of, wheeled vehicle control dual unstability.This method set normally with Operating mode of blowing out wheel and vehicle-state control are integrated, and permission is normally overlapped with operating conditions of blowing out, more successfully solves It has determined and has normally conflicted with operating conditions of blowing out.
The blowing out of this method, blow out judgement and control of blowing out, be based on tyre explosion safety stable control method, pattern, model and Algorithm, be arranged controller, controller mainly include vehicle flat tire control structure and flow, blow out control program or software and It is written and controls program or the electronic control unit (ECU) of software.The corresponding control structure of blowing out of electronic control unit setting set by controller And function module；Electronic control unit set by controller (ECU) includes mainly microcontroller (Micro Controller Unit) (MCU), electronic component, special chip, peripheral circuit, regulated power supply etc..Control structure that this method uses, control flow for： Under runflat condition, information unit output signal is directly or through In vehicle network bus input controller, electronic control unit set by controller Control mode of blowing out, pattern, model and the algorithm used by controller carries out data processing, and output, which is blown out, controls signal, control System, subsystem execution unit realize vehicle traction of blowing out, braking, direction, driving path, posture and the control of suspension lift.
Based on manned or automatic driving vehicle, the control of blowing out of this method is using directly or indirectly two ways.Directly Connect mode：Tyre pressure sensor is set, based on detection tire pressure praOr with piece wheel vehicle status parameters carry out blow out judgement and It blows out control, detection tire pressure praIt is consistent with practical tire pressure.Indirect mode：Adoption status tire pressure preOr turn to mechanical state ginseng Number recognition mode, state tire pressure preIt is not quite identical with true tire pressure, but blow out judgement and blow out control with blow out rear wheel and The virtual condition of vehicle is consistent.For accurate, succinct description this method content, this method uses necessary technical parameter sum number Formula is learned, for technical parameter using word and alphabetical two kinds of form of presentation, it is completely equivalent that two ways states meaning.Mathematical model is adopted With two kinds of representations.One, preposition alphabet show the type of mathematical model, postposition bracket, and the letter in bracket indicates modeling Parameter, concrete form are：Q (x, y, z).Secondly, preposition letter indicate function model, equal sign is set after letter, f is used after equal sign Deng alphabetical representative function, insertion of brackets after function letter, the letter in bracket is parameter, variable, and concrete form is：Q=f (x, y, z).In the description of this method content, using " normal and operating mode of blowing out " technical term；Nominal situation refers to：Vehicle is removed and is blown out All driving cycles in addition, operating mode of blowing out refer to：Driving cycle under vehicle flat tire, wherein blowing out with non-concept of blowing out by this Method is defined.
It is blown out control structure, pattern and flow based on someone, automatic driving vehicle, this method uses following steps
1), information communication and data transmission,
The control of blowing out of this method uses In-vehicle networking (LAN) data/address bus (abbreviation network-bus or data/address bus) With the data transfer mode of direct physical routing, vehicle-mounted data network-bus be arranged data, address and controlling bus and CPU, Local, system, communication bus.When someone, the system of automatic driving vehicle, subsystem design for non-integral, using vehicle office The topological structure of domain network-bus (including CAN (Controller Area Network) bus etc.), CAN is bus type.For The digital communications systems such as interior distribution electric-control system, intelligence sensor, actuator, using LIN (Local Interconnect Network) bus.Interior control system, including tyre burst brake, air throttle, fuel oil are sprayed, are automatically controlled Power-assisted steering, active steering, suspension subsystem, electronic control unit or execution unit knot set by information unit, controller, the controller When structure is the integrated design, information and data transmission are realized in each unit, between unit and controller using physical communication wiring, Vehicle control syetem and blow out control system, system and subsystem, system, subsystem and onboard system are carried out by vehicle bus Data transmission, subsystem of respectively blowing out setting carry out the interface of data exchange and transmission with vehicle bus.
1., based on CAN bus specification, agreement, make definitions to real-time operation, software, communication and Network Management System, and Setting this system, subsystem and existing onboard system controller hardware and the independent physics line traffic control application of bus system hardware connect Mouthful.Controller is arranged in CAN bus, and CAN controller is mainly made of CAN controls chip, programmable circuit, in CAN network level Data link layer and physical layer architecture are determined in structure, the physical line interface of microcontroller, computer are externally provided, can compile The combination of journey circuit, realization include the various functions that procotol determines.By programming, CPU is arranged its working method, controls it Working condition carries out data exchange.Driver is arranged in CAN bus, and driver includes CAN drive control chips etc., CAN drivers Interface between CAN controller and physical bus is provided, the differential function of sending and receiving to bus is provided.It is total to design CAN Linear system unite non intelligent or intelligence node hardware and software, design CAN bus system bridge hardware and software, bridge hardware mainly by Bridge microcontroller (processing) device and CAN controller interface are constituted.(transmission) agreement, vehicle-mounted existing control are communicated based on the network information System, the electronic control unit, sensor set by controller of blowing out carry out signal, data transmission and exchange by CAN bus, and pass through Controlling bus realizes the control to each executive device.
2., according to the structure and type of method for controlling tire burst, the In vehicle network bus of this method is using fault, safety And novel X-by-wire dedicated bus, including steering, braking, air throttle bus, conventional mechanical system is transformed into via high speed Electric-control system under the high-performance CPU management of fault-tolerant bus connection, by Steer-by-wire (steering-by-wire), Brake-by- Wire (automatically controlled or brake-by-wire), Throttle by-wire (air throttle Flying by wire) etc. be configured to it is a set of be suitable for it is normal, It the control systems of each operating conditions such as blows out.Information unit, controller, execution unit used in this method (including each adjuster, hold Luggage is set and controlled plant) by the physical routing of In vehicle network bus, car networking network and system integration design, into line number According to, control signal transmission；
2) master information of, blowing out acquires and processing
Master information includes wheel and state of motion of vehicle parameter information, engine driving, vehicle braking, Vehicular turn and Spacing sensor detection parameters information, or with automatic driving vehicle environment sensing, positioning, navigation sensor detection parameters information, Each parameter signal of sensor is by master information cell processing；The master information unit that this method uses is independently arranged, master information Unit uses integrated building mode with brake subsystem information unit；Main control computer, electronic control unit are only set by this method It erects and sets, each subsystem electronic control unit is independently arranged or uses integrated design, electronic control unit and executive device with executive device It can realize that data, information are transmitted and exchanged by physical routing using when integration；The control of this method passes through data/address bus (packet Include CAN bus etc.) it carries out data, information transmission and exchanges, it is shared to realize that each system data of vehicle and signal share；
1., wheel tyre pressure sensing and detection, using direct or indirect mode.Indirect mode：Joined based on wheel, vehicle-state Number and control parameter determine state tire pressure or and steering mechanics state recognition pattern.Direct mode：Using being set to having for wheel Source, non-contacting tyre pressure sensor (TPMS) measure.TPMS is mainly by being set to the transmitter of wheel and being set to vehicle body Receiver constitute.One-way or bi-directional communication is used between transmitter and receiver, includes mainly unidirectional RF communication or two-way Radio frequency LF communication.Tyre pressure sensor (TPMS) is using battery power and power generation driving two types.
I, battery-driven (TPMS), mainly by micro-control unit (MCU), special chip, peripheral circuit, battery, antenna It constitutes, it is main that sensing, wake-up, monitoring, data processing, transmitting, power management module are set, two modes are run using sleep.
One, sensing module.Be arranged sensing chip, including pressure, temperature, acceleration or and voltage sensor, the sensing Device uses microcrystal silicon integrated capacitance or silicon piezoresistance type, and high-accuracy semiconductor strain circuit is arranged in wherein piezoresistive silicon sensor, real When output wheel tyre pressure Pra, angle acceleration-decelerationOr with temperature TaElectric signal.
Secondly, wake-up module.Setting wakes up chip.Wake-up module setting wakes up chip and wake up procedure, wakes up and uses two Kind pattern.Pattern one, wheel accelerationIt wakes up, using logic threshold model, sets wake-up period time Ha1, in Ha1When In with wheel accelerationFor parameter, n is acquired by the setting unit intervaliA acceleration-deceleration, based on average or weighted average etc. Algorithm calculates characteristic accelerationCharacteristic accelerationUp to setting threshold value aωWhen export wake-up pulse, transmitter is by sleep mould Formula, which enters, to be run and is always maintained at the pattern.Only work as characteristic accelerationIf in cycle Ha2It is inside 0 and returns to sleep mould Formula.Pattern two, external low frequency wake up.Receiver is placed in vehicle body and is installed close to transmitter, and MCU is obtained from data/address bus (CAN) The vehicle movement parameters information such as pick-up speed.Low frequency R-T unit is arranged in receiver, by Threshold Model, as speed uxMore than setting door Limit threshold value au, by low frequency R-T unit by two-way communication, by setting cycle HbContinuously or discontinuously wake-up is sent out to transmitter MCU Signal iw1, as speed uxLess than setting threshold value auIt then sends out wake-up and exits (sleep) signal iw2.The low frequency of transmitter MCU connects Mouth setting receives iw1、iw2Two coupling circuits of different frequency signals receive signal i by two-way communicationw1、iw2.Low frequency interface is adopted With energy saving and standby two modes, two modes are by signal iw1、iw2It controls, low frequency interface, which is closed, under energy saver mode is allowed to be in quiet consumption Can state, low frequency interface is by setting cycle H under standby modecTime opening and closing.Transmitter micro-control unit (MCU) receives Signal iw1、iw2Enter operation afterwards or is retracted into sleep pattern.
Thirdly, data processing module.The module is mainly made of microcontroller, carries out data processing by setup program, really Determine acceleration wake-up period Ha, two-way communication cycle Hb, low frequency interface communication cycle Hc, collecting sensor signal cycle Hd。HdFor Setting value or dynamic value, the H of dynamic valuedTo detect tire pressure pra, tire pressure negative increment-Δ praOr with wheel speed ωiFor parameter, use PID, optimal, fuzzy scheduling algorithm determine.Dynamic value HdOr it is determined by the model of following mathematics：
Hd=f (pra,-Δ pra, ωi)+c
C is constant, and H in formuladFor praThe increasing function of increment is Δ praDecrement or and ωiThe subtraction function of increment.Transmitter is logical Cross dynamic detection cycle HdAdjusting, increase blow out operating mode tire pressure detection number, reduce nominal situation tire pressure detect number.Temperature Sensor then presses setting time cycle Hd1Carry out a temperature detection, Hd1=k1·Hd, k in formula1For the positive integer more than 1.Control Molding block carries out data processing by setup program, coordinates sleep, operational mode and its pattern conversion.Transmitter under operational mode MCU respective pins are by setting tire pressure detection cycle time HdTire pressure detection pulse signal is sent out, pressure sensor is in each period Time HdIt is interior to carry out a tire pressure detection.
Four, transmitting module.Setting integrates transmitting chip, setting signal transmit cycle He, HeFor setting value or dynamic value. HeFor setting value when, value be the collecting sensor signal period multiple：
He=k2Hd
K in formula2For the positive integer more than 1.HeTo be determined by multi-signal emission mode when dynamic value.Emission mode and program One, sensor is measured into tire pressure pra, temperature value TaCompared with the setting value for being pre-stored within transmitter micro-control unit (MCU) Compared with obtaining its deviation ep(t)、eT(t), by Threshold Model, when deviation reaches setting threshold value ae、aTWhen, transmitting module output inspection Measured value grants transmitting, otherwise not emits.Emission mode and program two, into after operational mode, in setting cycle He1It is interior, tire Press deviation ep(t) and temperature deviation eT(t) setting threshold value a is not reachede、aT, grant transmitting module and send tire pressure, a temperature Degree detection signal.He1=k3He, k in formula3For the positive integer more than 1, by cycle He1Setting value emit tire pressure detection letter Number, understand tyre pressure sensor working condition and tire pressure state convenient for driver's timing.Transmitting module uses radio signal transmission, mould Block is arranged radio frequency transmitter circuitry or with the reception chip of two-way communication, antenna etc., is emitted by antenna after signal encoded modulation, For transmitting module when tire pressure, the temperature detection signal of no control module input, RF transmitter is in the energy saving shape of static power consumption State.
Five, monitoring modular 37.The module is by monitoring program to sensor, transmitter, microcontroller (MCU), hyperfrequency Transmitting chip, circuit and each parameter signal realize dynamic monitoring, using booting monitoring, timing and dynamic monitoring pattern.MCU is pressed should Monitoring pattern setting time sends out detection pulse, every time as found failure in detection, by transmitting module launching failure signal.
Six, power management mould.High-energy battery, microcontroller and electric power management circuit is arranged in the module.Module is by sleeping Dormancy, operational mode and control program are corresponding to the crystal oscillator of MCU, low frequency oscillator, low frequency interface, analog circuit, sensor, MCU Pin (including SPI, DAR etc.), wake up and reset pulse allotter circuit, RF transmitter etc. region of interest power on or Power-off is managed, and calibrates the supply voltage of MCU and sensor, the energy consumption of each component of control transmitter.Transmitter is by setting The technologies such as sleep and wake-up, signal detection cycle is adjustable, signal emitting times limit, the automatic adjustment of signal transmit cycle are set, most Limits satisfaction blow out early period, really blow out, control system of blowing out of each control stage such as inflection point of blowing out wants tire pressure detection performance It asks, extends battery-powered and service life.High-energy battery includes lithium battery, graphene battery and its battery combination, vehicle wheel Insulated enclosure positioning device (including lasso) is set on hub, and charging wire, external charging built in device are got an electric shock or switched.
Ii, the driving tyre pressure sensor (TPMS) of power generation.One-way communication is used between sensor transmitter and receiver, it is main Power generation storage, wake-up, sensing, monitoring, data processing, transmitting, power management module are set.
One, power generation memory module, using electromagnetic induction or photovoltaic generation two types.Type one, electromagnetic induction power generation Module, the module include being set to the electromagnetic induction device of transmitter and being set to the non-rotating position such as axle or brake apparatus Permanent magnet or electromagnet apparatus, two devices form electromagnetic induction power generation electromagnetic coupling and close pair.Electromagnetic induction device with vehicle wheel rotation, when When by the magnetic field of permanent magnet or electromagnet, closed circuit magnetic flux change in electromagnetic induction device generates induced potential, inducts Electric current is rectified and charging process device charges to transmitter accumulator.Type two, photovoltaic generating module, the module is mainly by light It lies prostrate battery, accumulator, controller to constitute, using photovoltaic generation and Combined storage battery structure.Photovoltaic power generation plate is set to wheel rim On, receive extraneous light irradiation, photovoltaic cell uses semi-conducting material, the material to discharge electronics under light illumination, and electronics is from photovoltaic Power generation plate imports accumulator.Photovoltaic power generation plate generally use polysilicon, non-crystalline silicon, copper and indium tin, GaAs, polymer etc. are used for The photovoltaic material of low, middle illuminance covers high translucent material, external antivibration sealing shell and external connection as substrate in substrate. It is low and in isolux photovoltaic material constitute the photovoltaic cell groups of two class Independent Power Generations, wherein non-crystalline silicon spectral response (400~ 750nm) and scattering spectrum matching is preferable, and the necessary operating voltage of load can be set up under low-light (level).Accumulator using lithium from Sub- rechargeable battery, ultracapacitor constitute energy-storage system by a combination thereof, realize that photovoltaic generation and stored energy capacitance are distributed rationally.Hair Electric controller hardware uses micro-control unit MCU and peripheral circuit, includes mainly master control, detection, charge-discharge circuit or and DC/DC Converter, and control, protection module are set.Control module is according to the output characteristics of selected photovoltaic cell (including C-V characteristic etc.) Maximum power point is determined, using including charging modes such as constant pressure, constant current, pulse (PWM) and combinations thereof, design sampling and charging electricity Road, charging control circuit or with DC/DC converters.Overcharge, overdischarge, short-circuit protection is arranged in protection module, and setting is each Overcharge of a battery threshold value cvkAnd the overdischarge multilevel voltage of the more a workloads of tyre pressure sensor TPMS is incremented by thresholding threshold Value set cv1、cv2、cv3、cv4……cvn, when the load voltage of battery tension or output is decremented to any threshold value from height, Overdischarge protector terminates the power supply to tyre pressure sensor (TPMS) corresponding module, and thus battery tension all-the-time stable exists Certain section.When accumulator or load voltage are less than cv4When, overdischarge protector will be terminated and be sent out tyre pressure sensor radio frequency The power supply of modules such as penetrate, load voltage is less than cv3When then terminate power supply to modules such as data processings, when load voltage is less than cv2 Shi Ze is only to power supplies, wherein c such as the modules such as wake-upv1It is then that battery overdischarge protects thresholding.
Secondly, wake-up module.Setting wakes up chip.Electromagnetic induction power generation type TPMS, using generation frequency faSignal wakes up Pattern, when driving, electromagnetic induction device output electromagnetic induction signal, the signal is obtained and is taken turns through processing such as circuit shapings vehicle The consistent electromagnetic induction frequency f of speedaSignal, using Threshold Model, electromagnetic induction frequency signal faOr faFunction f (fa) reach setting When threshold value, wake-up module sends out wake-up signal, and transmitter enters operational mode by sleep pattern.Photovoltaic generation type TPMS, using wheel accelerationSignal awakening mode, setting wake up chip and wake up procedure, awakening mode, principle and mistake Journey is identical as aforementioned battery-driven.
Thirdly, sensing module.For electromagnetic induction power generation type TPMS, after the TPMS enters operational mode, MCU is with frequency fa, tire pressure praAnd its change rateDetermine that tyre pressure sensor signal is adopted using the function model and algorithm of its parameter for parameter Collect cycle Hd：
In its cycle HdIt is interior to complete a tire pressure detection.Work as faH when being 0dTend to be infinitely great.For photovoltaic generation type TPMS, at this After TPMS enters operational mode, collecting sensor signal cycle HdDetermination it is identical as above-mentioned battery-driven TPMS.Tire pressure is examined Survey cycle time HdFor setting value or it is dynamic value, cycle dynamics HdTo detect tire pressure praValue, tire pressure negative increment-Δ praOr and Wheel speed ωiFor parameter, determined using PID, optimal, fuzzy scheduling algorithm.Dynamic value HdOr the model by mathematics：
Hd=f (pra,-Δ pra, ωi)+c
For the TPMS of electromagnetic induction power generation type, setting pressure, temperature, voltage sensor.For the TPMS of photovoltaic generation type, if Set pressure, acceleration, temperature, voltage sensor.Sensor uses the capacitance or pressure resistance type that microcrystal silicon integrates, wherein silicon piezoresistance type High-accuracy semiconductor strain circuit is arranged in sensor, and signal exports wheel tyre pressure, angle acceleration-deceleration in real time through processing of circuit Voltage or with temperature TaElectric signal.
Four, data processing module.The module is mainly made of microcontroller, carries out data processing by setup program, if Fixed to coordinate sleep, operational mode and its pattern conversion, transmitter MCU respective pins are by the setting tire pressure sampling period under operational mode Time HdTire pressure detection pulse signal is sent out, pressure, temperature sensor are in cycle time Hd、Hd1Sample detecting of interior progress.
Five, transmitting module.Setting integrates transmitting chip.Using two launching procedures.Emission mode and program one will sense Device measures tire pressure pra, temperature value TaCompared with the setting value for being pre-stored within transmitter micro-control unit (MCU), obtain it partially Poor ep(t)、eT(t), by Threshold Model, when deviation reaches setting threshold value ae、aTWhen, transmitting module output detection value grants hair It penetrates, otherwise not emits.Emission mode and program two, into after operational mode, in setting cycle He1It is interior, tire pressure deviation ep(t) With temperature deviation eT(t) setting threshold value a is not reachede、aT, grant transmitting module and send tire pressure, a temperature detection signal, Wherein：
He1=k3He
K in formula3For the positive integer more than 1, which understands tyre pressure sensor working condition and tire convenient for driver's timing Pressure condition.Transmitting module uses radio signal transmission, module that radio frequency transmitter circuitry or reception chip, day with two-way communication is arranged Line etc. is emitted by antenna after signal encoded modulation, and transmitting module is inputted in tire pressure, the temperature detection signal of no control module When, RF transmitter is in static power consumption power save mode.
Six, monitoring modular.The module takes place frequently to sensor, transmitter, microcontroller (MCU), superelevation by monitoring program Core shooting piece, entire circuit and each parameter signal realize dynamic monitoring, using booting monitoring, timing and dynamic monitoring isotype.MCU Pulse is sent out by its monitoring pattern setting time, such as finds failure by transmitting module launching failure signal in each detecting/monitoring.
Seven, power management module.The structure of the module is identical as above-mentioned battery-driven (TPMS) as function.Transmitter By the way that the skills such as sleep and wake-up, signal detection cycle is adjustable, signal emitting times limit, the automatic adjustment of signal transmit cycle are arranged Art, meet to greatest extent early period of blowing out, really blow out, each control stage system such as inflection point of blowing out requires tire pressure detection performance, And extend battery-powered and service life.
Iii, receiver.Receiver is a highly integrated module, receives the signal that transmitter is sent out, and demodulate FSK modulation Coding, carry out data processing, signal after processing enters system data bus or and alarm display apparatus.
2., someone, automatic driving vehicle spacing detection and Context awareness
I, one, radar (including mainly electromagnetic radar, laser radar), the detection of ultrasonic wave spacing.Detection mode：It is based on Transmitting, reflection and the state characteristic of physical wave, founding mathematical models determine front-and-rear vehicle distance Lti, opposite speed ucWith anticollision time zone tai, Lti、uc、taiAs vehicle braking, driving and the basic parameter for turning to anticollision control.Type one, radar spacing monitoring.Thunder Up to detection device mainly by radar sensor, DTR radar controls module, signal-data processing module, antenna and transmitting/reception group Part (module), acoustic-optic alarm and electric power generating composition.Electromagnetic radar uses (including millimeter) wave beam, by transmitting module through antenna Transmitting receives reflection echo, the received module input microprocessor (data module) of echo that antenna receives, through mixed with by antenna Frequency and enhanced processing determine spacing L all around according to beat and frequency difference signal, this vehicle speed signaltiWith opposite speed uc, And calculate anticollision time zone tai：
Type two, the detection of ultrasonic wave spacing.Ultrasonic wave spacing detection device is mainly by ultrasonic wave and temperature sensor, microprocessor (MCU), MCU peripheral circuits, input/output interface, device composition of warning of blowing out.Detection device using ultrasonic ranging with it is front and back Control model is coordinated in the adaptive anticollision of vehicle：Ultrasonic distance-measuring sensor detecting distance is set, does not limit this except detecting distance The braking distance and opposite speed of vehicle and rear car, vehicle of blowing out take aim at model (referring to ring of blowing out herein in advance by rear car driver traveling Border coordinate control chapters and sections) and spacing Controlling model carry out fore-aft vehicle spacing control.When rear vehicle enters the inspection of ultrasonic wave spacing It surveys in distance range, this vehicle ultrasonic wave spacing monitoring device enters effective working condition, beam pointing-angle is determined, using multiple ultrasounds Wave sensor combines and specific ultrasonic wave triggering, obtains distance measuring signal by receiver, passes through each sensor detection signal data Processing, determine it is front and back or with left and right spacing LtWith opposite speed uc, calculate danger time zone tai, by taiCarry out fore-aft vehicle anticollision association Regulation and control system, thus overcomes that sonac detecting distance is short, response speed is slow, environment resistant interference performance is weak and target positioning performance The weakness such as poor.
Secondly, machine vision spacing monitoring, common or infrared machine vision spacing monitoring system is mainly set, using monocular (or more mesh) vision, coloured image and stereoscopic vision detection pattern.Monitoring system is mainly made of imaging system, computing system, Including video camera, computer, using camera shooting and distance measurement mode, the model and algorithm of simulation human eye.Based on coloured image gray processing, Image binaryzation, edge detection, image smoothing, morphological operation and region growing OpenCV Digital Image Processing, use Shadow character and vehicle detecting system (Adoboost), by calculate machine visual token model and video camera (OpenCV) calibration Visual token mensuration distance.Video input, data processing, display, storage, power supply etc. is arranged in computer vision spacing detection device Module completes Vision information processing using certain algorithm, determines this vehicle in real time using taken the photograph image rapid extraction characteristic signal (video camera photosensitive element) to the spacing of fore-aft vehicle, and according to this vehicle speed, acceleration-deceleration and opposite spacing LtChange value Determine opposite speed uc。
Thirdly, information of vehicles interconnection type (spacing) monitor (VICW, vehicles information commutation Way) and monitoring system (VICS).VICS includes mainly microcontroller and peripheral circuit, setting input and output, radio transceiver Communication, satellite positioning navigation, digital processing and control, regulated power supply, sound-light alarm and display module, each module include that positioning is led Boat, communication, number are realized sending and receiving for data by radio frequency transceiving module, are used according to all kinds of special chips are handled Multimode compatible positioning chip obtains geodesic latitude and longitude coordinates.VICS (includes mainly GPS Big Dipper cores by GPS Piece), using radio-frequency discriminating (RFID) technology, by GPS positioning, and obtain satellite to vehicle reception device distance, by 3 with On satellite-signal, using the range formula in three-dimensional coordinate, constitutive equation, solving the position coordinates of vehicle, (X, Y, Z are three-dimensional Coordinate).Pair warp and weft degree information is defined into row format, by ranging model, is measured the longitude and latitude of this vehicle, is obtained with geodetic coordinates mark Fixed this vehicle longitude and latitude positional information.It is passed by the Space Coupling of RFID radiofrequency signals, inductance or electromagnetic coupling and signal reflex Defeated characteristic sends the various informations such as the accurate position of this vehicle, and connect to being identified the carry out initiative recognition of object to surrounding vehicles Receive the positioning of surrounding vehicles position and its upset condition information, being in communication with each other between realization vehicle.Data processing and control module： Surrounding vehicles are obtained based on VICS to exchange information, using corresponding modes and model and algorithm, to the real-time of Ben Che and surrounding vehicles Longitude and latitude position data is into Mobile state processing, and carving copy vehicle and the location information of surrounding, are computed and obtain satellite when obtaining each Position chip vehicle displacement distance in longitude and latitude scan period T, to obtain speed, Ben Che at a distance from forward and backward vehicle and phase To speed.Based on Ben Che and fore-aft vehicle travel direction decision model in the same direction and reversed, in the same direction and reversed two kinds travelings are determined The vehicle location longitude and latitude variable quantity in direction judges its travel direction by the latitude and longitude information matrix at vehicle multiple moment, and Orientation of the opposite travel direction and surrounding automobile of acquisition surrounding automobile and this vehicle after this Chinese herbaceous peony.According to forward and backward vehicle in the same direction Longitude and latitude and its change value, calculate the distance between two vehicles L by ranging and range rate model and algorithmtiAnd opposite speed in the same direction uci.Display module real-time display spacing detection information is realized sound-light alarm by buzzer and LED, and is exported by electronic control unit Port exports this vehicle and forward and backward vehicle distance L in real timetAnd opposite speed ucSignal.By Threshold Model, Ben Che and forward and backward vehicle Spacing LtiOr anticollision time zone tai, work as taiWhen up to setting threshold value, control module exports anticollision signal ih, ihVia output Module is divided into two-way, enters acoustic-optic alarm all the way, and another way inputs data bus of vehicle CAN.System master device, braking, Drive control module obtains L from data/address bus CANti、uc、tai、ihEtc. parameters real time detection signal.
Ii, Context awareness
Context awareness is used for automatic driving vehicle, including the positioning of road traffic, object, position location distribution, orientation distance Identification, mainly sets following identification methods.One, radar, laser radar or ultrasonic ranging.Secondly, machine vision, positioning and Ranging.Ordinary optical, infrared machine vision spacing monitoring system are set, using monocular, multi-vision visual and coloured image and solid Vision-based detection pattern；Monitoring system is mainly made of video input, data processing, display, storage, power module, and using figure Picture, video frequency processing chip.Using taken the photograph image rapid extraction characteristic signal, by certain model and algorithm complete vision, image, Video information process, determines positions and its distributions such as road and traffic, vehicle and barrier, realize vehicle location, navigation, Target identification, path trace.Positioning is usually built by global position system, inertial navigation, electronic map match, real-time map with navigation With matching, dead reckoning and vehicle body state aware.
Iii, car networking network
Group structure road traffic intelligence car networking network (abbreviation car networking network) is based on its network information system structure, and vehicle is arranged Join network controller, online vehicles are same to set director of networking.Intelligent car networking network and online vehicles are each other by set by controller Wireless digital transmission and data processing module are transmitted into row information and data exchange.The director of networking of online vehicles is set to vehicle In main controller or central master, mainly by input/output interface, microcontroller (MCU), all kinds of special chips, voltage stabilizing electricity Source and minimum peripheral circuit are constituted.Director of networking is mainly including the transmission of onboard wireless number and data processing controller, together If digital received and emitter, machine vision positioning and range unit, mobile communication terminal, Global Satellite Navigation System positioning Navigation, wireless digital transmission and processing, environment and transport data processing submodule, each submodule using car networking digital communication, Data processing, location navigation, mobile communication, all kinds of special chips of image procossing.Normally, it blows out under operating mode, online vehicles pass through Intelligent car networking network realizes road by way of nearby vehicle wireless digital transmission and information exchange.
One, automatic driving vehicle centre main controller can by intelligent car networking network and global positioning system, with geodetic coordinates, The modes such as view coordinate, positioning figure determine that line, lane line and the orientation of Ben Che, this vehicle travelling state are defined in practical track in real time And path trace situation, Ben Che and the distance between vehicle and barrier, Ben Che and the opposite speed of fore-aft vehicle, this bassinet structure with Transport condition, including speed, blow out and non-runflat condition, state of a control of blowing out, path trace and driving posture information.
Secondly, for online vehicles, digital transmission module set by director of networking, from manned vehicle main control device, nobody It drives vehicle central controller and extracts this vehicle dependency structure data and transport condition, including process control state of blowing out and blow out, It is handled by data processing module, through data transmission module, digital information is transmitted to Intelligent road by Mobile Communication Chip The data transmission module of transportation network is handled through car networking network data processing module, then by car networking network data transmission module, It is issued to road by way of periphery online vehicles.
Thirdly, for online vehicles, Digital Transmission module set by director of networking passes through car networking network reception channel road and passes through Traffic information, traffic information (including traffic lights, direction board etc.), the position of periphery online vehicles, transport condition, state of a control It is related in information, including vehicle flat tire and control of blowing out, vehicle running state relevant information of blowing out, each detection and controlling cycle The change value of parameter and data.
Four, wireless digital transmission module set by car networking network controller is subjected to online vehicles information inquiry and navigation Request, which is handled through car networking network data processing module, then Query Information is fed back to the online vehicles for sending out request.
Five, for online vehicles, data transmission module can pass through the wireless digital of car networking network set by director of networking Transmission module, publication and inquiry roads realize road between each vehicle in periphery by way of each online vehicles relevant information in periphery Wireless digital transmission and the relevant informations such as information exchange, including running environment, road traffic, vehicle running state.
3., the mode of warning of blowing out and device.
This method, which is blown out, warns using various ways, signal of tyre burst ia, fore-aft vehicle anticollision signal ih, blow out control actively Restart Signal igWhen arrival, signal ia、ih、iaStartup is set to the acoustic-optic alarm of driver's cabin, is set to the tail of vehicle tail Lamp and special acousto-optic warning device carry out sound of blowing out, light alarm.Audible alarm includes audio, audio alert of blowing out.Light is warned It alarms including light and light image.Light warning is using static light or dynamic blinking light, the periodic quantity of dynamic blinking light Or the opposite speed u using Ben Che and rear carci, distance LtiOr anticollision time zone taiIt is determined for the model and algorithm of parameter：
Hcta=f (tai)
H in formulactaFor flicker cycle, the cycle H of each flickerctaIt is interior luminous equal or different with the black out period.
I, light is warned.Setting light is warned device, control entering signal of blowing out (including ia、ih、iaDeng) arrive when, light is warned The electronic commutator control light for vehicle of device, special warning light of blowing out are lighted or are flickered.Signal i is exited in control of blowing oute, people Signal i is exited in the control of blowing out of work keyingfWhen arrival, light for vehicle or it is transferred to non-work condition state of blowing out with special warning light.
Ii, optical imagery are warned.Setting optical imagery is warned device.The device mainly occurs module by laser light source, does It relates to or diffraction module, optical system, projection positioning device, control module is constituted.Using the red band of laser light source or other The frequency of the visible coherent light of color bands, light is identical with direction of vibration, by the interference of light or diffraction grating, forms grating list Seam, multislit interference, diffraction image, image is through optical system, grenade instrumentation, and it is quick-fried to determine that position is formed for road surface between Ben Che and rear car Tire is warned image.Interference, diffraction warn image or using just, handstand triangle, diamond shape etc., the side of optical imagery or light source image Boundary is defined by optical system field of view diaphragm, prism or and throwing of the direction (optical axis or image orientation) that light is propagated by optical system It penetrates positioning device and adjusts projectional angle and determine, the size of optical imagery or light source image and the positioning on road surface are by optical system knot Structure, structural parameters and optical system determine the projectional angle on ground.Optical system use structural parameters include focal length, object distance, It is the size of diaphragm, outer by setting optical system focal length, object distance, image distance as square, field stop, aperture diaphragm, projectional angle etc. Shape, projectional angle etc. make the size shape of light source image or image of warning be adapted with the positioning on road surface, and wherein projectional angle refers to Angle between system optical axis and ground.Projection positioning device includes telltale shell, projectional angle regulating device etc..Light source or Warn the brightness degree of image, color by Ben Che and rear car opposite speed uc, spacing LtOr the and parameters such as characteristic value X of blowing out Mathematics model and algorithm determines.Device of warning be separately provided or with taillight warn device constitute composite structure.
The control structure and flow that iii, light source image are warned.The light that laser light source is sent out forms light and shade through set grating Striped (Moire fringe).Moire fringe forms optical imagery, projection by optical system, through diaphragm shaping, optical element processing The road surface after Ben Cheche, the wherein optical system mainly by including spherical mirror, field stop or and change radiation direction prism It constitutes, the projectional angle of optical imagery is determined by the adjustable positioning device of a corner.Grating uses the combination of monolithic or two blocks of gratings, And be positioned at fixing device or be set in the positioning device of rotation, translation, pass through determining for the mobile generation interference fringe of grating To movement.The width and spacing for setting grating pass through width, spacing or its ratio of change grating, the displacement of grating, displacement speed Degree, thus adjust interference, the width of diffraction fringe, spacing and striped movement speed, light source image or image of warning it is bright Dark fringe will generate in rear car driver eye to be poured in or separate effect.
3) it, blows out master control and main device
Main controller of blowing out is arranged in manned vehicle, and central master is arranged in automatic driving vehicle.Main controller or center are main Control device moves shape with wheel speed, steering wheel angle, yaw rate, longitudinal side to acceleration-deceleration, brake pressure, fore-aft vehicle State parameter is basic input parameters, by master control architecture of blowing out, master mode and flow, control model, model and algorithm setting：Ginseng Number calculate, state tire pressure and turn to mechanical state blow out identification, blow out judgement and divided stages of blowing out, control model convert, people Work operation, each control coordinate, environmental harmony or with car networking controller, establishment vehicle it is normal and blow out operating mode primary control program or Software.Electronic control unit set by main controller or central primary control computer are carried out by primary control program or software at data processing and control Reason, output control signal, the signal send out master control of blowing out, each through output circuit, to vehicle control syetem, control subsystem of blowing out Controller coordinate control instruction.For online vehicles, the wireless digital transmission and data of the director of networking set by online vehicles Processing module, by mobile communication submodule (including mainly radio-frequency transmissions chip, radiating circuit and antenna), to intelligent car networking Network send this vehicle blow out, blow out control and vehicle running state digital information of blowing out.The judgement of main controller or central master is quick-fried After tire is set up, main electronic control unit or the output of central primary control computer blow out and control entering signal ia, coordinate control model by blowing out, Vehicle nominal situation drive control is terminated first, and no matter at this time which kind of state of a control vehicle is in.Blow out early period or enter start Machine control for brake, while entering blow out active brake, engine air throttle and fuel oil injection, deflecting roller turning power, suspension and quick-fried Tire active steering coordinates control.Control that control of blowing out is a kind of wheel and vehicle stable state is slowed down, a kind of direction of traffic, vehicle appearance State, track holding, path trace, the anti-stability control for hitting car body balance.
1., this method use blow out, judgement of blowing out, control parameter of blowing out and related definition
Runflat condition, blow out judgement and the main use of control of blowing out：Tire construction mechanics parameter, wheeled vehicle motion state Parameter, the injection of engine air throttle fuel oil and motion state parameters, steering structure mechanical state parameter, suspension frame structure mechanics and fortune Dynamic state parameter, the parameter are basic parameter；Based on basic parameter, the definition by parameter and model derive corresponding export Parameter, in runflat condition, judgement and control, basic parameter and derived parameter can be used as control parameter.
I, car wheel structure, mechanics and motion state parameters (abbreviation wheel parameter) include mainly：Each wheel effective rolling radius Ri, vehicle wheel rotation inertia Ji, tire pressure pri, wheel speed ωi, wheel angle acceleration-decelerationSlip rate Si, braking (or driving) power Qi, it is each Wheel load Ni, ground longitudinal force M suffered by wheelk, steering wheel angle θe。
Ii, vehicle (movement) state parameter (abbreviation vehicle parameter) include mainly：Speed ux, vehicle indulge side accelerationAnd ay, steering wheel angle δ, vehicle turn radius Rw, yaw velocity ωr, side slip angle β, vehicle yaw moment Mu。
Iii, mechanics state parameter (abbreviation turn around parameters) is turned to, includes mainly：Steering wheel angle δ and torque Mc, turn to Take turns rotational angle thetaeWith flywheel moment M in ground suffered by torque, deflecting rollerk(include mainly aligning torque Mj, flywheel moment of blowing out Mb'), turn To power-assisted square Ma。
Iv, two wheel relative parameter DbDefinition：The same parameters that each wheel can compare as quantification are known as relative parameter, Db Include mainly ωi、Si、QiDeng, and take turns state parameter for the balance car wheel set two that front and back axle or diagonal line are arranged.
V, the two equivalent relative parameter D of wheeleDefinition：Two wheel relative parameter DbIn setting same parameters EnValue it is identical or Under the equivalent the same terms of value, by institute EnIdentified parameter DeFor DbEquivalent relative parameter, wherein EnInclude mainly Qi、Ji、 μi、Nzi、αi、δ、Rw(Rw1、Rw2), DeThen mainly by the equivalent opposite angular velocity omega of two wheelse, angle acceleration-decelerationSlip rate SeStructure At wherein Qi、Ji、μi、Nzi、αi, δ be respectively each wheel brake force or driving force, rotary inertia, friction coefficient, load, wheel side Drift angle, steering wheel angle take turns turning radius inside and outside vehicle, blow out drive some qualifications under driving force QiBy QpIt indicates, system Power QiBy QyIt indicates.When two wheel angle acceleration-decelerationsSet same parameters EnIt is determined as brake force Qi, the inside and outside wheel turning of vehicle Radius Rw(Rw1、Rw2) value it is equal or equivalent equal when, two wheel angle acceleration-decelerationsIdentified equivalent angle acceleration-decelerationFor Brake force Qi, the inside and outside wheel turning radius R of vehiclew(Rw1、Rw2) equivalent relative parameter.By the particular requirement for control process of blowing out； For DbIn arbitrary parameter, in set same parameters EnIn, EnIt can use wherein any one or more parameters.By equivalent opposite The definition of parameter, wheel any state parameter cannot appear in equivalent relative parameter D simultaneouslyeWith setting same parameters EnIn.
Vi, the two non-equivalent relative parameter D of wheelkDefinition：Equivalent defined arbitrary two wheels relative parameter is not carried out, it is main to wrap Include non-equivalent opposite tire pressure prk, wheel speed ωk, angle acceleration-decelerationSlip rate sk, each wheel brake force Qk。
The definition of vii, two non-equivalent, the equivalent relative parameter deviations of wheel is：Deviation between arbitrary two wheels relative parameter claims Include mainly non-equivalent opposite angular velocity omega for non-equivalent relative parameter deviationkDeviation e (ωk), angle acceleration-decelerationDeviationSlip rate SkDeviation e (Sk)：
e(ωk)=ωk1-ωk2、e(Sk)=Sk1-Sk2
Deviation between the equivalent relative parameter of arbitrary two wheel is known as equivalent relative parameter deviation, which includes mainly equivalent opposite Angular velocity omegaeDeviation e (ωe), angle acceleration-decelerationDeviationSlip rate SeDeviation e (Se)：
e(ωe)=ωe1-ωe2、e(Se)=Se1-Se2
Alphabetical footnote 1 and 2 indicates wheel 1 and 2 in formula.
The definition of viii, two non-equivalent, the equivalent relative parameter ratios of wheel：Non-equivalent, the equivalent relative parameter of arbitrary two wheel it Between ratio, expression-form is：
It blows out in control, it is non-equivalent, equivalent relative parameter ratio that non-equivalent, equivalent relative parameter deviation, which can wait and change (or substitution), Example, large deviations e (ωk)、e(ωe) can be of equal value or it be equivalent to ratio g (ωk)、g(ωe)。
Ix, above-mentioned parameter e (ωe) and e (ωk) and its derivativeWithe(Se) and e (Sk)、g(ωk)、g (ωe) it is derived parameter；
X, wheeled vehicle control parameter includes mainly：Each wheel brake force Qi, angle acceleration-decelerationSlip rate Si, two wheel it is non- Equivalent relative brake power deviation e (Qk), speed ux, steering wheel angle δ and its derivativeSteering-wheel torque Mc, power steering square Ma And its deviationDeflecting roller is blown out flywheel moment Mb' etc., whereinSi、Mb' it is all wheel condition, mechanics parameter.
Xi, equilibrium and non-equilibrium wheel pair concept：Two wheel braking forces, driving force take turns suffered ground force pair with two Identified wheel pair is balance car wheel set on the contrary in the direction of vehicle centroid torque, is otherwise non-equilibrium wheel pair, leveling wheel Pair includes forward and backward or diagonal line balance car wheel set, the balance car wheel set that is known as blowing out containing wheel of blowing out in balance car wheel set, otherwise for Non- balance car wheel set of blowing out.Equilibrium and non-equilibrium is braked：No matter two wheel or balance car wheel set two take turns brake force whether phase Deng under Braking, the braking that the two suffered ground forces of wheel are zero to the sum of the torque of vehicle centroid is known as balanced system Dynamic, this two brake force is known as balanced system power, is otherwise non-equilibrium braking and non-equilibrium brake force.
Xii, based on auto model, vehicle movement equation, tire model, vehicle wheel rotation equation etc., using transformation model, mend Model, correction model and algorithm are repaid, it can be by non-equivalent relative parameter DbBe converted to same parameters En(include mainly Qi、μi、Nzi、δ、 Ri) under the conditions of equivalent relative parameter De, transformation model is expressed as：
De(Db, Qi, μi, Nzi, δ, Ri)
Pass through DbMiddle ωk、SkOne of parameter and set same parameters EnIn relationship between any one or more parameters Model carries out DbAnd DeBetween conversion；Parameter DbWith set same parameters EnBetween functional relation be difficult to determine when, by right EnThe compensation of middle relevant parameter, equivalent process realize DeWith DbConversion between the two.
Xiii, according to runflat condition and different control stage, selected equivalent relative parameter De(include mainly ωe、Se) Difference, the same parameters E of settingn(include mainly Qi、Ji、μi、Nzi、αi, δ) it is different, identified equivalent relative parameter includes ωe、SeDeng, possessed characteristic is different in blow out control and Controlling model.
2., parameter calculate and calculator.Using modes such as experiment, detection, mathematical model and algorithms, by the need of control process It wants, determine corresponding each wheel angle acceleration-deceleration, slip rate, attachment coefficient, speed, dynamic load in real time or is effectively rolled with wheel Move radius, the vehicle parameter values such as acceleration-deceleration in length and breadth.The physical quantity for being difficult to measure is estimated using observer, including is passed through GPS (GPS) or observer estimation vehicle centroid side drift angle etc. based on extended Kalman filter.We Controller and onboard system set by method can share each sensor testing number of vehicle by physical routing or data/address bus (CAN etc.) According to parameter and calculating parameter.
3., runflat condition, set of characteristic parameters of blowing out X, blow out pattern-recognition and the variation of state feature
This method introduces runflat condition concept.Runflat condition is defined as：Runflat condition is one is joined by tire construction mechanics Number, steering mechanics state parameter, state of motion of vehicle parameter, wheel and vehicle control parameters determine jointly, characterize driving vehicle The concept of tire decompression or the wheel blown out, steering system, suspension and vehicle-state characteristic.Wheel under operating mode of blowing out, steering, Suspension system and the runflat condition feature of vehicle and wheel, steering, suspension system and vehicle " improper shape under nominal situation The state feature of state " is essentially identical, characterize two operating modes under wheel, steering system, suspension it is identical with the parameter of vehicle-state feature or It is related.It blows out initial stage, the normal abnormal condition feature phase mutual respect with the wheel, steering system, suspension and vehicle blown out under operating mode It is folded；Each state and control period after really blowing out, wheel, steering system, suspension and vehicle-state feature mainly become what it was blown out State feature.This method introduces the general of set of characteristic parameters X (referred to as blow out the characteristic parameter collection X or characteristic parameter X that blows out) of blowing out Read, this feature parameter X and its parameter value quantification characterization runflat condition feature, blow out characteristic parameter X by characterization tire phase It closes structural mechanics parameter, wheel and state of motion of vehicle parameter, wheeled vehicle control parameter and builds blow out identification model and algorithm It determines.Set of characteristic parameters of blowing out X use mathematical expression form for：X [...], bracket include several characteristic parameters of blowing out, main To include X [xa、xe、xv……]、xa[xak, xan, xaz……]、xe[xek, xen, xez……]、xv[xvk, xvn, xvz, xvw...], Each characteristic parameter by selected wheel, vehicle, turn to relevant parameter, selected parameter blow out identification model and specific modeling knot it is true It is fixed.Parameter set X can quantification determine runflat condition, the i.e. feature of blowing out of wheel, steering and vehicle, meet runflat condition, Blow out judgement and control of blowing out requirement.Determine the parameter for identification model of blowing out by wheel, vehicle, steering basic parameter, export Parameter, control parameter are constituted, and include mainly：Sensor detects tire pressure praOr wheel effective rolling radius Ri, angular speed of wheel ωi And its derivativeSlip rate Si, brake force Qi, equivalent non-equivalent relative angle velocity deviation e (ωe) and e (ωk) and its derivativeWithSlip rate deviation e (Se) and e (Sk), yaw velocity deviationSteering wheel angle δ and torque Mc、 Steering wheel angle θeWith flywheel moment M in ground suffered by torque, deflecting rollerk。
I, detection tire pressure is blown out pattern-recognition
Detection tire pressure blows out pattern-recognition mainly with tyre pressure sensor detection tire pressure praAnd its derivativeOr with wheel, vehicle Parameter is input parameter, is established based on the parameter and determines the characteristic parameter collection x that blows outa[xak、xan、xaz] identification model of blowing out：
Deng
Its function model includes mainly：
Deng
Linearly computation model includes mainly：
E (ω in formulae) and e (ωk)、Withe(Se) and e (Sk) be respectively balance car wheel set two take turns it is equivalent, non- Equivalent relative angle velocity deviation and its derivative,For yaw rate deviation, k1、k2、k3For coefficient, pr0For standard Tire pressure.
Ii, state tire pressure are blown out pattern-recognition
This method introduces state tire pressure preConcept；Based on state tire pressure pre, establish and determine the characteristic parameter collection X [x that blow oute] Identification model of blowing out general expression：
xe=f (pre)
Blow out characteristic parameter collection xe[xek, xen, xez, xew] in each parameter blow out the functional form of identification model, include mainly：
xek=f (prek)、xen=f (pren)、xez=f (prez)、xew=f (prew)
State tire pressure preEach parameter p of collectionrek、pren、prezReferred to as feature tire pressure, feature tire pressure are joined with selected tire construction mechanics Number, wheel and state of motion of vehicle parameter, the function model for turning to mechanics state parameter, wheel and vehicle control parameters use The relevant control algorithm of the modern control theories such as ratio, PID determines.State tire pressure set pre (abbreviation state tire pressure or state tire Pressure collection pre) concept is expressed as：State tire pressure preThe not instead of real-time tire pressure of any wheel of vehicle, based on normal, operating mode of blowing out and Under all operating modes, by car wheel structure, mechanics and state parameter, vehicle status parameters, mechanics state parameter and its control ginseng are turned to Number is common to be determined, the normal tire pressure of characterization wheel, low tire pressure or runflat condition, using its above-mentioned selected parameter as input parameter, is established Determine preModel and algorithm, the concept tire pressure for calculating and determining in real time.State tire pressure preIt is a conception of species tire pressure and practical tire pressure The adaptable dynamic tire pressure for blowing out and controlling process；
One determines state tire pressure collection preParameter include mainly：Basic parameter：Angular speed of wheel ωi, slip rate Si、 Ground friction coefficient μi, wheel effective rolling radius Ri, wheel stiffnesses GziDeng.Wheel derived parameter：Forward and backward axle or diagonal line Balance car wheel set equivalent, the non-equivalent relative parameter of left and right wheel and equivalent, non-equivalent relative parameter deviation；The front and back equivalent phase of axle Include mainly equivalent relative angle velocity deviation e (ω to parameter errorea) and e (ωeb), angle acceleration-deceleration deviationWithSlide deviation e (Sea) and e (Seb).The front and back non-equivalent relative parameter deviation of axle includes mainly non-equivalent relative angle speed Spend deviation e (ωka) and e (ωkb), angle acceleration-deceleration deviationWithSlip rate deviation e (Ska) and e (Skb), In equivalent and non-equivalent parameter indicated by letter and its footnote e and k respectively, alphabetical and its footnote a, b indicate vehicle respectively before, Two axle afterwards.Vehicle parameter：Speed ux, yaw velocity deviationAnd its derivativeVehicle centroid side drift angle eβ(t) Deviation and its derivativeBarycenter indulges side acceleration axAnd ay.Vehicle control parameters：Each wheel brake force Qi, angle acceleration-decelerationSlip rate Si, the two non-equivalent relative brake power deviation e (Q of wheelk), steering wheel angle δ and its derivativePower steering square deviationSteering is blown out flywheel moment Mb' etc..Wherein power steering square deviationWith speed ux, steering wheel angle δ, turn to Disk torque sensor detected value McFor parameter, determined using the power-assisted steering model of the parameter.Si、Mb' it is all wheel condition Parameter and control parameter.
Secondly, determine state tire pressure collection pre[prek, pren, prez, prew] mathematical model.Vehicular turn or non-steering condition Under, based on the different control structures such as vehicle braking, driving, steering, control process, the different phase for control of blowing out is determined with it Wheel and vehicle parameter, derived parameter and control parameter be input parameter, be based on the parameter, establish different structure and type Mathematical model determines state tire pressure collection pre[prek, pren, prez, prew] in feature tire pressure prek、pren、prez.The mathematical model In, using correction factor λi, pass through λiTo each wheel ground friction coefficient μi, load Nzi, steering wheel angle δ variation compensate, Correction factor λiUsually by μi、Nzi, δ parameters equivalent model determine；Determine λiEquivalent model in, can be used braking, driving, Some specified conditions of steering procedure include mainly：The λ respectively taken turnsiN that is equal, respectively taking turnsziIt changes negligible, δ and is equal to 0 etc., one λ under fixed conditioniCan be considered 0 or value be 0；Determine state tire pressure preGeneric function model or mathematic(al) representation be：
λi=f (μi, Nzi, δ)
E (ω in formulae)、e(Se) it is forward and backward or equivalent opposite angular speed, slip rate are taken turns in driving, nonpowered axle balance car wheel set two Deviation, the deviation are mainly two wheels in Qi、μi、NziEquivalent relative parameter under value is identical or the equivalent the same terms of value is inclined Difference, the i.e. deviation mainly take turns brake force Q by forward and backward or driving, nonpowered axle balance car wheel set twoiValue is identical or value is equivalent It is determined under the conditions of phase is same, ωr, β be yaw rate and side slip angle,And ayVehicle indulges side acceleration,Normally and damage power steering square deviation for vehicle,It can be by steering wheel target and actual torque deviation It exchanges, QiFor each wheel brake force, λiFor equivalent correction factor.Correction model and equivalent can be used in the equivalent relative parameter deviation of wheel Correction factor λiMode, make non-equivalent relative parameter ωk、SkIn Qi、μi、Nzi, the parameter values such as δ are identical or value imitates phase With under the conditions of, equivalent relative parameter is converted toAnd its equivalent relative parameter deviation e (ωe)、e (Se).Under specific control condition, main includes the left and right wheel μ of setting axle balance car wheel seti、NziValue is identical, suddenly Slightly δ is to e (ωe)、e(Se) effect, and the secondary left and right wheel of antero posterior axis wheel is in brake force QiValue is identical or equivalent identical Under the conditions of, e (ωk)、e(Sk) each deviation can be equivalent in parameter Qi、μi、Nzi, it is equivalent under the equivalent identical item of δ values Relative parameter deviation e (ωe)、e(Se).In each model, the forward and backward left and right wheel of axle is equivalent, non-equivalent relative parameter is inclined Difference is taken as absolute value.Equivalent relative parameter deviation e (ωe)、e(Se) it can be used as the quick-fried of forward and backward axle balance car wheel set The quantification characteristic parameter that tire is pressed or radius of wheel reduces characterizes forward and backward axle balance car wheel set two and takes turns tire pressure or radius State difference, be used for state tire pressure preIt calculates.Blow out, it is non-blow out under working condition, yaw rate deviation Basic parameter as the control of vehicle stable state.State tire pressure collection preMiddle parameter e (ωk),It can be with e (Sk),Mutually take Generation.To simplify preCalculating, by using specific modeling structure, Controlling model relevant parameter quantity, simplify model structure, excellent Change related algorithm, carry out parameter compensation and amendment, establish equivalent model, realizes state tire pressure in blow out judgement and control of blowing out Concrete application.
Thirdly, state tire pressure collection pre[prek, pren, prez, prew] modeling structure, characteristic and algorithm
, driving non-brake and non-driven based on vehicle, brake control process, setting is non-brake and non-driven, driving, brakes Three classes status architecture is selected by two balance car wheel set of forward and backward axle and its state feature of left and right wheel during each control Above-mentioned part or all of wheel, steering system, vehicle status parameters and control parameter determine non-equivalent, equivalent relative parameter, select Value is identical or the equivalent identical same parameters E of valuen, establish state tire pressure collection preIn each feature tire pressure model knot accordingly Structure；Wherein vehicle traction and non-driven, braking and it is non-brake characterized with positive and negative (+, -) logical symbol, it is automatically controlled during logic accord with Number (+, -) indicated, each logical combination table with high and low level or specific logical symbol code (including mainly number, number etc.) Show the control process such as braking (+), driving (+), non-brake and non-driven (-, -).State tire pressure preIt is left and right for antero posterior axis wheel pair Take turns angular velocity omegaiAnd angle acceleration-decelerationSlip rate SiAnd its equivalent, the non-equivalent relative parameter deviation e (ω of derivativee)、e(Se)、e(ωk)、e(Sk)、The subtraction function of absolute value increment；preFor yaw rate DeviationDeflecting roller turning power deviationThe secondary left and right wheel brake force Q of antero posterior axis wheeliNon-equivalent relative deviation e (Qk) absolute value increment subtraction function；Each parameter is taken as absolute value.It is (main in control parameter after vehicle enters control of blowing out Including yaw velocity deviationSide slip angle deviation eβ(t) or with the lateral acceleration-deceleration a of vehicley) there is " abnormal change It is dynamic " in the state of, the non-equivalent relative angle velocity deviation e (ω of the wheel of balance car wheel set differential braking two can be usedka) and e (ωkb) take For equivalent relative angle velocity deviation e (ωea)、e(ωeb)；Make state tire pressure pre、eβ(t)、ayThe vehicle flat tire of parameter is special It levies to wheel condition parameter e (ωka) and e (ωkb) feature transfer of blowing out, pass through the transfer, it is ensured that blow out under control condition, Determine state tire pressure preRelevant parametereβ(t)、ay、e(ωka) and e (ωkb) etc. do not lose stable feature of blowing out, Compensationeβ(t) or and ayParameter blows out " abnormal change " of feature appearance.
Iii, mechanical state, wheeled vehicle state parameter pattern-recognition are turned to
In the flywheel moment M that blows outb' generate in forming process, the diverted system of runflat condition is shifted to steering wheel, is turned to Disk corner δ, steering-wheel torque Mc(vector) size and Orientation changes, and works as Mb' when reaching a critical condition, it can be according to δ, McChange Dynamic feature, identifies Mb' generation and runflat condition, and determine and blow out flywheel moment Mb′。M′bCritical condition can by steering wheel turn Angle δ, steering-wheel torque McA critical point determine.δ、McCritical point be expressed as：During blowing out, steering wheel angle δ, torque McSize and Orientation changes, δ, McVariation reaches one and can identify " specific point " that wheel is blown out, should " specific point " be known as δ, McCritical point.MbAfter ' generation and formation, by establishing the flywheel moment M that blows outb' form judgement and its walking direction is patrolled Volume, blow out identification and the determination of runflat condition are carried out according to decision logic.Mechanics stateful pattern recognition is turned to blow out based on determination Characteristic parameter xvIdentification model of blowing out；The model is with the turning power M that blows outb', wheeled vehicle motion state parameters, it is main to include etc. Imitate non-equivalent opposite angular speed and its derivative deviation e (ωe) and e (ωk)、WithSlip rate deviation e (Se) and e (Sk), yaw velocity deviationOr with the inclined e of vehicle centroid side drift angleβ(t) poor, it is main input parameter, it is quick-fried establishes determination Tire characteristic parameter collection xv[xvk、xvn、xvz、xvw] identification model of blowing out；Wherein xvwFor identification parameter of blowing out qualitatively, xvwIt is logical Cross the recognition methods determination for turning to mechanical state：With deflecting roller (suffered ground) flywheel moment Mk(mainly include back positive force Mj, it is quick-fried Tire turning power Mb'), steering wheel angle δ and torque McFor parameter, it is based on deflecting roller flywheel moment MkAnd its direction, pass through steering system It unites the characteristic transmitted to steering wheel, according to δ, McSize, direction and its variation judge the turning power M that blows outb' formation size and Direction, and can be according to Mb' value and Mb' direction, determine by xvwWhether the runflat condition of characterization is true；xvwDetermining blows out After state occurs, by xv[xvk1、xvn1、xvz1] identification model of blowing out carry out pattern-recognition of blowing out：
xvn1=f (e (ωe))、
X is not being pressedvwUnder conditions of determining runflat condition, using following characteristic parameter collection x that blow outv[xvk2、xvn2、xvz2] blow out Identification model：
xvn2=f (M 'b, e (ωe))、
Carry out pattern-recognition of blowing out；In formulaWithWith e (Se) and e (Sk) can mutually replace；Control blowing out not It can be by e (ω with the stagek) substitution e (ωe)、e(Sk) substitution e (Se)；And by identification model of blowing out, driving and control for brake type And its characteristic, blow out each control stage, determine the characteristic parameter collection x that blows outvParameter xvk、xvn、xvzModeling structure；xvk、xvn、xvz Identification model of blowing out in, M 'b、e(ωe)、Etc. parameters have different weights；When with the characteristic parameter x that blows outvTo blowing out When each control period is divided, x is being determinedvk、xvn、xvzIdentification model of blowing out in, each parameter M 'b、e(ωe)、With different priority logical relations (referring to the division of following control periods of blowing out (stage)).It blows out back Turn power Mb' determined by following mathematical models：
Mb'=f (Mc, Mj, Mk, Δ Mc)
Wherein deflecting roller (suffered ground) turning power MkIt is determined (referring to following deflecting roller turning powers by steering system (system) mechanical equation Square related Sections)：
Positive force M is returned in formulajTurn for steering wheel The function of angle δ, MkFor deflecting roller flywheel moment, GmFor retarder reduction ratio, imFor power assisting device driving current, θmIt is filled for power-assisted Set (motor) corner, BmFor steering Equivalent damping coefficient, McFor steering-wheel torque, jmFor power assisting device equivalent moment of inertia, jcFor steering equivalent moment of inertia.
By the definition of runflat condition, based on blow out, the abnormal condition that wheeled vehicle travels under nominal situation and the spy that blows out Parameter X is levied, realizes pattern-recognition of blowing out.
The variation and its amendment of iv, runflat condition feature
The variation of the state feature includes mainly two classes；Classification one, " normal variation "：Runflat condition feature is with the process of blowing out Development and corresponding actual change, the variation mainly include the change of wheel and vehicle parameter, control parameter, the characteristic parameter X that blows out Dynamic and parameter value increase and decrease；Classification two, " abnormal to change "：During blowing out especially into control of blowing out after, due to control pair The role and influence of runflat condition, characterization wheel and vehicle state parameter, control parameter, blow out characteristic parameter X and parameter value it is endless Entirely with the state feature of itself of blowing out is reflected with blowing out real process, the parameter value of X generates runflat condition the deviation of quantification. To protect validity, the accuracy of positive runflat condition pattern-recognition, during blowing out and blowing out control, reply determination blows out, is quick-fried Tire state, state tire pressure preAnd wheel, steering system, the vehicle related parameters for judgement of blowing out, by runflat condition, control field, control Phase processed and its process, using including equivalent parameters, parameter selection, parameter model replacement, parameter compensation, parameter attribute and characteristic value It shifts, the different mode of blow out pattern-recognition and conversion, determines the corresponding modeling structures of characteristic parameter X of blowing out, make wheeled vehicle Parameter, is returned to or is equivalent to, " normal variation " condition blow out feature and the characteristic value of the characteristic parameter X that blows out " abnormal to change " Under wheeled vehicle parameter, blow out feature and the characteristic value of the characteristic parameter X that blows out.
One, equivalent parameters pattern：Definition based on equivalent, non-equivalent relative parameter and its deviation, by equivalent or non-etc. The equivalent mode for imitating relative parameter deviation, by taking turns angular speed deviation e (ω to balance car wheel set twoe) and e (ωk), angle acceleration and deceleration Spend deviationWithSlip rate deviation e (Se) and e (Sk), brake force deviation e (Qe) and e (Qk) the equivalent place of deviation progress Reason makes " abnormal to change " of relevant parameter in runflat condition parameter be equal to or be equivalent to " normal variation ", thus makes the spy that blows out The runflat condition feature of sign parameter set X is converted to " normal variation " by " abnormal to change ", and wherein runflat condition parameter includes：Vehicle Wheel, steering and vehicle parameter；
Secondly, parameter selection mode：It blows out in control, in wheeled vehicle state parameter field, by including mainly e (Se) Ore(Se) or e (Sk)、Or ayThe selection of each parameter, relevant parameter in making runflat condition and the characteristic parameter X that blows out Runflat condition feature by being changed into " normal variation " by " abnormal change "；
Thirdly, parameter or its parameter model alternative patterns：Blow out in control, using relevant parameter in runflat condition parameter or Its parameter model replaces original parameter or its model, make runflat condition, in the characteristic parameter collection X that blows out relevant parameter runflat condition Feature is equivalent to and is converted to " normal variation " by " abnormal to change "；Different parameters range and under the conditions of, including using turn to Disk torque deviationReplace (or substitution) deflecting roller flywheel moment deviationOr deflecting roller is blown out flywheel moment Mb′；
Four, parameter is replaced and parameter attribute value shifts united mode：It blows out in control, mainly with yaw velocity deviationSide slip angle deviation eβ(t) it is control variable of blowing out, differential braking is taken turns by front and back axle balance car wheel set two, it is real Existing vehicle stable state control；In the state of each wheel differential braking, determines in identification model of blowing out, pass through antero posterior axis balance car wheel set The two non-equivalent relative angle velocity deviation e (ω of wheelka) and e (ωkb) replace or replace equivalent relative angle velocity deviation e (ωea)、e (Seb) mode, make vehicle status parameterseβ(t) runflat condition feature is to wheel condition parameter e (ωka)、e (ωkb) runflat condition feature transfer parameter is made by the compensation of its feature transfer and characteristic valueeβ(t) it is braking Runflat condition feature during control is equivalent to and is converted to " normal variation " by " abnormal to change "；
Five, parameter compensation model：Using wheel, steering, the penalty coefficient of vehicle related parameters, compensation model and Algorithm directly compensates corresponding runflat condition and the characteristic parameter X that blows out, and makes the runflat condition feature of its parameter by " different Often change " it is equivalent to and is converted to " normal variation "；
It six, blows out the conversion of recognition mode, model：It blows out during control, by runflat condition and control field, control Section and its process, using different recognition modes of blowing out, model, including the recognition mode of adoption status tire pressure, model first, Enter certain control process after blowing out the control of deflecting roller turning power in vehicle, is transferred to and turns to mechanics state recognition mould using blowing out Formula and model, make runflat condition and the runflat condition feature for the characteristic parameter X that blows out is equivalent to by " abnormal to change " and is converted to " just It often changes "；
4., judgement of blowing out
I, it blows out definition：No matter whether wheel really blows out, as long as car wheel structure, mechanics and motion state parameters, vehicle Transport condition parameter turns to that mechanics state parameter, control parameter of blowing out be qualitative and wheeled vehicle " the improper shape of quantification characterization State " occur, based on blow out identification parameter and blow out pattern-recognition foundation decision model of blowing out, by the decision model it is qualitative and Quantification determines that runflat condition feature reaches setting condition, then is judged to blowing out, wherein it equally includes qualitative and fixed to impose a condition Amount condition.According to the definition blown out, under runflat condition feature described in this method and wheeled vehicle be normal and operating mode of blowing out it is non-just Normal state feature is consistent, while consistent with the state feature that rear wheel of really blowing out, steering, vehicle generate, so-called " state Feature is consistent " refer to：The two is essentially identical or equivalent.Judgement blow out mainly using detection tire pressure pra, state tire pressure pre, turn To mechanical state three kinds of blow out determinating mode or combinations of its pattern.
Ii, determinating mode of blowing out
According to runflat condition process, the particular requirement of control period of blowing out, control process of blowing out, selected identification parameter of blowing out, Blow out recognition mode and identification model of blowing out are established, under conditions of blowing out with the non-abnormal condition appearance blown out, based on quick-fried Tire identification model is blown out characteristic parameter collection X [x surelya、xe、xv] establish and blow out decision model, decision model of blowing out using qualitative and It quantitatively blows out condition criterion, judgement of quantitatively blowing out sets threshold value, establishment is sentenced mainly using logic threshold model form of blowing out Determine logic, judgement of blowing out is carried out according to decision logic, by definition of blowing out, the value that decision model of blowing out determines reaches setting thresholding threshold Value, then be judged to blowing out, and judgement of otherwise blowing out is invalid and exits its judgement and blows out.Logic threshold model includes mainly：Dan Can Number, multi-parameter or its combined parameters Threshold Model, set threshold value include mainly：One-parameter, multi-parameter and combined parameters door Limit threshold value.Judgement for the Threshold Model of multi-parameter simple gate limit, can set the weight of relevant parameter in characteristic parameter collection X；It is more It is suitable can to set the weight of relevant parameter and parameter priority logic in characteristic parameter collection X for the judgement of the Threshold Model of parameter multi-threshold Sequence.To decision logic assignment of blowing out, indicate whether to blow out with positive and negative "+", the "-" of mathematic sign (logical symbol), automatically controlled process Middle logical symbol (+, -) high and low level or specific logical symbol code (including mainly number, number etc.) expression.
One, detection tire pressure determinating mode：Based on the characteristic parameter collection x that blows outa[xak、xan、xaz] identification model one of blowing out As form：
Blow out characteristic parameter collection xaIn the functional form of each parameter mainly wrap It includes：
Parameter set xaModeling structure：xaTo detect tire pressure praThe increasing function of decrement is yaw rate deviationWith Balance car wheel set two takes turns equivalent relative angle velocity deviation e (ωe) absolute value increment increasing function.Determine xaModel in, pra's Weight is more thanWeight,Weight be more than e (ωe) weight.Work as praP when being 0raWeight value be 1, and And xakObtain maximum value；When decision model of blowing out uses Threshold Model, x is setaThreshold value, determine decision logic, work as xa When up to setting threshold value, it is judged to blowing out.For using xaCollection parameter combines decision model of blowing out, and sets xak、xanDoor Threshold value is limited, decision logic is determined, works as xak、xanSet major and minor threshold value is respectively reached, is judged to blowing out, judgement of otherwise blowing out It is invalid or and go out judgement of blowing out.
Secondly, state tire pressure determinating mode：Based on the characteristic parameter collection x that blows outeIdentification model of blowing out, xeParameter model General type and linearisation：
xe=f (pre)、xe=kpre
Blow out characteristic parameter collection xeIn each parameter xek, xen, xezModel use functional form, include mainly：
xek=f (prek)、xen=f (pren)、xez=f (prez)
Wherein feature tire pressure prek、pren、prezIt is determined using following methods：Under Vehicular turn or non-steering condition, with wheel, Vehicle, turn around parameters and control parameter are input parameter, the different controls such as, driving non-brake and non-driven according to vehicle, braking Process and the special of control period of blowing out require, and select prek、pren、prezThe parameter of use establishes mathematical model and the modeling of the parameter Structure；prek、pren、prezEach mathematical model in, using correction factor λi, pass through λiTo each wheel ground friction coefficient μi, load Nzi, steering wheel angle δ variation compensate, correction factor λiUsually by μi、Nzi, δ parameters equivalent model determine；Blow out spy Levy parameter xek, xen, xezDecision model of blowing out use logic threshold model form, set dynamic threshold threshold value, foundation is blown out and sentenced Determine logic, works as xek, xen, xezWhen up to setting threshold value, then it is judged to blowing out, otherwise blowing out, judgement is invalid or to exit its quick-fried Tire judges.
Thirdly, turn to mechanical state, wheeled vehicle parameter decision pattern：Using the characteristic parameter collection x that blows outv[xvk、xvn、 xvz、xvw] combine identification model of blowing out.xvwTo qualitatively judge condition：Establish parameter Mk、δ、Mc、Mb' and steering wheel (or turn to Wheel) rotation direction preferred coordinates system, flywheel moment of blowing out Mb' reach steering wheel angle δ, torque McSize and Orientation changes critical Point determines M by mechanical state identification model of blowing out is turned tobThe decision logic in ' direction (controls phase referring to following deflecting roller turning powers Close chapters and sections), by the decision logic, determine Mb' direction；Mb' direction determining establishment then show Mb' formed, xvwReach setting Decision condition.xvk、xvn、xvzTo quantitatively judge condition：In qualitative condition xvwUp to after setting decision condition, with xvk1、xvn1、xvz1For Parameter establishes the decision model of blowing out of its parameter, which mainly uses the form of logic threshold model, set threshold value and Decision logic works as xvk1、xvn1、xvz1One of when reaching set threshold value, then be judged to blowing out, judgement of otherwise blowing out is invalid And it exits its judgement and blows out；Do not using xvwQualitative judgement under the conditions of, with xvk2、xvn2、xvz2The quick-fried of its parameter is established for parameter Tire decision model, the model equally use the form of logic threshold model, set threshold value, work as xvk2、xvn2、xvz2One of reach When to setting threshold value, then it is judged to blowing out, judgement of otherwise blowing out is invalid and exits judgement of blowing out.
Based on the definition blown out, originally blows out and be determined as a kind of blurring, overlappingization, generalities, the judgement of mobilism.It is fuzzy Change is expressed as with the characteristic of ization：Not necessarily true generation of blowing out through the judgement, but very possible true generation, and show For：Under certain condition, vehicle is normal, the wheel condition for operating mode of blowing out, steering state, vehicle-state are overlapped, wherein main Wheel, steering, vehicle-state and the item of blowing out being included under the conditions of split friction coefficient road surface, braking driving steering sliding etc. Wheel, steering and vehicle-state under part is overlapped.The feature of generalities is expressed as：Judgement is blown out through the judgement not necessarily True to occur, only a kind of nominal situation and low tire pressure or relevant wheel of really blowing out, steering and vehicle abnormal condition are special The judgement of sign.The feature of mobilism is expressed as：This is determined as a kind of normally non-with wheel, steering and vehicle during runflat condition The judgement of normal condition process.This judgement defines the corresponding technical characteristic of control of blowing out, i.e., need not make true blow out and sentence Control of blowing out is entered back into after fixed, control process of blowing out is adapted with runflat condition process.
5., the division of runflat condition and control period of blowing out (stage)
The division is based on specific point of blowing out, using characteristic parameter and its united control period (stage) the delimitation side of blowing out Formula, the corresponding each phase control signal of main controller output after each control period (stage) delimited.In each control period of blowing out, control of blowing out Using identical or different blow out control model and model.
I, the control period for specific point of blowing out delimit mode.One, the starting point for determining control of blowing out and blow out, wheel shape State and state parameter drastically change a little, fixed main turn including zero tire pressure, wheel rim burble point, wheel speed, wheel angle acceleration-deceleration Height.Secondly, the inflection point of blow out control and control parameter, which mainly includes transition point, the singular point of wheel angle acceleration-deceleration, makes The transition point of brake force is expressed as in dynamic.Above-mentioned specific time and state point based on runflat condition and control of blowing out, determine quick-fried Tire and control period of blowing out (stage), control period include mainly：Blow out early period, it is true blow out the states such as phase, inflection point of blowing out, knocking over and Control period.It blows out early period：It blows out and controls starting point to the period between starting point of really blowing out；Really blow out the phase：Really blow out Starting point is to the period between inflection point of blowing out, and starting point of really blowing out is by detection tire pressure and its change rate, state tire pressure and its change Rate, the mathematical model for turning to mechanics characteristic condition parameter determine；Inflection point of the blowing out phase：Inflection point of blowing out is between tire rim burble point Period, inflection point of blowing out are determined by detection tire pressure or state tire pressure and its change rate, wheeled vehicle parameter and its mathematical model.It blows out Tire pressure and its change rate are the change of 0, wheel and vehicle status parameters close to a critical point in the inflection point phase.Knocking over control period：Vehicle State and control period after the separation of tire rim, detection tire pressure and change rate are 0 in the phase, and wheel attachment coefficient drastically changes, should Control period can be determined by the parameters such as vehicle side acceleration and tyre slip angle and its mathematical model.
The control period delimitation mode of ii, characteristic parameter of blowing out.Based on runflat condition, control structure of blowing out and type, select Blow out relevant parameter in characteristic parameter collection X, set the numerical value point of several series of the parameter, each point be set as runflat condition and It blows out the division points in control period (stage), constitutes blow out each state phase and control period of blowing out (stage) between each point, blow out each Runflat condition in phase is substantially consistent or equivalent identical with the true runflat condition process of the phase.
The united control period of iii, specific point of blowing out, characteristic parameter of blowing out delimit mode
Using the grading system dividing mode of upper and lower two-stage.Higher level's control period：Before blowing out by specific point determination of blowing out, really It blows out, inflection point of blowing out, each control period of knocking over (stage)；Subordinate's control period：Higher level determine blow out before, really blow out, blow out In inflection point, each control period of knocking over, the numerical point of several series is set by characteristic ginseng value of blowing out, and is next stage between each numerical point Each control period (stage), making to blow out by the division of subordinate's control period, it is more accurate to control, to meet runflat condition acute variation Requirement.
Iv, it blows out and control period of blowing out
One is blown out early period：Entering signal of blowing out iaSystem, which enters to blow out, when arrival controls early period, which usually sends out It is born in the low-medium speed rate decompression state of wheel tyre pressure, according to the real process, vehicle or enters really to blow out and phase control or exits It blows out control；
Secondly, really blow out the phase：With tire pressure pr(including pra、pre) and tire decompression rateFor parameter, detected in tire pressure Sampling period in, tire pressure change value Δ p is determined by the function model and pid algorithm of its parameterr：
P in formular0For standard tire pressure, t1To t2For the time in the sampling period of tire pressure detection；By Threshold Model, tire pressure changes It is worth Δ prUp to setting threshold value aP1When be determined as the phase of really blowing out, electronic control unit output is really blown out control signal ib, control of blowing out Device processed enters the control stage for phase of really blowing out；
Thirdly, inflection point of the blowing out phase：Using a variety of decision procedures；Decision procedure one, the system to tyre pressure sensor is arranged, inspection Survey tire pressure value praIt is 0, and balance car wheel set two of blowing out takes turns equivalent (or non-equivalent) with respect to angular speed e (ωe), angle acceleration-decelerationSlip rate e (se) one of deviation or multiple parameters functional value up to setting threshold value aP2, that is, it is determined as inflection point of blowing out；Sentence Determine mode two, within the sampling period that tire pressure detects, is based on state tire pressure preAnd its change rateFunction model determine its change Dynamic value Δ pre：
By Threshold Model, as Δ preUp to setting threshold value aP3, or with wheel condition parameter include equivalent non-equivalent relative angle speed Degree, angle acceleration-deceleration, slip rate just with minus symbol change, be determined as inflection point of blowing out；Electronic control unit exports inflection point control of blowing out Signal ic, blowing out to control enters the inflection point control stage；
It four, blows out the wheel knocking over phase：When wheel turning angle up to setting threshold value, or balance car wheel set two of blowing out take turns it is equivalent Opposite side drift angle αi, vehicle side acceleration aySetting threshold value is reached respectively, or when the mathematical modulo offset of its parameter reaches setting door Threshold value is limited, judgement tire takes off with wheel rim detaches knocking over, and electronic control unit exports knocking over signal id, control system of blowing out enters knocking over control Stage processed.
6., the entrance of control of blowing out, exit and control model conversion
The generalities of state tire pressure and judgement of blowing out overlappingization, are blurred, are determined control of blowing out enters and exits two The essential controlling unit of kind；Blow out judgement set up under conditions of, main controller be based on vehicle flat tire state, control period of blowing out, Control structure of blowing out and type, it is selected to establish control entrance of blowing out, the parameter of the mode of secession and model.First kind parameter：Mainly Including the characteristic parameter collection [x that blows outak、xan、xaz] in relevant parameter.Second class parameter：Wheel, vehicle, environmental correclation parameter, Include mainly：Speed ux, the spacing L between Ben Che and all around vehiclet, opposite speed ucOr anticollision time zone ta.Manual operation circle Face operating parameter：Steering wheel (or deflecting roller) corner δ, brake-pedal travel Sw, accelerator pedal stroke hi, to automatic driving vehicle, The vehicle that the artificial operating parameter is exported by central computer actively accelerates and control for brake parameter replaces.It is established by selected parameter It blows out and controls entrance, the mode of secession and model, the environment shape that the entrance, the mode of secession are mainly entered or exited by control of blowing out The conditions such as condition, manual intervention, vehicle-state determine.The blow out entrance of control, the model that exits mainly uses logic threshold model Form sets threshold value and decision logic, by the model and decision logic, determines the entrance for control of blowing out, exits.It blows out control The entrance of system, exit determine after, main controller simultaneously export blow out control enter, exit signal ia、ie。
I, control of blowing out actively enters and exits.Determine its condition for entering or exiting, it can using multi-parameter threshold value The dynamic threshold model of tune.Controller is mainly with the characteristic value X that blows out, speed ux, spacing L between Ben Che and forward and backward vehiclet, opposite vehicle Fast ucOr anticollision time zone ta, accelerator pedal stroke ± hi, brake-pedal travel ± Sw(or the output of automatic driving vehicle main controller Vehicle active accelerates and control for brake parameter) it is input parameter, blow out control entrance and exit criteria are arranged based on judgement of blowing out, Establish the major-minor Threshold Model of blow out characteristic parameter X and speed；Under conditions of judgement of blowing out is set up, according to setting condition and thresholding Model determines that the entrance for control of blowing out is exited；Wherein set control of blowing out enters and exit criteria includes mainly：Whether setting is anti- Hit control condition and control zone, whether artificial interference.Control of blowing out enters and the mode of secession, model are by as described below.
One, the active entrance of vehicle flat tire control and the mode of secession, model.Main controller is in the characteristic parameter collection X that blows out Selected parameter, speed uxFor input parameter, major and minor Threshold Model is set, as the characteristic parameter collection X [x that blow outa、xe、xv] selected ginseng Numerical value reaches main threshold value ax1(include mainly axa1、axe1、axv1), speed reach secondary threshold value au1When, vehicle enters quick-fried Tire controls, and electronic control unit output, which is blown out, set by main controller controls entering signal ia.Control entering signal of blowing out iaIt is each to control when arrival Device processed actively enters the control of blowing out of wheel, vehicle.Setting, which is blown out, controls threshold value ax2(include mainly axa2、axe2、axv2) and au2, wherein ax1With ax2、au1With au2It is equal or different, X or speed u when the two is equalxOne of not up to threshold value ax1、au1, Control of blowing out is exited；When the two is unequal, speed uxOr one of the characteristic parameter X that blows out reaches setting threshold value au2、ax2, blow out Control is exited, and electronic control unit set by main controller exports control of blowing out and exits signal ie。au1And au2For setting value or it is that steering wheel turns Angle δ or with ground friction coefficient μiFunction f (δ, μi), linearization process is carried out to it, which includes mainly：
au=au0-k1δ-k2(μ0-μi)
Using proportion differential algorithm (PD)：
A in formulau0Set threshold value, a when keeping straight on for vehicleuIncluding au1And au2、μ0For set ground standard friction coefficient, k1With k2For coefficient.
Secondly, blow out control active negotiation enter and exit pattern, model.By collision prevention of vehicle condition and logic threshold mould Type, as Ben Che and forward and backward vehicle spacing Lt, opposite speed ucOr anticollision time zone taWhen into set interval, control of blowing out, which reaches, moves back Go out condition and Threshold Model setting threshold value, manned vehicle electrically controlling unit or automatic driving vehicle master control set by main controller The control of computer-made decision tyre burst brake is exited, and sends out the anticollision control signal i that blows outh, tyre burst brake, which controls, enters anticollision pattern, Tyre burst brake control is actively exited or is actively returned to.
Thirdly, blow out control actively enter and exit man-machine communication's pattern, model.AC mode one, manned vehicle Or automatic driving vehicle (with man machine operation interface) human-machine operation AC mode.Determine that control of blowing out adaptively is exited and again Return condition and model：Main controller is with gas pedal (or vehicle accelerates control operation interface) stroke hiAnd its change rateFor parameter, Based on gas pedal one, two, the division of multiple stroke and positive revesal, establishes adaptive model based control, control logic and have item Thus the control logic priority that part limits solves tyre burst brake control and actively exits and return to, active brake and engine Conflict between drive control.Controlling model includes mainly：Tyre burst brake control is actively exited, is returned to automatically and engine driving The logic threshold model of control, setting gate logic limit threshold value, formulate control logic, determine tyre burst brake control and engine driving Sequence between control.Control entering signal of blowing out iaWhen, if vehicle control is in accelerator pedal stroke one stroke, no matter Which kind of position is gas pedal be in, and engine driving terminates at once；Reach in gas pedal two or the repeatedly positive stroke of stroke and sets When determining threshold value, tyre burst brake control is actively exited, into the drive control for restriction of having ready conditions.In gas pedal two or repeatedly Backstroke in stroke is up to when setting threshold value, and drive control exits, and tyre burst brake control actively returns to.System introduces quick-fried Tire control period driver is to vehicle feed speed control wish characteristic parameter Wi(include mainly Wai、Wbi), parameter WiIt is stepped on throttle Plate stroke hiAnd its derivativeFor parameter its parameter h is established by gas pedal one, two and the repeatedly division of strokei、Just, The asymmetric step function model of revesal；Its so-called parameter (includes mainly hi、) the asymmetric step function of positive and negative stroke refer to：Its The parameter of the built function model use of positive and negative stroke of parameter, modeling structure are not exactly the same, and in its variable (parameter) On identical data point, its functional value it is entirely different or not exactly the same.The positive and negative stroke model W of one strokea1、Wa2：
Wa1=0, Wa2=0
hiDatum point be the control entering signal i that blows outaH when arrivaliValue h0, WaiTravel position h is stepped on throttle0It is unrelated. The positive and negative stroke model W of secondary or multiple strokeb1、Wb2：
hiOrigin be 0.In gas pedal two or repeatedly stroke, in variable hiArbitrary data point on, positive stroke Wb1Function Functional value W of the value less than revesalb2, accelerator pedal stroke hiPositive and negative (±) respectively indicate driver to vehicle acceleration, deceleration Wish.Tyre burst brake control under accelerator pedal operation interface is adaptively exited and is entered：It uses with WbiFor the logic gate of parameter Model is limited, the logic threshold threshold value set c of each secondary pedal travel is sethbi.Two are used in gas pedal is secondary and multiple stroke Kind Threshold Model, model one, WbiCharacteristic value determined by following function model：
Work as Wb1Up to threshold value chb1When, tyre burst brake control is actively exited, and W is worked asb2Up to threshold value chb2When actively to return to its quick-fried Tire controls.Model two, WbiCharacteristic value respectively by parameter hi、Major and minor function model determine：
Wbi1=f (± hi)、
Work as Wb11、Wb12Up to major and minor threshold value chb11、chb12When, tyre burst brake control is actively exited.Work as Wb21、Wb22Up to major and minor Threshold value chb21、chb22When, tyre burst brake control actively returns to its control of blowing out.In first and second and multiple row of gas pedal In the control of blowing out of journey, engine air throttle or fuel Injection Control are using successively decreasing, close or oil-break, constant, dynamic and idling Etc. different control model and model, coordinate blow out active brake and the engine driving self adaptive control of realizing man-machine communication. When the tyre burst brake control that accelerator pedal operation interface actively carries out is exited or returned to, electronic control unit exports (man-machine communication) braking Signal i is exited in controlkOr tyre burst brake control returns to signal ia.Gas pedal first and second and the repeatedly definition of stroke：Automatically controlled list Member presses programmed decision：Entering signal of blowing out iaWhen arrival, gas pedal (or throttle opening) be in arbitrary distance of run position or by The positive revesal that zero-bit starts is known as one stroke, and the positive revesal restarted again behind one stroke zero position is known as secondary row Journey, the stroke of gas pedal is referred to as multiple stroke after secondary stroke.Control blow out into after being exited with man-machine communication's pattern Automatic Restart Signal is ia, control entering signal of blowing out ia, exit signal ieFor signal independent of each other, ia、ieIt can be by blowing out The low and high level of signal or specific logical symbol code (including mainly number, number etc.) indicate.Blow out control entrance and The mechanism for being determined that control of blowing out is exited at any time with the change of runflat condition is exited, for the weight of nominal situation and operating conditions of blowing out It is folded to provide reality and the basis with operability.
Ii, control model of blowing out turn and the setting of conversion signal
Main controller delimit condition according to control period of blowing out (stage), set the corresponding two-step evolution phase up and down；Higher level controls Phase, by before blowing out, really blow out, inflection point of blowing out, knocking over respectively control conversion signal ia、ib、ic、id, realize that control model turns It changes.Next stage control period, passes through ia(ia1、ia2、ia3……)、ib(ib1、ib2、ib3……)、ic(ic1、ic2、ic3……)、id (id1、id2、id3...) control conversion signal of blowing out, realize the control model conversion of each control period of subordinate.iaFor blow out control into Enter signal, ia1、ia2、ia3... for the control model conversion signal for each control period of Inner subordinates early period of blowing out.It blows out and blows out control Different times, controller uses control model of blowing out, model and the algorithm being adapted with runflat condition, and respectively controlled by subordinate The control model of blowing out of use, model in phase processed, making to blow out, it is more accurate to control, and meets the requirement of runflat condition acute variation.
7., manual operation control and controller (RCC)
Manually control key is arranged in RCC, referring to Fig. 5.The control key is connected using setting in multikey position or/and some cycles The key mapping setting means of continued key control number determines hand keying key mapping type with this.Control key includes mainly：Knob key, pressing Key." standby " and " closing " two key mappings are arranged in control key.To the logic state U of two key mappingsg、UfAssignment, with low and high level or number Code is as mark.Electronic control unit set by central master of blowing out or main controller identifies patrolling for two key mapping open and close by data/address bus State and its variation, and the variation of recognition logic state are collected, the key mapping of " standby ", " closing " exports patrolling after it is changed when changing Collect status signal ig、if.When vehicle control system powers on, system is blown out the logic state U of controller clear 0, RCC control key mappingg、 UfThe key mapping that " standby " or " closing " is set by control key determines, when key mapping is placed in "Off" state, the set display of key mapping background Lamp is bright to be opened, until manual operation knob or pressing key, are allowed to be transferred to " standby " key mapping, background display lamp extinguishes.Vehicle travels In, RCC control keys should be placed in " standby " key mapping always, and the mutual transfer of two key mappings constitutes the active control of blowing out of system controller Compatible with hand keying operation and control, the control logic of hand keying operation is preferential and covers blowing out for system controller Active control logic.
I, knob key.It is spun on the logic state U of " standby " key mapping in knobgUnder, after vehicle flat tire, control of blowing out enters With exit each signal ia、ieWhen arrival, vehicle actively enters or exits control of blowing out.It blows out when driver need to be closed by its wish When control, knob is gone into "close" key position, RCC enters the logic state U of closingf, and export control of blowing out and exit signal if, The control of blowing out of control system of blowing out and controller terminates at once, until knob key is replaced in " standby " key mapping by driver, It is converted by RCC " standby " and "close" key position, realizes the artificial logic loops for exiting and restarting for active control of blowing out.
Ii, RCC press key.Two key mappings of the standby of control and closing of blowing out are arranged in RCC.Pressing once exports an independence Pulse signal, continuous pressing export a dipulse (time interval of two pulses is smaller) twice, and controller is to independent list A pulse and dipulse carry out logical assignment.When vehicle control syetem and controller power on, RCC should be placed in " standby " key mapping, RCC When being not in " standby " key mapping, the display lamp of pressing key background is bright to be opened, and needs driver continuously by control key is pressed twice, by RCC Pressing key is placed in " standby " key mapping, and RCC is then at standby logic state Ug.In vehicle travel process, control system of blowing out And controller enters and exits each signal i by control of blowing outa、ieWhen arrival, vehicle actively enters or exits control of blowing out.When driving The person of sailing need to be closed by its wish when blowing out control, and driver's Manual press RCC buttons are primary, and letter is exited in RCC outputs control of blowing out Number if, control system of blowing out and controller exit control of blowing out, and RCC enters the logic state U of closingf.Driver " is waited for by RCC The manually conversion of machine " and "close" key position, realize the artificial logic loops for exiting and restarting for active control of blowing out.Work as RCC When by " standby " being converted to "close" key position manually, control of blowing out is exited, and logic U is exited in hand keying control of blowing outePreferentially And cover vehicle flat tire active control logic Ua, i.e.,RCC is converted to " standby " by " closing " or is in " standby " key Position, and only as the control entering signal i that blows outaWhen arrival, vehicle flat tire active control is restarted.
8., coordinate control and controller
By different control periods (stage) of blowing out, tuning controller of blowing out is using the control signal I that blows out as input signal, into driving Control is coordinated in tyre burst brake, driving, steering, anticollision, and the parallel or independent of each subsystem coordinates control, and man-machine communication coordinates control System.Coordination control is realized based on control model conversion of blowing out by vehicle speed, steering and Suspension control.Signal of tyre burst I master To include normally with control model conversion signal of blowing out, main includes the control entering signal i that blows outa, true control signal of blowing out ib, turn point control signal ic, knocking over control signal id, control of blowing out exit signal ie, hand keying control of blowing out exit signal if、 Hand keying, which is blown out, controls Restart Signal ig, anticollision control signal ih, man-machine communication's control for brake exit signal ik, vehicle accelerate Control signal ir, blow out control active Restart Signal iy, coordinate control signal iu, brake fade signal il。
I, Context awareness and braking anticollision control.The control is based on range unit, information mutually hands over system, computer vision system System and the anti-Controlling model that knocks into the back of driver, according to each stages such as early period of blowing out, true phase of blowing out, inflection point of blowing out controls, using vehicle Tyre burst brake and fore-aft vehicle coadaptation, adaptive anticollision control model, model and algorithm.When being controlled into anticollision, system Electronic control unit output anticollision control signal i set by main controllerh.One, braking and anticollision control.Establish the vehicle for vehicle braking of blowing out The pattern and model for taking turns stable state (A), balancing brake (B), vehicle stable state (C) and brake force total amount (D) control, are arranged A, B, C, D Brake control logic combines, and under the shaping modes of collision prevention of vehicle control, converts and its controls by the combination of each control logic, pattern The cycle H of logical combination processedhCycle achievees the purpose that collision prevention of vehicle and blow out vehicle stabilization deceleration, stability control for brake, real Existing vehicle coadaptation, adaptive appropriateness slow down and coordinate control, prevent front and back side collision.Secondly, driving with anticollision control coordinate. Start vehicle traction control, controls vehicle acceleration, prevent front and back side collision.Thirdly, turn to anticollision control coordinate.By turning To wheel corner control, realizes that vehicle route tracking, track are kept, prevent side collision.
Ii, engine braking and pedal brake are coordinated to control.Brake monitor passes through uneven (differential) brake force of wheel (square), the unbalanced system power (square) that engine braking generates after blowing out to drive shaft wheel provide compensation, and early period of blowing out can be first First start engine braking, two wheels obtain the equal engine brake force of torque under the effect of drive shaft differential mechanism.Such as driving wheel One of to blow out wheel, occur blowing out and take turns effective rolling radius RiReduce etc., two driving wheel tire forces to the torque of vehicle centroid not It is equal, control for brake can be started at this time.First, the differential braking taken turns by drive shaft two applies the coaxial another wheel of wheel of blowing out Add additional brake power (square) Qi, brake force QiRadius R is taken turns by drive shaft two1、R2Or tire pressure pr1、pr2For the function model of parameter It determines, includes mainly：
Qi=f (pr1, pr2)
Secondly, the differential braking taken turns by nonpowered axle two generate what an additional yaw moment balanced engine brake force generated Uneven yaw moment.
Control is coordinated in iii, pedal brake and engine air throttle or fuel oil injection.Tyre burst brake controls when starting or coordination Control signal iuWhen arrival, while starting engine air throttle or fuel Injection Control, successively decreased using air throttle or fuel oil injection, Dynamically, the control models such as constant, idling.Wherein constant pattern includes closing air throttle or terminating fuel oil injection, opens and adjusts Control (idling) valve, the adjusting engine being set on engine idling channel export, and coordinate the braking of tyre burst brake controller Control.Signal i is exited in control of blowing oute、ifWhen Deng arriving, the control of brake monitor tyre burst brake, air throttle or fuel oil injection are terminated Controller returns to nominal situation control model.It blows out in control, the throttle opening adjusting of throttle controller can be sprayed with fuel oil Fuel injection amount control mutually substitution, the two for penetrating controller take one.
Iv, setting deflecting roller turning power control entry condition：Control entering signal of blowing out iaIt arrives, into control of blowing out Afterwards, any time point blown out between early period and true phase of blowing out, or control secondary thresholding mould by door deflecting roller turning power of blowing out Type, the characteristic parameter X that blows out (including xa、xe、xv) value up to setting threshold value, realizing balanced rotation power of blowing out MbOr steering-wheel torque mesh Mark controlling value Mc1With steering-wheel torque detected value Mc2Between deviation delta McUp to setting threshold value, start deflecting roller turning power control System.
V, lift Suspension control entry condition is set：Control entering signal of blowing out iaIt arrives, into after control of blowing out, by liter The models such as the secondary thresholding of power Suspension control, blow out wheel tire pressure or effective rolling radius laterally accelerates less than setting threshold value, vehicle Spend ayUp to setting threshold value, start lift suspension controller, adjusting, which is blown out, takes turns suspension lift, balances the inclination of vehicle body, and compensation is quick-fried Each wheel load variation that tire generates adjusts brake monitor imbalance braking force distribution caused by each wheel load variation.
Vi, deflecting roller turning power and active steering are coordinated to control.Deflecting roller revolution force controller passes through controlled vehicle-mounted electrical power-assisted System applies an additional flywheel moment to steering, balances flywheel moment of blowing out, and reduction blows out flywheel moment to steering Impact.Active steering controller or steering-by-wire controller use an additional rotational angle thetaebCompensate the deficiency that vehicle flat tire generates Or oversteering angle θeb′.Deflecting roller turning power same can set with active steering controller or mutually replace.
The coordination of vii, hand keying and vehicle active control determine that hand keying and the coordination of vehicle active control are patrolled Volume, when hand keying conflicts with vehicle active control, hand keying is preferential.
The tyre burst brake control that viii, man machine operation interface control adaptively is exited, is returned to and engine air throttle, fuel oil Control is coordinated in injection.After system enters control of blowing out, in gas pedal one, two or repeatedly stroke, automatically controlled list set by main controller Member controls adaptive the mode of secession judgement by tyre burst brake, when needing to exit control for brake, exports the control for brake of man-machine communication Exit signal ik, signal ikThe active brake control of blowing out of brake monitor is terminated, throttle opening and fuel oil injection control are coordinated System adjusts engine output.When needs, which are restarted, blows out active control, output, which is blown out, controls active Restart Signal iy, start quick-fried Tire control reenters.Establish manual operation Interface Control and vehicle active control (referred to as two control) coordination control model, Model and coordination control logic.One, gas pedal engine driving and blow out active brake control hazard when, by gas pedal Stroke is secondary, multiple and positive revesal division, and restrictive condition is arranged, establishes gas pedal engine driving and blows out and actively make The priority of dynamic control logic.Gas pedal controls in positive and negative stroke, passes through Threshold Model, threshold value and positive and negative stroke Asymmetric Model, the limited intervention condition of setting engine driving, engine driving exit criteria, setting blow out active control again The control logic restarted.Realize that the control logic of above-mentioned two control is had ready conditions mutual covering.Secondly, hand keying operation blows out control System is when exiting, and the keying control logic covering that control is exited of blowing out is blown out active control logic.
In ix, control of blowing out, main controller or central master to braking, driving, turn to control between each controller and Data exchange is coordinated, and coordinates the setting of communication interface between each controller, the foundation of communication mode and communication protocol It formulates.
9., vehicle control scheme conversion and converter
I, manned vehicle control scheme conversion and converter.Electronic control unit set by controller of blowing out is independently arranged, or It is shared with vehicle-mounted existing system controller electronic control unit isomorphism, according to electronic control unit difference setting situation, controller is with letter of blowing out Number I is switching signal with each control subsystem corresponding signal, using three kinds of program, agreement and external converter different switching moulds Formula and structure realize conversion of the vehicle normally with operating mode of blowing out, blow out each control stage control pattern, model.One, program turn Parallel operation：Electronic control unit set by controller uses the same electronic control unit with corresponding onboard system, and electronic control unit is with signal of tyre burst I For switching signal, call control model conversion routine, it is automatic realize control of blowing out enter and exit, blow out with it is non-blow out, it is quick-fried The control in tire each stage and control model conversion.Secondly, protocol converter：It blows out electronic control unit and onboard system set by controller Each electronic control unit is arranged independently of each other, mutually sets communication interface, establishes communication protocol, and electronic control unit presses communication protocol, with letter of blowing out Number I, each subsystem controller coherent signal are switching signal, pass through the control to each system electric-controlled unit output state, are realized Blow out control entrance, exit and it is above-mentioned it is each control and control model conversion.Thirdly, external converter.It blows out controller Referred to as two electronic control unit of electronic control unit set by electronic control unit and onboard system, two electronic control unit are independently arranged, it is logical not set up therebetween Believe that agreement, two electronic control unit are realized the entrance for control of blowing out, exited by external converter, including preposition or postposition converter And above-mentioned each control model conversion.Preposition converter is set before two electronic control unit, and each sensor surveys signal through preposition conversion Device inputs electronic control unit and onboard system electronic control unit, is arranged signal of tyre burst I's between preposition converter and system electric-controlled unit Communication interface and circuit, when signal of tyre burst I arrives, preposition converter is using signal of tyre burst I as switching signal, by vehicle-mounted control The control of system power supply or each electronic control unit signal input state changes each electronic control unit signal output state, realizes control of blowing out The entrance of system, exit and it is above-mentioned it is each control and control model conversion.After two electronic control unit of controller and onboard system of blowing out Be arranged postposition converter, with onboard system electronic control unit output signal through postposition converter, enter back into corresponding vehicle-mounted control System executive device, when signal of tyre burst I arrives, by the control to two electronic control unit output states, realize control of blowing out into Enter, exit and it is above-mentioned it is each control and control model conversion.Wherein electronic control unit signal input state refers to：Electronic control unit have or The state of no signal input, the input state for changing signal are that will have signal input to be converted to the state of no signal input or incite somebody to action No signal input is converted to the state of signal input.Similarly, electronic control unit signal output state refer to electronic control unit with or without The state of signal output, the output state for changing signal are that will have signal output to be converted to the output state of no signal or by nothing Signal output is converted to the state of signal output.The front or rear hardware setting for setting conversion equipment includes that signal input and output connect Mouth, electronic commutator, logic gates, signal change circuit, relay or and microprocessor.
One, program converter.Controller of blowing out is shared with vehicle-mounted corresponding controller electronic control unit isomorphism, controller institute If the conversion module of electronic control unit, using signal of tyre burst I and each subsystem coherent signal as switching signal, calling is stored in automatically controlled list Control in member and control model conversion routine, switching system, subsystem and each control module of onboard system it is normal with it is quick-fried Tire control model, regulates and controls outputting and inputting for corresponding control signal, realizes the entrance for control of blowing out, exits and each control model Conversion.
Secondly, protocol converter.Controller electronic control unit of blowing out is arranged independently of one another with vehicle-mounted corresponding controller, two electricity Communication protocol is established between control unit.Two electronic control unit input ports are direct or connect with each sensor by CAN bus, and two is automatically controlled Each device input interface of unit output port execution unit corresponding to controller of blowing out, Vehicle Controller connects.It blows out control Entering signal i processedaWhen arrival, two electronic control unit press communication protocol, and the termination of Vehicle Controller electronic control unit respectively fills execution unit The output of control signal is set, controller electronic control unit of blowing out is by control program or the software progress data processing of blowing out, output signal Corresponding each device of execution unit is controlled, realizes the control of blowing out of vehicle.Signal is exited in the control of blowing out of master controller of blowing out output ie、if、ikOr ihWhen Deng arriving, electronic control unit set by master controller of blowing out, controller terminates the output for control signal of blowing out, vehicle Set controller electronic control unit is restored the control to vehicle-mounted each executive device and is exported, and vehicle restores nominal situation control.
Thirdly, external converter.Controller electronic control unit of blowing out and electronic control unit set by vehicle-mounted corresponding controllers are only each other It erects and sets, two electronic control unit do not set up communication protocol, and external converter is arranged.One, postposition converter.Two electronic control unit Postposition converter is set afterwards, and two electronic control unit output signals input corresponding vehicle-mounted each executive device again through postposition converter. The input port of postposition converter is connect with controller output port of blowing out.Under nominal situation, the output of onboard system electronic control unit The converted device of signal controls corresponding each executive device.Control entering signal of blowing out iaWhen arrival, postposition converter is with quick-fried Tire entering signal iaControl signal for the output of two electronic control unit of switching signal pair switches over, that is, disconnects vehicle-mounted each controller Output of the electronic control unit to corresponding executive device is also turned on electronic control unit set by controller of blowing out to the defeated of corresponding executive device Go out, realizes control of blowing out.It blows out and exits signal ie、if、ikOr ihWhen Deng arriving, postposition converter breaks using it as switching signal Output of the controller to each executive device of postposition of blowing out is opened, output of the Vehicle Controller to corresponding executive device, vehicle are also turned on Restore nominal situation control.Secondly, preposition converter.Controller electronic control unit of blowing out and vehicle-mounted corresponding controller two are automatically controlled Preposition converter is set before unit, sensor survey signal, main controller of blowing out output signal of tyre burst I by preposition converter again Input two electronic control unit.The output port of two electronic control unit and onboard system executive device input interface and company.Preposition turn Parallel operation is using signal of tyre burst I as switching signal, by modes such as electronic control unit zero setting, reset, terminations, changing two electronic control unit Output state.Control entering signal of blowing out iaWhen arrival, (output is for the output of Vehicle Controller electronic control unit termination control signal 0) electronic control unit output set by controller of, blowing out, which is blown out, controls signal, controls vehicle-mounted corresponding executive device, realizes vehicle flat tire Control.It blows out and exits signal ie、if、ikOr ihWhen Deng arriving, preposition converter is with signal ie、if、ikOr and ihBelieve Deng for switching Number, so that the output state reversion of two electronic control unit, each device of execution unit is restored nominal situation control.
Ii, automatic driving vehicle blow out control model conversion and converter.The judgement of automatic driving vehicle central master is quick-fried Tire is set up, main control computer output signal of tyre burst I set by main controller.Central master mainly blown out using vehicle artificial intelligence and Non- operating mode active drive of blowing out, steering, braking, track holding, path trace, anticollision, Path selection, parking respectively control program and turn The structure and pattern changed, setting, which is blown out, controls conversion module, and when signal of tyre burst I arrives, main control computer calls control model to turn Subprogram is changed, it is automatic to realize that control of blowing out enters and exits, blows out and non-blow out control model conversion, the control in each stage of blowing out It is converted with control model.
10., automatic driving vehicle blows out control and controller.
Automatic driving vehicle central master mainly include environment sensing (identification), location navigation, path planning, normally and It blows out control decision sub-controller, the vehicle stabilization that is related to blowing out slows down, stability control, anticollision of blowing out, path trace, parking choosing Location and each field of parking path planning.Control entering signal of blowing out iaWhen arrival, vehicle is transferred to control model of blowing out：Central primary control Main control computer set by device, based on each sensor, machine vision, global positioning satellite, mobile communication, navigation, artificial intelligence control System processed or and intelligent car networking network director of networking, by runflat condition process, each control period of blowing out, and according to control of blowing out Control model, model and the calculation that braking, driving, direction of traffic, deflecting roller turning power, active steering and suspension controller use Method passes through vehicle environmental perception, positioning, navigation, path planning, full-vehicle control decision, unified planning wheeled vehicle stable state, vehicle Posture and vehicle, which are stablized, slows down or accelerates control, be uniformly coordinated a track of blowing out keep, with vehicle all around and barrier Anticollision controls, and unified decision Vehicle Speed, path planning and path trace determine parking addressing, planning traveling to parking The path on ground, and the combination of following control models and its pattern is mainly used, realize the parking control for vehicle of blowing out.
I, vehicle lane of blowing out is kept and direction controller
One, environment sensing, location navigation sub-controller.
The controller (includes mainly light by the sensors such as GPS, trailer-mounted radar, NI Vision Builder for Automated Inspection Learn electro-photographic and computer processing system), mobile communication or with car networking network system, obtain road traffic, road mark, The information such as road vehicle and barrier carry out the positioning of this vehicle, traveling navigation, determine this vehicle and all around vehicle, lane line, barrier Hinder the distance between object, fore-aft vehicle with respect to speed etc., makes Ben Che and advised with nearby vehicle positioning, running environment state, traveling The integral layout drawn.
Secondly, path ruleization controller.The controller is based on environment sensing, location navigation and vehicle stabilization control, adopts With normal, operating mode of blowing out wheel, vehicle and steering control mode and algorithm, the vehicle speed u that blows out is determinedx, Vehicular turn angle θlr、 Wheel steering angle θe.Control model and algorithm include：Controller is with Ben Che and left and right track distance Ls, left and right vehicle distances Lg, it is front and back Vehicle distances Lt, the orientation angle θ of track (including lane line) in coordinatew, the turning half of track or vehicle driving trace is through Rs (or curvature), deflecting roller slip rate SiOr with ground friction coefficient μiFor main input parameter, using the mathematical model of its parameter And algorithm, it formulates vehicle location coordinate and becomes cardon, planning vehicle traveling figure, determines vehicle running path, according to vehicle location Coordinate and coordinate become cardon, traveling figure and driving path.
Thirdly, control decision sub-controller.Under nominal situation and runflat condition, the sub-controller is steady according to wheel and vehicle Control model is coordinated in state control, braking and anticollision, passes through Context awareness, vehicle, track and barrier positioning, automobile navigation, path Planning, Vehicular turn angle, steering wheel angle, wheel and the control of vehicle stable state, determine speed ux, steering wheel angle θe, carry out normal Coordinate control with vehicle lane holding, path trace, vehicle posture and the collision prevention of vehicle under operating mode of blowing out.Vehicle (ideal) turns to Angle θlrAnd steering wheel angle θeIt is determined by the mathematical model and algorithm of above-mentioned parameter, includes mainly：
θlr(Lt, Lg, θw, ux, Rs, Si, μi)、θlr(γ, ux, Rs, Si, μi)
θe(Lt, Lg, θw, ux, Rs, Si, μi)、θe(γ, ux, Rs, Si, μi)
The modeling structure of model includes：θlrAnd θeFor parameter Rs、μiThe subtraction function of increment, θlrAnd θeFor vehicle slip rate SiIncrement Increasing function, pass through Lg、Lt、θw、Rs、uxEtc. parameters determine track (line), nearby vehicle, barrier and this vehicle coordinate position, Determine steering wheel angle θeOr with Vehicular turn angle θlrIdeal controlling value θeDirection and size.Define θeOr and θlrIdeal value With actual value θe′、θlr' between deviation eθn(t)、eθr(t)：
eθn(t)=θe-θe′、eθr(t)=θlr-θlr′
Wherein θeActual value θe' determined by steering wheel angle sensor.θe、θlrIt plans and protects for automatic driving vehicle track It holds, the main control parameters of path trace.
Path planning, path trace and the safe parking of the parking of ii, vehicle of blowing out
One, setting car networking controller.Wireless digital transmission module set by car networking controller, it is fixed by global satellite Position system, mobile communication system, to by way of car networking network send out this truck position, runflat condition and traveling state of a control, and lead to Cross car networking network obtain this vehicle blow out vehicle parking position addressing, reach the information inquiries requirement such as parking position path planning.
Secondly, setting artificial intelligence view handle analyzer.In vehicle traveling, the processing analyzer is by peripheral path traffic And the camera shooting sectional drawing of environment, category carry out classification processing, typical image stores and carries out sectional drawing generation by some cycles and grade It takes (covering), judges the typical image that need to be stored.Based on artificial intelligence, the typical image being stored in main control computer, Including highway emergency stop road, ramp exit and highway side can parking stall each classification image, summary and induction obtains typical case Characteristics of image and take out essential characteristic.It blows out in control, controller of blowing out is known by a vehicle parking addressing using machine vision Not or the networking search pattern with car networking, by machine vision in real time taken the photograph road and its surrounding enviroment image handled, point Analysis is compared by its characteristics of image and abstract characteristics with the parking position classification typical image being stored in main control computer, By analyzing and judge, determine that highway emergency stop road, ramp exit or highway side etc. can stop home.Parking line Behind road and position planning, vehicle of blowing out carries out path trace by the circuit that controller is planned, until reaching the safety for vehicle of blowing out Parking position.
Iii, collision prevention of vehicle of blowing out, braking, driving and stability control
Machine vision, ranging, communication, navigation, register control and control module is arranged in the controller, determines this vehicle in real time Position, Ben Che and all around position coordinates between vehicle and barrier, calculate on this basis this vehicle with all around The distance of vehicle and barrier, relative velocity control time zone by spacing that is safe, dangerous, forbidden, bumping against multiple grades, pass through A, the combination of B, C, D brake control logic and cycle HhCycle, braking and drive control conversion and active steering are coordinated to control, and realize The anti-deceleration for hitting wheeled vehicle stable state and vehicle of vehicle and all around vehicle, barrier of blowing out controls.
Iv, blow out vehicle control architecture and control flow
Blow out and nominal situation under, environment sensing that vehicle central main control computer or electronic control unit are made by controller, Location navigation, path planning and control decision, output signal iaeControl engine air throttle and fuel injection system, adjusting start Machine output control signal group, output signal iakIt controls brake governor, adjust each wheel and vehicle brake force, output signal ianControl Wire-controlled steering system processed is adjusted to wheel rotational angle thetaeOr with ground flywheel moment suffered by deflecting roller, realize vehicle speed, active steering And path following control.When blowing out, central controller carries out judgement of blowing out by pattern-recognition of blowing out, determinating mode of blowing out, model, Judgement is set up, and output, which is blown out, controls entering signal ia, terminate vehicle nominal situation control, and by path planning of blowing out, path with The speed and direction controlling of track control decision, instruction blow out controller by control model of blowing out, model actively enter tyre burst brake, The coordinations such as anticollision, steering, suspension control, and signal i is exited in control of blowing outeWhen arrival, control of blowing out is exited.
4) it, blows out and controls program or software, computer and electronic control unit (ECU)
1., computer-controlled program or software.
By control model of blowing out, model and algorithm, control structure flows and functionality, and using programming language, works out journey Sequence loads data, selects certain algorithm, into line program analysis of running performance and test, establishment vehicle flat tire control main program and Braking, driving, turn to, suspension or with path planning and path trace subprogram.Using Structured Programming, by sequence, Three kinds of condition, cycle basic control structure constructors.Program modularity carries out structured programming, planning and designing model, definition Function or similar function are integrated into individual module, the entire program groups for control of blowing out with other module integrated formation after module testing It knits.Program module：Including control structure and the function module of blowing out, module is embodied in function, subprogram, process etc., has The features such as input/output, function, internal data and program code.
I, it blows out primary control program or software
By main controller control structure and flow, master mode of blowing out, model and the algorithm of blowing out, establishment blow out primary control program or Software.Using Structured Programming, primary control program：Main arrange parameter calculating, judgement of blowing out, is blown out at pattern-recognition of blowing out And control divided stages of blowing out, control model conversion, control coordination of respectively blowing out, braking driving and anticollision coordination, manual operation, people Machine docking is adaptive or controls program module with car networking.Control model conversion program module：With main controller signal of tyre burst I, quick-fried Tire control relevant parameter signal be input signal, realization blow out control enter or exit, normally with blow out operating conditions pattern turn It changes.Manual operation controls program module：Based on manual operation interface and controller (RCC), blow out active control and artificial key are pressed Control logic is controlled, realizes exiting and restarting and manually restart for active control of blowing out.Man-machine docking self adaptive control program mould Block：By driver to vehicle traction control characteristic parameters and model, realize that the control of blow out active brake and driving is coordinated.Environment Coordination and anticollision program module：According to vehicle-surroundings running environment situation, fore-aft vehicle spacing and opposite speed, controlled by anticollision Pattern model realizes that vehicle flat tire active brake, driving and the coordination of anticollision control.Power supply and management program module：To master control Independent regulated power supply or onboard system set by device share power supply, and electric power distribution and management are carried out by its type and power mode.
Ii, blow out control program or software
By the control structure and flow for each controller use of blowing out, control model model and algorithm, control of blowing out is worked out Program or software, the braking of setting vehicle flat tire, engine air throttle and fuel oil injection, deflecting roller turning power, active steering, active Steering-by-wire, suspension lift control subprogram.Each subprogram uses Structured Design, and corresponding each program module is arranged.
2., computer and electronic control unit (ECU)
Blow out master control electronic control unit and each controller electronic control unit (ECU), automatic driving vehicle is arranged in manned vehicle Central primary control computer and each controller electronic control unit (ECU) be set, wherein central primary control computer include mainly operating system, Central processing unit.Each computer and electronic control unit (ECU) are carried out data transmission using data/address bus, data bus controller, in Centre main control computer, master control electronic control unit, electronic control unit set by each controller are respectively provided with the physics line traffic control application being in communication with each other and connect Mouthful.
I, electronic control unit (ECU) is mainly by input, microcontroller (unit) (Microcontroller Unit：MCU), specially It is constituted with chip, MCU miniperipherals circuit, output and power module of voltage regulation.Microcontroller includes mainly microcontroller, insertion Formula microsystem, dedicated IC chip (ASIC).MCU is mainly by central processor CPU (Central Process Unit), counter (Timer), universal serial bus (USB) (including data, address, controlling bus), asynchronous receiving-transmitting transmitter (UART), memory (RAM, RDM) or with A/D (modulus) conversion circuit constitute.ECU resets initialization, are interrupted, are sought Each working procedures such as location, displacement, storage, communication, data processing (arithmetic sum logical operation).Special chip includes mainly：Center Microprocessor CPU, sensing, storage, logic, radio frequency, wake-up, power supply chip and the GPS Big Dippeves (navigator fix), intelligent vehicle connection Network data transmission and processing chip.
The main setting input of ii, electronic control unit (ECU), data acquisition and signal processing, communication, data processing and control, Monitoring, driving and output control module.Module set by electronic control unit (ECU) includes mainly three types.One, mainly by electronics Element, component and circuit are constituted.Secondly, mainly by want electronic component, component, special chip and its minimize peripheral circuit structure At.Special chip uses large scale integrated circuit, can combine and convert, individually name, the program of energy complete independently certain function Sentence, setting input/output interface have program code and data structure, surface：It is realized inside and outside module by interface Information communicates and data transmission, internal feature：Modular program code and data structure.Thirdly, mainly by electronic component, component, Special chip, micro-control unit (MCU) and its minimum peripheral circuit, electric power generating composition.Control module is a kind of special with control Determine the automatically controlled hardware of function or the aggregate with its program structure, the control of blowing out of the module while having for control of blowing out is specific Function.
Iii, electronic control unit (ECU) use the Redundancy Design of faults-tolerant control.Electronic control unit especially line control system (including point Cloth line control system) set by electronic control unit, the central control chip dedicated for faults-tolerant control and special fault-tolerant processing need to be added Software.Monitor is arranged in ECU, and detection may lead to the signal of mistake and failure and generate the detection code of mistake, and according to generation Code processing, controls its failure.ECU settings control and safe two-way microprocessor (control) device carry out system by two-way communication Monitoring.ECU uses two sets of identical microprocessors, and is run by same program, ensures system peace by redundancy running Entirely.
5), engine braking control and controller
Vehicle flat tire control setting is not provided with engine braking control, and engine braking is suitable for normal and operating mode of blowing out The vehicle of overlap period is braked.For the vehicle of engine brake controller, signal of tyre burst i is arrangedaVehicle enters and starts when arrival The braking (including pedal brake) of machine control for brake, brake monitor can be in any time before early period to phase of really blowing out of blowing out Point enters.Engine braking controls information unit and obtains engine speed and vehicle-mounted air throttle, fuel oil spray by data/address bus CAN Penetrate each sensor detection signal of system.Engine brake controller：Include mainly engine braking control structure, flow, starts Control models model and the algorithms such as machine idle running, speed change or exhaust throttle, control program and software, electronic control unit.According to engine The different type of structure determines dynamic braking controlling cycle Hf, the cycle HfFor setting value or by engine speed ωb, driving wheel Rotational speed omegaaEtc. parameters mathematical model determine.Engine brake controller uses the control of blow out program, agreement or external converter Molding formula is converted, control entering signal of blowing out iaWhen arrival, control model conversion module terminates the fuel oil of engine nominal situation Injection initially enters engine and is braked without oil spout idle running.By logic threshold model, setting threshold value ax11, when feature ginseng of blowing out Numerical value X reaches setting threshold value ax11When, engine is converted to speed change by idle running braking or/and exhaust throttle is braked.Start mechanism When dynamic individually operated, angular deceleration is integrated with driving wheel(angular speed negative increment Δ ωu), slip rate SuOne of become in order to control Amount, with the wheel tire pressure p that blows outr, ground friction coefficient μiOr control time zone t with anticollisionaFor parameter, using the equivalent model of its parameter It is determined with algorithmOr SuTarget control value, wherein：
Su=f (pr, μa, ta)
μ in formulaaFor floor synthetic friction coefficient, taIt is taken as 0 in Collsion proof safety area；SuFor anticollision danger time zone ta、μaThe increasing function of increment is all prThe increasing function of decrement.
1., idle running control for brake.No matter which kind of position accelerator pedal stroke, throttle opening are in manned vehicle, No matter vehicle whether in the fuel oil injection and air throttle regulation and control state for accelerating control, terminates engine to automatic driving vehicle first Fuel oil sprays, and starts race of engine braking.Under conditions of cylinder and its drive mechanism determine,Δωu' or Su' instantaneous value is with throttle opening DjIt is determined for the equivalent mathematical model and algorithm of major parameter, wherein：
Su'=f (Dj, kg)、
Engine speed changer gear ratio k in formulagReal-time value is braked by the race of engine to determine.Definition control variableSuMesh Mark the deviation between controlling value and actual valueOr Su(t), in dynamic braking controlling cycle HfCycle in, pass through adjust section Valve opening Dj, control variable actual value is made to track its target control value always.
2., speed-changing braking control.Into blow out early period when, engine by idle running braking be converted to automatic transmission (AT) Speed-changing braking.Equivalent mathematical model is braked by above-mentioned idle running, determines relevant parameterΔωuOr SuTarget control value is based on Control the deviation between variable target control value and actual valueOr Su(t), throttle opening D is adjustedjWith engine speed change Device gear ratio kg, realize the control of engine speed-changing braking.Set engine peak speed threshold value cωb, in speed-changing braking control Engine speed is limited, ω is madebConsistently lower than cωb。
3., exhaust brake control.Throttling set is set between engine exhaust and exhaust pipe, and throttling set is main It is constituted by throttle valve or with butterfly valve, circulation latus rectum sensor and circulation bye-pass.Engine brake force orΔωu、SuReality Actual valueΔωu' or Su' mainly by throttle opening Dj, throttle valve circulation latus rectum dtAnd engine speed changer gear ratio kgFor The equivalent mathematical model of parameter is determined in real time using certain algorithm：
Su'=f (Dj, dt, kg)
Based on the deviation between control variable target control value and actual value, in available engine speed changer ratio kgState Under, by adjusting throttle opening DjAnd throttle valve circulation latus rectum dtRealize engine braking control.Based on above-mentioned control mode, Engine braking can be used idle running, speed change or jointly control pattern with solar term, and united controller is arranged.Engine brake force or vehicle The actual value of decelerationThe mathematical model and algorithm used by above-mentioned each control mode determines in real time.
4., engine braking control
In engine braking control, vehicle flat tire active brake or start simultaneously, vehicle braking force total amount is to start mechanism Dynamic and brake the sum of brake force is measured using vehicle deceleration as brake force under its two kinds of braking actions：
D in formulajFor throttle opening, kgFor engine speed changer gear ratio,Angular deceleration is integrated for wheel,By each wheel The average or Weighted Average Algorithm of angular deceleration determines.Define the ideal value of vehicle decelerationWith actual valueBetween it is inclined DifferenceIn controlling cycle HfCycle in, pass through deviationFeedback and closed-loop control, realize vehicle deceleration Adjusting.When carrying out engine braking, if driving wheel is blown out, with the reduction for wheel radius of blowing out, the tire that engine braking generates Power becomes continuous increased unbalanced moments Δ M to the torque of vehicle centroidx', brake subsystem can be uneven (poor by wheel It is dynamic) brake force (square) Δ QcCompensation is provided to engine braking unbalanced system power (square), until engine braking exits.Start Machine control for brake uses following specific withdrawing modes：True signal of tyre burst ib、ibThe control process signal i that blows out laterc、id、 ie、ifIt arrives, vehicle enters anticollision danger time zone (ta), start rotational speed omegabLess than setting threshold value, yaw rate DeviationMore than setting threshold value, the equivalent opposite angular speed e (ω of two wheel of drive shaft wheel paire) deviation, angular decelerationDeviation, slip rate e (Se) deviation up to setting threshold value, meets one or more conditions of above-mentioned condition, i.e., above-mentioned parameter it One or more parameters are exited up to setting threshold value, engine braking.
5., engine braking control program or software
By engine braking control model, model and algorithm, control structure, flow, function, establishment engine braking control Subprogram, the subprogram use Structured Design, Setting pattern conversion, the race of engine, speed change or exhaust throttle control module. Wherein, engine change gear control module：Submodule is adjusted including throttle opening and engine fluid drive.Pattern modulus of conversion Block：Include mainly the race of engine, speed change or exhaust throttle control model transform subblock.
6., electronic control unit
The electronic control unit is mainly made of microcontroller (MCU), peripheral circuit and regulated power supply；Main setting input, letter Number acquires and processing, data processing and control, monitoring, driving output module.I, signal acquisition module：Setting filters, is whole The circuits such as type, amplification, optically isolated and analog/digital (A/D) conversion.Ii, data processing module：By the idle running of controller determination, speed change Control model, model and algorithm carry out data and control process.Iii, driving output module：Including fuel oil injection, igniting, oil transportation The circuits such as pump, relay, solenoid valve, idle motors driving and output interface.Electronic control unit carries out data and control by its program Processing exports corresponding control signal, controls fuel oil injection, automatic transmission, air throttle or engine exhaust throttling dress respectively It sets, realizes engine braking control.
6), control for brake and controller
Vehicle braking under runflat condition includes mainly：Manned pedal of vehicles braking and active brake of blowing out, nobody Drive the active brake under vehicle is normal and operating mode of blowing out.Tyre burst brake controller, abbreviation brake monitor or controller use Active brake of blowing out and vehicle-mounted braking anti-lock/anti-skidding (ABS/ASR) system, electronic braking force distribution (EBD) system, stable control System (VSC), kinetic control system (VDC) or electronic stability program system (ESP) control for brake compatibility mode processed.Automatically controlled list When member and hydraulic pressure execution device use integrated design, physical routing is used therebetween, realizes information and data transmission, and pass through CAN bus and main controller, controller and onboard system are into row information, data exchange.Brake monitor is total using X-by-wire Line, controller design link as high speed fault-tolerant bus, high-performance CPU management, the line traffic control suitable for normal each operating mode such as blow out Braking.Brake monitor and vehicle control syetem are by CAN data/address bus into row information, data exchange.It is automatically controlled set by controller Unit is independently arranged or with truck mounted braking systems with a shared electronic control unit is set, according to electronic control unit facilities, controller Using signal of tyre burst I as conversion signal, using three kinds of different structures and pattern such as program, communication protocol or external converter.It is quick-fried Tire main controller and brake monitor use two integral structures, sensor set by sensor, onboard system set by information unit Detection signal enters system CAN bus, and main controller of blowing out, brake monitor obtain each sensor detection letter by CAN bus Number and associated control signal.Brake monitor：Two types are braked using electric control hydraulic braking and electric-controlled mechanical, include mainly quick-fried Tire brake control architecture and flow, control model model and algorithm, electronic control unit, control program and software, are arranged Context awareness And the corresponding control module including the software and hardwares such as anticollision, wheel and vehicle stable state, braking compatibility.The control of blowing out of brake monitor Using the braking of manned pedal of vehicles, automatic driving vehicle active brake and the manual two ways of auxiliary, ground, wheel, vehicle State parameter jointly controls, fore-aft vehicle anticollision control model and model.Controller is mainly with tire pressure pr, wheel speed ωi, braking Power Qi, steering wheel angle δ, yaw velocity ωr(or horizontal swing rate), vehicle vertically and horizontally acceleration-decelerationWithFront and back vehicle Away from Lt, opposite speed uc, pedal travel SwOr with pedal force pdFor input parameter signal, the braking of setting wheel stable state, each wheel are flat Weigh four kinds of control for brake types (abbreviation A, B, C, D systems such as braking, (differential) braking of vehicle stable state, brake force total amount (A, B, C, D) Dynamic control), the tire model, vehicle wheel rotation equation, auto model, spacing Controlling model based on vehicle of blowing out and multiple degrees of freedom vehicle Differential equation of motion determines A, B, C, D control by each model, the analytic expression of the differential equation and state equation expression formula Related algorithm includes mainly logic threshold, fuzzy control and PID composite algorisms, ABS robusts, robust adaptive, sliding moding structure Algorithm determines each wheel brake force Qi, angle acceleration-decelerationSlip rate SiThe distribution of one of parameter or multiple parameters and It adjusts (described briefly below to be：Determine each wheel Qi、Or SiThe distribution and adjusting of parameter).
One, brake monitor set control for brake cycle HhAnd anticollision controlling cycle Ht, controlling cycle HhWith HtValue phase It is same or different；Each cycle HhIt is interior to complete primary each sensor parameters coherent signal (mainly including pra、ωi、Qi、δ、ωr、Lt、ucDeng) sampling, store this cycle HhAnd preceding several cycle Hsh-nCorresponding control variable, input parameter measured value, Deviation；Calculate this cycle HhAnd upper period each parameter sampling signal, the change value for controlling signal, deviation eH(t) value is estimated in real time It calculates speed, wheel angle acceleration-deceleration, slip rate, attachment coefficient, respectively take turns dynamic load, wheel effective rolling radius, vehicle in length and breadth The related parameter values such as acceleration-deceleration.
Secondly, brake monitor be based on longitudinal direction of car, sideway control (DEB and DYC), setting A, B, C, D control for brake Logical combination, logical combination rule are as follows；Rule one, two kind of conflicting substitution logical relation of control, are accorded with using logic NumberIt indicates,Indicate that A replaces B, the logical combination of the rule is conditional logical combination, which, which reaches, sets The logic for realizing or completing control is replaced or is converted by fixed condition.The switch condition of setting includes mainly：It blows out control stage, anti- Hit control time zone, wheel and vehicle status parameters conversion critical point, reach switch condition, brake monitor sends out corresponding control of blowing out Mode conversion signal processed realizes the conversion or substitution of its control logic.Rule two, two kind of logic sum controlled, symbolization " ∪ " indicates that B ∪ C indicate that the control of two classes of B and C is performed simultaneously, and controlling value is the algebraical sum of this two classes controlling value.Using the rule Logical combination be unconditional logical combination, the substitution such as without other control logics will keep the logic control state.Rule three, The control of upper and lower logical relation, symbolization " ← " indicate that the logical relation is logical combination relationship of having ready conditions, condition For：Each cycle HhInterior A, B, C controlled quentity controlled variable can hold D controls (unless defined condition after having determined that：Determining first and execution D, Thereafter the logical combination of A, B, C control is executed again based on D), the logical combination of A, B, C control is indicated with symbol (E), upper and lower The control representation form of logical relation is D ← (E).A, B, C Control Cooling group logical combination include：Taken from A, B, C one, two or Three elements and logical symbol " ∪ ",The whole combinations being arranged to make up, and provide that remaining does not choose the control of Control Cooling Amount is 0.The logical combination form of composition：Control logic combination control rule be：Left side Control is preferential, covering, the control on substitution right side, executing rule is：It executes from left to right；Such asControl logic be： C controls, vehicle differential insensitivity C controls is first carried out preferentially and the C controls of wheel stable state can be covered.The control for brake period HhIt is all the cycle period of control logic combination, HhFor setting value or by piece wheel and vehicle status parameters equivalent function mould Type determines that model includes mainly：
Or
In formulaTo detect the change rate of tire pressure,e(Se) be the two equivalent relative angle acceleration-deceleration of wheel of forward and backward wheel pair, Slip rate deviation,For the change rate of yaw rate deviation.Determine HhModeling structure be：HhFor parametere(se)、The subtraction function of absolute value increment.Based on runflat condition and control stage, vehicle flat tire anticollision control Each time zone of system, by controlling cycle HhImplement corresponding control logic combination.The H in each control for brake periodh, execute one group Control logic combines, and one group of control logic can also be converted to another group of control in repeatable cycle of each period according to conversion signal Logical combination.
Thirdly, to use gradational coordination control, higher level be to coordinate grade to brake monitor, subordinate's grade in order to control, controller higher level Determine control for brake cycle period HhThe logical combination and each logical combination transformation rule of interior A, B, C, D control and conversion week Phase.Controller subordinate is in each cycle HhThe interior relevant parameter signal sampling for completing A, B, C, a D control, is controlled by A, B, C, D Type processed and its logical combination, model and algorithm complete data processing, and output control signal implements primary each wheel brake force Qi、 Each wheel angular deceleration(or Δ ωi), slip rate SiThe distribution and adjusting of one of parameter or multiple parameters.When having in control for brake When wheel enters stable state control A, controller uses two kinds of control modes：Mode one completes this cycle HhIt control model and patrols New cycle H is entered back into after collecting the control for brake of combinationh+1Control, mode two terminates this cycle H immediatelyhControl for brake, simultaneously Into a new cycle Hh+1Control for brake.In the new period, it is non-blow out wheel A controls using nominal situation wheel anti-lock control rule, Control model and model, A, B, C control can keep original control logic to combine or combined using new control logic.In the system of blowing out The different phase or control period of dynamic control, use are adapted control logic combination, pass through the cycle H of its control therewithhCycle, it is real Existing vehicle stabilization slows down and whole vehicle stability control.
The four, control of A, B, C, D independent control or its logical combination, based on each degree of freedom equation of motion of vehicle, vehicle The vertically and horizontally tire of mechanical equation, vehicle yaw moment equation, vehicle wheel rotation equation and wheel mechanics and motion state parameters Model includes mainly：
Fxi=f (Si, Nzi, μi, Ri)、
Establish each wheel brake force QiWith wheel angle acceleration-decelerationSlip rate SiRelational model between equal state parameters, determines Each control variable QiWith other control variablesSiBetween quantitative relationship, realize control variable QiWithSiConversion.In formula Fxi、L、JiRespectively ground tyre power, longitudinal acceleration of the vehicle, wheel suffered by wheel to cross vehicle centroid longitudinal axis away from From, vehicle rotary inertia.A, in the control of B, C, D independent control or its logical combination, in each wheel brake force QiUnder the action of, it builds Vertical control variable ωi、SiWith parameter αi、Nzi、μi、Gri、RiBetween relationship mathematical model, model mainly wraps It includes：
Si=f (Qi, αi, Nzi, μi, Gri, Ri) etc.
α in formulai、Nzi、μi、Gri、RiRespectively tyre slip angle, load, friction coefficient, rigidity, effective radius of gyration, other words Female meaning is the same as aforementioned.In the stability region of control for brake, linearization process is carried out to model, using equivalent or compensation model：
Si=λiQi+ki、λi=f (Nzi, μi, Ri)
λ in formulaiFor penalty coefficient, kiFor coefficient, tyre slip angle αiIt can be by the comprehensive side drift angle α of each wheelaOr steering wheel angle δ Equivalent function model f (δ) replaces, to f (δ) linearization process：
αa=kiδ
A, in the control of B, C, D independent control or its logical combination, in each wheel brake force QiUnder the action of, withΔω、SiIn One of parameter or multiple parameters are variable, with Nzi、μiFor parameter, wheel condition parameter is establishedΔωi、SiWith vehicle-state ParameterEquivalent function model, model includes mainly：
Or
Determine control variableOr Δ ωi、SiWith vehicle acceleration-decelerationBetween characterisitic function, function includes Deng S in formulaa、μa、NzRespectively each wheel integrates slip rate, comprehensive angle acceleration-deceleration, ground friction coefficient, respectively takes turns total load, Its value determines that this class model is mainly used for using by each wheel parameter value using average or weighted average scheduling algorithmΔωi、SiDeng Parametric form carries out vehicle longitudinal control (DEB) and front-and-rear vehicle distance LtControl.
Five, brake monitor is with each wheel brake force Qi, longitudinal direction of car decelerationEach wheel angular deceleration(or angle speed Spend negative increment Δ ωi), slip rate SiOne of parameter or multiple parameters variable in order to control, pass through(or Δ ωi)、SiDeng ginseng Several control forms, indirect control respectively take turns brake force Qi；In the loop cycle of A, B, C, D control, as controlling cycle HhIt is smaller When, parameter, Δ ωiIt is equivalent to parameterBrake monitor is mainly using detection tire pressure, state tire pressure or steering mechanical state etc. Three kinds of pattern-recognitions of blowing out are blown out according to pattern-recognition judgement, and based on judgement and the runflat condition of blowing out, determination is blown out the control stage And anticollision controls time zone.Establish control variable(or Δ ωi)、SiMathematical model and algorithm, by A, B, C, D control class Type, in controlling cycle HhLogic loops in, determine control variable(or Δ ωi)、SiTarget control value (ideal value) and The apportioning cost respectively taken turns；The brake force total amount Q of wherein D controlsdTarget control value, by each wheel A, B, C control parameter Qi、ΔωiOr Si Target control value determines.
Six, the control for brake of brake monitor is based on electric control hydraulic braking subsystem (EHS) or line (electricity) control machinery system Subsystem (EMS).When using line traffic control mechanical braking, the transformation model and algorithm that set electronic control unit is used according to controller, By brake-pedal travel SwOr with pedal force pdSensor detection signal is converted to corresponding vehicle decelerationBrake force total amount Qd、 Four-wheel integrates angular decelerationSlip rate SdkEqual parametric forms, wherein EMB can directly use SwOr and pdParametric form carries out Control for brake.
Under the normal, complex working conditions such as blow out, brake monitor set vehicle traction, braking, fore-aft vehicle anticollision, appearance The controls such as state, path trace are integrated, and are realized non-wheel anti-lock control of blowing out, are blown out and take turns the control of anti-skidding and stable state, wheel braking Power distribution control, the control of vehicle stable state and collision prevention of vehicle coordinate control.
1., Context awareness anticollision control (abbreviation anticollision control) and controller
I, manned vehicle flat tire anticollision control and controller
The systems such as controller is based on ultrasonic wave, radar, laser ranging, information are mutually handed over, Computer Vision Detection, main use Vehicle anti-rear collision and tyre burst brake coordinate control model, and it is adaptive, coadaptation anti-with fore-aft vehicle to establish vehicle braking of blowing out Hit Controlling model.When being controlled into anticollision, electronic control unit output anticollision control signal i set by system master deviceh。
One, spacing detection.Mainly using radar, laser radar, ultrasonic distance-measuring sensor, pass through transmitting and received wave Doppler frequency difference, L is determined using certain algorithmt；Fore-aft vehicle is defined with respect to speed：
In practical driving detection, in setting controlling of sampling cycle HtInterior Δ t and Δ LtUnder conditions of value very little, determined by following formula Fore-aft vehicle is with respect to speed uc：
The absolute speed u of rear carbIt is determined by following formula：
ub=ua+uc
U in formulaaFor the absolute speed of front truck.
Secondly, adaptive collision-prevention controller.In the past, rear car was away from LtWith opposite speed ucFor input parameter, using safe class Time zone tai, it is defined as：
Fore-aft vehicle anticollision Threshold Model is established, t is setaiThreshold value collection (conjunction) c that successively decreasesti, threshold set ctiIn thresholding threshold Value is setting value, by Threshold Model by fore-aft vehicle anticollision time zone taiIt is divided into safe, dangerous, forbidden, collision multiple grades (packet Include ta1、ta2、ta3、……tan), and set this vehicle and bump against decision condition t with rear caran=ctn.Foundation is blown out collision prevention of vehicle and vehicle Wheel, vehicle stable state brake coordination control model, in the cycle H of braking A, B, C, D brake control logic combinationhCycle and conversion In, by changing the combination of A, B, C, D brake control logic, the preferential each wheel differential system power for ensureing the C controls of vehicle stable state and its Distribution, with taiAnd ctiSuccessively decrease step by step, gradually reduces the brake force Q that this vehicle respectively takes turns balancing brake B controlsi, angular decelerationOr Slip rate Si, or blow out with releasing and take turns the vehicle stable state C control brake force of brake force and balance car wheel set of blowing out, holding is non-to blow out The brake force of the vehicle stable state C controls of balance car wheel set.Bump against the whole brake force of time zone each wheel of releasing when vehicle enters, or and opens Dynamic drive control, makes Ben Che and the anticollision time zone t of rear caraiIt is limited to fluctuation in the zone of reasonableness between " safety and danger ".Really It protects vehicle and does not touch tai=ctnAnticollision limit time zone realize that collision prevention of vehicle and wheel, vehicle are steady by mutually handing over coordination control State brake coordination controls.
Thirdly, vehicle coadaptation collision-prevention controller；The controller is not for spacing detecting system or only setting ultrasound to be arranged The vehicle of wave spacing detection sensor, using the coadaptation control of blow out vehicle stable state control for brake and the anti-braking of knocking into the back of driver Pattern.Tested according to vehicle anti-rear collision, determine physiological driver's reactiveness, establish rear car driver it is anti-knock into the back it is pre- take aim at model, The physiological reaction lag period after rear car driver has found front truck signal of tyre burst, control for brake reaction phase, braking holding are established simultaneously The brake coordination model of phase, above-mentioned two model are referred to as preventing rear-end collisions from tire burst control for brake model.In early period of blowing out, really blow out the phase Equal controls stage, vehicle of blowing out (front truck) brake monitor are braked with reference to " the anti-control for brake model that knocks into the back ", and realization is blown out Moderately braking and the coordination of anti-car rear-end control (referring to following brake subsystem chapters and sections) to vehicle, and compensation rear car driver's is anti- Knock into the back the time delay for braking that physiological reaction lag period and brake response phase bring, and thus avoids rear-end impact of the rear car to front truck Critical days.When the inflection point of blowing out of vehicle (front truck) of blowing out arrives, by it is anti-knock into the back it is pre- take aim at control for brake model, rear car should have been enter into system Dynamic retention period is kept at a distance from front truck of blowing out by braking to adjust by rear car driver, passes through each control for brake of forward and backward vehicle The coadaptation of phase, which is adjusted, reduces front truck active brake initiation car rear-end collision probability of blowing out.
Ii, manned vehicle flat tire left and right directions anticollision control and controller
The anticollision control of manned left and right vehicle wheel side is based on following brakings, driving, deflecting roller turning power or and actively turns It is controlled to each coordination.Each controller is using the blow out braking of wheeled vehicle stable state, deflecting roller turning power, active steering and limited driving Coordinate control model, model and algorithm, passes through wheel stable state, vehicle attitude, vehicle stabilization deceleration, direction of traffic and path trace Control prevents vehicle flat tire sideslip, wheel side sliding, realization from blowing out vehicle to left and right sides driving vehicle and barrier anticollision control.
Iii, automatic driving vehicle are blown out anticollision control and controller
Machine vision, ranging, communication, navigation, register control and control module is arranged in the controller, determines this vehicle in real time Position, Ben Che and all around position coordinates between vehicle and barrier, calculate on this basis this vehicle with all around The distance of vehicle and barrier, relative velocity control time zone by spacing that is safe, dangerous, forbidden, bumping against multiple grades, pass through A, the combination of B, C, D brake control logic and cycle HhCycle, braking and drive control conversion and active steering are coordinated to control, and realize Vehicle of blowing out is controlled with vehicle all around, the anticollision of barrier and the deceleration of wheeled vehicle stable state and vehicle.Above-mentioned someone drives It sails the braking of each control period of vehicle flat tire and is equally applicable to automatic driving vehicle with the coordination control of fore-aft vehicle anticollision.
2., wheel stable state (A) control and A controllers
The object of A controls is single wheel, including wheel stable state control for brake of blowing out, non-wheel braking anti-lock control of blowing out. Under runflat condition, slip rate SiThe specific justice meaning for not had the peak value slip rate under the control of normal wheels braking anti-lock, Blow out wheel inflection point, in the state of singular point, by A controls to wheel of blowing out implement brake force step by step, the stable state successively decreased of non-equivalent brakes Control.A controllers are with angular speed of wheel ωi, angle acceleration-decelerationSlip rate SiEnter parameter Deng for number, establishes the mathematics of its parameter Model determines control structure and characteristic using certain algorithm, and each wheel obtains a dynamic wheel stable state brake force under A controls.A is controlled Device processed mainly withSiVariable and control targe in order to control, with brake force QiFor basic control parameter, setting A controlling cycles Hj, HjIncluding wheel stable state control for brake cycle H of blowing outjaWith the non-wheel braking anti-lock controlling cycle H that blows outjb, HjaWith HjbIt is equal or not Deng.A Controlling models are using common analytic expression or are converted into state-space expression, dynamic with state equation form expression wheel Mechanical system applies modern control theory, determines control algolithm appropriate on this basis.The algorithm include logic threshold or Fuzzy compound with PID, ABS robusts, robust adaptive, sliding moding structure etc., obtain withSiThe non-wheel system of blowing out of parameter description Dynamic anti-lock and wheel stable state braking control system of blowing out.Foundation is blown out, non-blow out takes turns stable state control model, model and algorithm, really Surely blow out, it is non-blow out wheel stable state, Unsteady characteristics region attachment coefficientWith slip rate SiRelational model and characterisitic functionThe ANTI LOCK control for wheel of blowing out is converted into the control of wheel stable state in the A controls of wheel stable state.Tyre burst brake controls Cycle HjaDuring logic loops, by wheel motion state feature of blowing out, non-equivalent reduces the wheel brake force Q that blows out step by stepi.It is quick-fried Tire wheel brake force QiReduction then pass through non-equivalent, the control variable reduced step by stepSiTarget control valueSkiIt realizes, UntilSiTarget control valueSkiFor a setting value or 0.Control wheel of blowing out in the processSiActual value surround its mesh Mark controlling valueSkiIt fluctuates up and down, thus indirect regulating brake force Qi, wheel control variable of blowing outSiActual value enclose always Around its target control valueSkiUpper and lower fuctuation within a narrow range, makes QiStep by step, non-equivalent is successively decreased until being 0.Wheel braking stable state of blowing out A is controlled System usesSiThreshold Model, settingSiThreshold value, which isSiTarget control valueSki.It builds It is vertical to determineSiTarget control valueSkiMathematical model, and determined by the modelSiThe threshold value to successively decrease step by stepSkiSet Ski[Ski-1、Ski+0、Ski+1xSki+2...], this cycle HjIt is interiorSkiValue by a upper cycle Hj-1Internal reference NumberSiUpper and lower undulating value ± Δ ωi-1、±ΔSi-1Mathematical model determine：
Ski+0=f (± Δ ωki-1, ± Δ Ski-1)
In the mathematical model, parameter is determinedSiUpper and lower undulating value ± Δ ωi-1、±ΔSi-1With different weights, whereinPower be less than-Δ ωki-1,+Δ Ski-1Weight be more than-Δ Ski-1Weight.In the A controls of wheel stable state, by quick-fried Tire wheel brake force QiReduce the purpose that wheel stable state control of blowing out is realized up to 0 step by step.Blow out determined by the A controls of wheel stable state, Non- quick-fried wheel braking force distribution and Controlling model, should finally be verified by live tire burst test or in-site modeling tire burst test, According to parameter and model structure used by field test conclusion Correction and Control model, blown out with determination, non-quick-fried wheel brake force point Match and Controlling model is to the equivalence of field test results, validity and consistency.
3., wheel balance braking (B) control and (B) controller
B control objects are all wheels, are related to each wheel balanced system power of longitudinally controlled (DEB), using front and back axle or Diagonal line is blown out, the distribution of the brake-force balance of non-balance car wheel set of blowing out and control model, balanced system power total amount are each wheel point The sum of balanced system power matched.B controllers are with each wheel slip rate SiFor parameter, each control period wheel braking force distribution of blowing out is determined With the stability region of control：0 ＜ Si＜ St, S in formulatPeak value for wheel slip setting value or when being maximum grip coefficient is slided Shifting rate.The concept for balancing, imbalance distribution and controlling of definition control variable：It is each to take turns under the Braking of each wheel distribution Tire power is equal to vehicle centroid torque or equivalent equal control variable includes Qi、ΔωiOr SiDistribution and control are referred to as each The distribution of balanced system power and control are taken turns, otherwise is non-equilibrium braking force distribution and control.B controllers are with each wheel brake force Qi, angle Deceleration(angular deceleration increment Delta ωi), slip rate SiOne of parameter or multiple parameters are variable, mainly with Nzi、μi、Gxi、Ri For parameter, longitudinal force F in ground suffered by each wheel is establishedxi(abbreviation longitudinal tire force) model, model analyzing formula or equivalent model are：
Fxi=f (Si, Nzi, μi, Ri)
Using certain algorithm, tire force F is determinedxiWith parameterΔω、SiBetween characterisitic function and characterisitic function curve, The curve includesFxi~Si、Fxi~QiDeng.N in formulazi、μi、Gxi、RiRespectively each wheel load, ground friction coefficient, Longitudinal rigidity, effective rolling radius, SiIt can be with Qi、Mutually substitution.Under the action of each wheel brake force,It is i.e. each Longitudinal tire force is 0 to the sum of torque of vehicle centroid (in theory), l in formulaiFor each wheel to vehicle (crossing barycenter) longitudinal axis Distance.
I, balanced system power total amount QbOr QbVehicle under effect respectively takes turns comprehensive angular decelerationComprehensive slip rate SbDistribution And control.
Brake monitor is with each wheel Qb、ΔωbOr SbOne of parameter or multiple parameters variable in order to control, with wheel of blowing out Tire pressure pri(including pre、pra), respectively take turns angular velocity omegai, balance car wheel set two of blowing out take turns equivalent non-equivalent relative angle velocity deviation e (ωe) and e (ωa), steering wheel angle δ, yaw velocity deviation eωr(t), vehicle centroid lateral deviation angular displacement eβ(t), it blows out back Turn power Mk, each wheel SimMan universal patient simulator μb, Ben Che and front or rear vehicle spacing Lt, opposite speed uc, pedal brake power QpIt is main Input parameter is established based on vehicle braking control structure, runflat condition, anticollision control different phase and the control characteristic in time zone The mathematics model and algorithm of above-mentioned selected parameter, determines each control variable Qb、ΔωbOr SbTarget control value, wherein calculating Method include mainly the PID of each parameter, most excellent modern control theory respective algorithms.
Ii, each control variable Qb、ΔωbOr SbEach wheel of target control value distributes and control.
The forms of distribution of front and back axle and diagonal line balance car wheel set can be used in the distribution and control, and balance car wheel set includes It blows out and non-balance car wheel set of blowing out, the distribution of balance car wheel set and wheel pair left and right wheels can be used same or different control and become Amount.
One, forward and backward axle are blown out and non-balance car wheel set of blowing out respectively controls the distribution of variable target control value.Controller With vehicle decelerationForward and backward axle balance car wheel set left and right wheels are opposite or equivalent relative angle velocity deviation e (ωkf)、e (ωkr)、e(ωef)、e(ωer), forward and backward axle left and right wheels effective rolling radius deviation | R1-R2|、|R3-R4| or detection tire pressure Deviation | Pra1-Pra2|、|Pra3-Pra4| absolute value, forward and backward axle load NZf、NZrFor major parameter, it is each to establish front and back axle The distribution model of variable target control value is controlled, determines that front and back axle two takes turns synthetical restraint power QbfAnd Qbr, angular decelerationWithOr slip rate SbfAnd SbrDistribution.
Secondly, blow out and each control variable Q of the left and right wheel of non-balance car wheel set of blowing outb、SbTarget control value Wheel between distribute.Using two wheel Qb、SbBrake force equal distribution pattern, equivalent equal distribution pattern or balanced system Power allocation model.Set left and right wheel ground friction coefficient μi, load NZiEqual, the non-left and right wheel of balance car wheel set of blowing out uses Qb、SbEquivalent distribution model, the model are suitable for front and back axle or diagonal line balance car wheel set.It blows out balance car The left and right wheel of wheel set is in balanced system power QiUnder effect, it is based on tire model, wheel longitudinal tire force equation and momental equation, with Slip rate Si, angular decelerationFor variable, μi、NZi、Ri, GziFor parameter, it is (referred to as vertical to establish ground longitudinal force suffered by wheel To tire force) distribution model of equal, equivalent equal mechanical model and parameter compensation：
Fxi=f (Si, Nzi, μi, Ri, Gzi), Fx1=Fx2、
Determine the left and right wheel Q of tire balance car wheel set that blows outi、SiOrDistribution, various compensation can be used in equivalent equal mechanical model Parameter lambdai.Pass through above-mentioned distribution model.The longitudinal tire force F that balance car wheel set two of blowing out wheel obtainsxbiTo vehicle centroid balance Yaw moment is substantially met in theoryEquation, l in formulaiFor wheel to cross barycenter longitudinal axis distance, RiFor radius of wheel, μiFor the friction coefficient μ for the wheel of balance car wheel set two of blowing outi、NZiFor two wheel loads, GziWheel longitudinal rigidity. Wheel balance brakes the distribution model of each wheel control variable determined by B controls, should pass through live tire burst test or in-site modeling Tire burst test is verified, and is modified according to parameter and model structure used by the peering model of field test, with determination The model is to the equivalence of field test results, validity and consistency.
4., vehicle stable state braking (C) control and C controllers
C control objects are all wheels, are related to the unbalanced system power that differential braking is respectively taken turns in Vehicular yaw control (DYC) Qi, C controls are mainly with yaw rate ωr, the parameters input parameter such as side slip angle β, using the mathematical model of its parameter It is determined with algorithm, and each wheel is distributed to by certain allocation rule.The unbalanced system power of C controls is quick-fried using four-wheel or front and back axle The forms of distribution of the non-balance car wheel set of blowing out of tire.C controllers include following two types,
I, mechanics parameter type controller is based on vehicle-mounted braking anti-lock/antiskid system (ABS/ASR), using transverse direction of blowing out The control model of dynamic balance.It is each to take turns (including wheel of blowing out) under blow out cross force or non-equilibrium braking force distribution and control action Suffered ground force FxyiIt to the torque of vehicle centroid and levels off to zero, theoretically meets counteracting forces equation：
Cross force of blowing out control generates the sideway trimming moment M that blows out based on vehicle dynamic model of blowing out, by each wheel differential brakingu With the yaw moment M that blows outωIt balances each other, i.e. Mu=-Mω。MωDetermination use component and total amount both of which.
One determines the yaw moment M that blows outωComponent modes.MωFor the yaw moment M for rolling resistance generation of blowing outω1And The yaw moment M that lateral force of blowing out generatesω2The sum of, i.e.,：
Mω=Mω1+Mω2,
F in formulaxiFor each wheel rolling resistance, liDistance, the J of barycenter longitudinal axis are crossed for wheel to vehiclezFor vehicle rotary inertia,Respectively Mω1、Mω2The yaw angle acceleration-deceleration of the lower vehicle of effect.
Secondly, determine and blow out yaw moment MωTotal amount pattern.Main includes using vehicle two and more free vehicle reasons By model and algorithm, the field test and algorithm of the vehicle of setting stability contorting programming system (ESP).By above-mentioned component and Total amount pattern determines the yaw moment M that blows outω, with MωThe vehicle flat tire of balance adds yaw moment MuMathematic(al) representation be：
K in formula1、k2For runflat condition feedback variable or parameter.In brake control process, controller is with sideway equilibrant force of blowing out Square MuEach wheel differential braking distribution model is established in conjunction with brake relevant parameter for parameter, realizes each wheel sideway control for brake (DYC) braking force distribution.
Ii, mechanics and state parameter jointly control type
The Control Cooling is based on vehicle braking stabilizing control system, with stabilizing control system (VSC), Study on Vehicle Dynamic Control System (VDC) or electronic stability program system (ESP) control compatibility.
One, optimal additional yaw moment MuDetermination.
Controller using normal, operating mode of blowing out wheel, vehicle status parameters and mechanics parameter as input parameter, establish wheel, Vehicle-state and mechanics parameter jointly control pattern, model and algorithm.Controller is based on longitudinal, sideway two degrees of freedom vehicle Model, and with longitudinally, laterally, sideway, multivariant auto model, tire model and the vehicle wheel rotation side such as inclination Journey, establish normally and the operating modes such as blow out under, wheel, mechanics of vehicles system analytic expression, or be converted into state space expression Formula, export is normal, operating mode of blowing out wheel, vehicle control scheme, model theoretical algorithm, under the normal, operating modes such as blow out, vehicle fortune Dynamic state is mainly by yaw velocity ωr, side slip angle β characterization, wheel movement state is mainly rigid by wheel (longitudinal side is vertical) Equivalent, the non-equivalent phase degree deviation of degree, side drift angle, acceleration-deceleration, slip rate and its parameter determines.The stability control of vehicle takes Certainly in (barycenter) side drift angle β and and its derivativeIn β-β phase planes, stable condition approximate representation is：
C in formula1、c2For constant factor.Ideal yaw velocity ωr1By auto model or the sensor of vehicle configuration, use Certain algorithm determination, practical yaw velocity ωr2Pass through yaw-rate sensor the real time measure set by vehicle centroid position.Reason Think and virtual condition side slip angle β1、β2It is determined by auto model and β observers, β1、β2Or pass through sensor configuration and phase Algorithm is answered to determine.Define vehicle ideal and practical yaw velocity ωr1And ωr2, side slip angle β1And β2Between deviation：
Under runflat condition, C controllers one add yaw moment MuWitheβ(t) it is primary variables, with μe、e(ωe)、ux、ax、ayFor parameter, using the modern scientists such as the PID of its parameter, optimal, fuzzy, sliding formwork, robust, neural network Theoretical respective algorithms, use is equivalent, compensation model determines.It establishes and adds yaw moment MuEquivalent mathematical model：
P in modelraTo detect tire pressure, uxIt is steering wheel angle, e (ω for speed, δe)、It respectively blows out leveling wheel The equivalent relative angle velocity deviation of two wheel of pair, angle acceleration-deceleration deviation, ax、ayIt is indulged for vehicle, side acceleration, μiFor friction coefficient. Determine additional yaw moment MuFunction model includes mainly：
μ in formulaaSimMan universal patient simulator, detection tire pressure P are taken turns for balance car wheel set tworaOr equivalent Relative sliding rate deviation e (Se) can And equivalent relative angle acceleration-deceleration deviationIt exchanges.Determine additional yaw moment MuModel and algorithm in, the deficiency of vehicle Or negative understeer is judged using following various modes.Determinating mode one passes through vehicle yaw moment deviationAnd steering wheel turns The positive and negative judgement of angle δ.Determinating mode two is judged by side slip angle and yaw velocity.Vehicle steady-state controller is with above-mentioned Main relevant parameters in model are basic parameter, based on vehicle one or with Multi-freedom model, differential equation of motion, tyre mould Type is established and determines optimal additional yaw moment MuTheoretical model, equivalent model, on this basis determine runflat condition under it is optimal Additional yaw moment MuBasic formula, the formula include mainly：
Mu=-k1(e(ωe),Or
In formulaWithk1(Pr) and k2(Pr) be runflat condition feedback variable or Parameter, wherein e (Se) can be withIt exchanges.In view of yaw velocity ωrThere are lotus root conjunction property with side slip angle β, it is difficult to together Shi Shixian reaches ideal yaw velocity ωrIt can decision using the control algolithm of modern control theory with side slip angle β Optimal additional yaw moment.Wherein one of algorithm：According to the state observer of LQR Theoretical Design Infinite Times, decision goes out optimal Additional yaw moment Mu.Normally and blow out under operating mode, vehicle reality and ideal movements state, including yaw velocity ωrAnd barycenter Side drift angle β, there are deviation delta ωr, Δ β, with nominal situation to blow out operating mode transfer and process of blowing out development, parameter, Δ ωr, the blow out weight of travel condition of vehicle role and influence of Δ β reflection increase, vehicle need to be applied and add yaw moment Mu, extensive Multiple vehicle perfect condition.When using equivalent model and algorithm, to MuModified pattern, model and algorithm include：Parameter feedback It corrects, time lag is corrected, blow out impact amendment, knocking over and wheel rim contact to earth, correct and blow out with blocking comprehensive modification model and calculation Method, wherein MuComprehensive parameters amendment of blowing out, it is main to wrap using the non-linear or linear correction model and algorithm of comprehensive parameters v It includes：
Or
Or
V includes that balance car wheel set two takes turns equivalent or non-equivalent angular speed deviation e (ω in formulae) or e (ωk), slip rate deviation e (Se), speed ux, vehicle side acceleration ayOr with yaw velocity ωr.M after being correcteduReflect the control of runflat condition Characteristic, each additional yaw moment M for taking turns differential braking and generatinguWith the yaw moment M that blows outωIt balances each other, by being controlled to each wheel Variable brake force Q processedi, angle slow down(angular speed decrement Δ ωi), slip rate SiOne of control, directly, indirect control it is additional Yaw moment Mu。
Secondly, optimal plus yaw moment MuEach wheel control variable Qi、ΔωiOr SiDistribution.
Based on wheeled vehicle configuration state parameter, optimal plus yaw moment M is establisheduWith parameter Qi、ΔωiOr SiOne of Relational model.Wheeled vehicle configuration state parameter：Main includes additional sideway power Mu, wheel longitudinal side is to attachment coefficientWithGround friction coefficient μi, each wheel dynamic load carry Nzi, front and back axle to vehicle centroid distance laAnd lb, wheel lateral force Acting factor λi(αi), front wheel angle θaOr with speed ux.Brake structural parameter and static parameter：It include mainly brake efficiency Factor ηi, braked wheel radius Ri, each to take turns longitudinal rigidity Gri, half wheelspan d of axlezi。MuWith parameter Qi、ΔωiOr SiRelationship The modeling structure of model is：Determine that wheel exists by preceding a kind of parameter(or μi)、Fzi、la、lbWhen reality value state under Tire force, the brake force Q that brake provides wheel is determined by latter class parameteri, wherein control variable Qi、SiTo add yaw moment MuThe increasing function of absolute value increment.Relational model mainly uses theoretical model, equivalent The types such as model or test model.Theoretical model can vehicle by longitudinal (or and lateral) tire moments equation, vehicle wheel rotation equation, Tire model and its export of vehicle Multi-freedom model.Equivalent model is mainly with brake efficiency factor ηi, braked wheel half Diameter Ri, each to take turns longitudinal rigidity Gri, half wheelspan d of axlezi, wheel lateral force acting factor λi(αi), ground friction coefficient μi, wheel Load NziOr with speed uxBrake force Q is determined using its parameter model and algorithm for parameteriUnder effect, yaw moment is added MuQi、Δωi、SiEach wheel distribution and control.
Equivalent model one：
Qi=f (Ri, pi)、pi=Δ pi+pi0、ρi=f (μi, Nzi)
Δpi=f (Mu, ηi, dzi, λi(αi), Ri, Gri, ρi)
Q in formulaiFor each wheel (differential) brake force, pi、pi0For this control for brake cycle HhWith a upper cycle Hh-1Between wheel cylinder Pressure value, Δ piFor the pressure of wheel cylinder change value in this control for brake period and the distribution of a upper periodic wheel.In each control The control for brake cycle H of variablehIn cycle, in each wheel distribution brake force QiUnder the action of, vehicle obtains optimal additional yaw moment For Mu。
Equivalent model two：
Si=Si0+ΔSi、ΔSi=f (Mu, Gri, dzi, λi(αi), ρi, ux)、ρi=f (μi, Nzi)
S in formulaiAnd Si0Respectively this control for brake of wheel cycle HhWith a upper cycle Hh-1Slip rate, Δ SiFor this period of wheel The slip rate change value between a upper period.
Equivalent model three：
ωi=ωi0+Δωi、Δωi=f (Mu, Gri, dzi, λi(αi), ρi)、ρi=(μi, Nzi)
ωiAnd ωi0Respectively this cycle H of wheelhWith a upper cycle Hh-1Between magnitude of angular velocity, Δ ωiFor this cycle H of wheelhWith A upper cycle Hh-1Between angular speed change value.The modeling structure of equivalent model is：The change value Δ p of each control variablei、Δ ωi、ΔSiFor MuThe increasing function of absolute value increment.The non-wheel longitudinal rigidity G that blows outriIt is set as constant, not as occurrences in mould In type and algorithm, GriIt can be with radius of wheel RiIt exchanges.ρiFor parameter μi、NziModifying factor.Factor lambdai(αi) limited by friction circle System increases when tire adhesion force tends to saturation with braking moment, and lateral force reduces.λi(αi) lateral force variation is considered to cross Put the influence of torque, λi(αi) certain value is taken, it is more suitable in [0,1] section.In equivalent model, mainly by adding yaw moment MuDetermine each wheel control variable Δ pi(or Δ Qi)、Δωi、ΔSi, MuUsually it is not assigned to wheel of blowing out, control variable Δ pi、Δ ωi、ΔSiDetermine each additional yaw moment M for taking turns and being distributedui.Optimal additional sideway power MuEach wheel differential system power QiOr Δωi、SiThe distribution and control of parameter are distributed mainly on wheel braking model characteristics function curve (Fxi~Qi、Fxi~Δ ωi、Fxi~Si) stability region (or its linearity range), characterisitic function FxiIt uses with parameter Qi、Δωi、SiFor variable Broken line form, in characterisitic function FxiLinearity range, add yaw moment MuQi、Δωi、SiDistribution and control will more It is precisely and succinct.In each wheel differential system power QiUnder the action of, pass through wheel longitudinal tire force FxiTo the imbalance of vehicle centroid Braking moment, the additional yaw moment M of composition recovery vehicle stabilizationu。MuThe distribution of each wheel use various modes and model, it is practical Using simplified, equivalent mode and empirical equation in.
Thirdly, optimal plus yaw moment MuEach control variable Qi、ΔωiOr SiEach wheel allocation model.Distribution and control Mode one processed：Efficiency side drift angle mode, according to each wheel efficiency side drift angleWith the relationship of each wheel side drift angle α, what differential braking generated Optimal additional yaw moment MuDistribute to efficiency side drift angleThe sum of higher wheel pair.It is defined as：Each wheel efficiency side drift angleIn formula：
I is wheel number, and 1 and 4,2 and 3 be diagonal line wheel, and efficiency side drift angle is divided into two groups of αIAnd αII, Distribution and control mode two：Efficiency load manner respectively takes turns dynamic load N by control for brake computation of PeriodZi, definition effect Rate load
sN(i)=- s (i) sign (Mu)、
Each efficiency load is calculated, the optimal additional yaw moment that differential braking generates is distributed toThe wheel of higher value is taken, if should Wheel is wheel of blowing out, and is takenSecondary big wheel carries out MuDistribution.Distribution and control mode three：Blow out, it is non-blow out balance car wheel set and Front and back axle, diagonal line arrangement wheel MuThe configuration method of salary distribution.Inside front-wheel tyre-burst, the optimal additional cross that differential braking generates Put torque MuMain to distribute to the non-balance car wheel set of blowing out arranged by diagonal line, part differential system power or distribute to is blown out flat The non-wheel of blowing out for the wheel pair that weighs.Outside front-wheel tyre-burst, the optimal additional yaw moment M that differential braking generatesuIt is main distribute to by The non-balance car wheel set of blowing out of front and back axle arrangement, part differential system power or distributes to the non-of balance car wheel set of blowing out and blows out Wheel.Similarly, interior outside rear wheel is blown out identical as front-wheel tyre-burst distribution principle：Determination is blown out first, non-balance car wheel set of blowing out is selected Fixed wheel arrangement, the optimal additional yaw moment that differential braking generates mainly distribute to non-balance car wheel set of blowing out, portion Differential brake force or the non-wheel of blowing out for distributing to balance car wheel set of blowing out, MuIt is not assigned to wheel of blowing out.
Four, optimal additional yaw moment MuThe control structure and flow of each wheel distribution.Based on blow out wheel state parameter and It blows out each control stage, MuThe distribution of each wheel and control using control variable Qi、ΔωiOr SiLinear, nonlinear model Or equivalent model carries out the non-wheel and non-of blowing out by the logical combination of wheel A, B, C, D control for brake and the logic loops of control Blow out balance car wheel set, blow out wheel and the balance car wheel set Q that blows outi、Or SiDistribution and control.It blows out early period, true It blows out the phase in fact：Additional yaw moment Mu, useOrControl logic combines and above-mentioned efficiency side drift angle, efficiency The method of salary distribution of load or left and right wheels of blowing out carries out Qi、Or SiEach wheel distribution and control.For balance car of blowing out Wheel set usesOrControl logic combines, when wheel of blowing out carries out stable state A controls, withSiVariable in order to control subtracts step by step Small wheel brake force of blowing out is braked until releasing its.Non- wheel of blowing out in balance car wheel set of blowing out, the brake force applied with wheel of blowing out On the basis of, it is applied with the brake force for two wheel balance of the brake force that is equal of wheel or wheel pair of blowing out, when releasing is blown out wheel braking When, non-wheel brake force of blowing out in the wheel pair is released on an equal basis.Non- blow out or and is blown out non-in balance car wheel set at balance car wheel set Wheel of blowing out may also participate in additional yaw moment MuControl variable Qi、Δωi、SiOne of distribution and control.It blows out inflection point And wheel rim detaches control period：Balance car wheel set two of blowing out wheel usesControl logic, wheel of blowing out enter the last of stable state control Stage releases wheel brake force of blowing out at once, releases non-wheel brake force of blowing out in the wheel pair on an equal basis, this is non-to blow out and wheel or participate in attached Add yaw moment MuControl variable Qi、SiOne of distribution and control, when it is non-blow out wheel reach ANTI LOCK door Then enter braking anti-lock when limiting threshold value to control.Inflection point of blowing out control period：By the distribution and control of above-mentioned each wheel brake force, make It blows out to take turns and is in attachment state appropriate with each wheel, each differential braking wheel obtains maximum sideway power in optimal slip rate section Square.Wheel rim detaches control period：Wheel braking of blowing out has been released in being controlled because of inflection point, wheel wheel rim of blowing out makees pure rolling along tyre surface, according to Auto model can export the side drift angle β for wheel of blowing out under no straight skidding state：
U in formulax、uyFor vehicle vertical, horizontal speed, ground vertically and horizontally friction coefficient μx、μyIt then can be by the friction system on ground and rubber The parameters such as number determine.Experiment shows：The probability of knocking over is quite big when side drift angle β is more than threshold limit value (about 3 °), is not influencing vehicle Path trace under conditions of, by the target control value of β, ground friction coefficient μyEtc. parameters, limit steering wheel for vehicle corner, Prevent wheel rim from detaching.The vertical, horizontal attachment coefficient when road surface is more smoothAbout the one of several points of nominal situation, base It, can be to the additional yaw moment M after wheel knocking in attachment coefficient, the vertically and horizontally parameters such as poweruIt is modified.Wheel rim card when it is horizontal To attachment coefficient(about 20 times of nominal situation) are increased dramatically,Value can lead to experiment and determine that the value is stored in automatically controlled list Member, for wheel rim card when additional yaw moment MuAmendment, effectively realize blow out vehicle stable state control.The C controls of vehicle stable state Identified each wheel differential system power distribution and Controlling model, should finally pass through live tire burst test or in-site modeling tire burst test It is verified, and parameter used by Controlling model and model structure is modified according to field test conclusion, it is quick-fried with determination Tire vehicle stable state braking distribution and Controlling model are to the equivalence of field test results, validity and consistency.
5., vehicle braking force total amount (D) control and D controllers
D control objects are all wheels.Vehicle of the D controls based on longitudinal single-degree-of-freedom or longitudinal direction and revolution two degrees of freedom Single wheel model.Vehicle is reduced to brake force Q by the modeld, longitudinal tire force Fdx, lateral tire forcesVehicle gravity NdEffect In the vehicle of a single-wheel, vehicle single-wheel is used in combination to integrate angular decelerationAngular speed negative increment Δ ωd, slip rate Sd, vehicle subtracts SpeedCharacterize state of motion of vehicle.Δωd、SdValue controlled by each wheel stable state A, balancing brake B control, vehicle stable state Brake the determining control variable of C controlsΔωi、SiThe algebraical sum of target control value.Define Qd、Sd、Target control value Deviation e between target control value and actual valueQd(t)、eωd(t)、esd(t)、Feedback by deviation and closed loop control System, adjusting control variableΔωd、SdValue realizes vehicle brake force total amount QdOr vehicle decelerationDirect or indirect control System.It needs to control vehicle decelerationWhen, it pressesWith the wheel synthesis longitudinal tire force F of single-wheel auto modeldx, wheel synthesis Angular decelerationVehicle braking force total amount QdBetween relational model, determine Qd、Or slip rate SdTarget control value, and With Qd、Or SdTarget control value as a reference value, in turn determine A, B, C control each wheel control variableΔωiOr SiTarget control value.Vehicle brake force total Pollutant Quantity Control Model determined by the D controls of vehicle braking force total amount, finally should be by existing Field tire burst test or in-site modeling tire burst test are verified, and according to field test conclusion to parameter used by Controlling model And model structure is modified, to determine brake force total amount to the equivalence of field test results, validity and consistency.
6., the compatible control of braking and controller
I, manual operation interface braking control compatible with active brake of blowing out and controller.Manual system's arena face includes Manned pedal of vehicles brake service interface and automatic driving vehicle auxiliary brake operation interface.Brake compatible controller Input parameter signal include three classes.A kind of signal：The brake force total amount Q of active brake of blowing out outputd, each comprehensive angle of wheel slows down DegreeAngular speed negative increment Δ ωd, slip rate Sd, vehicle decelerationTwo class signals：Brake pedal Brake displacement Sw', Brake force QdUnder ' effect, each comprehensive angular deceleration of wheelAngular speed negative increment Δ ωd', slip rate Sd′.Three classes signal：Vehicle Ideal and practical yaw velocity deviationFront or rear axis is blown out, and to take turns equivalent (or with non-equivalent) opposite for balance car wheel set two Angular speed deviation e (ωe) and angular deceleration deviationBlow out time zone taiParameter signal.It is based one(ωe)、 taiParameter establishes the mathematical model of runflat condition and control parameter γ.By active brake and pedal brake (the referred to as two kinds of systems of blowing out It is dynamic) independent or parallel work-flow state, vehicle braking and anticollision coordinate control model and determine brake operating compatibility mode, thus solve The control hazard certainly occurred when two kinds of braking parallel work-flows.Blow out active brake, pedal brake it is individually operated or when, this two class behaviour The control for brake of work does not conflict, and for braking compatible controller not to the compatible processing of its input parameter signal, it is corresponding to go out signal Input signal.When active brake of blowing out is with pedal brake (hereinafter referred to as two brakings) parallel work-flow, braking compatible controller is pressed Pedal brake displacement Sw' and brake force Qd' between relational model, by Qd' with vehicle respectively take turns integrate angular decelerationAngular speed Negative increment Δ ωd', slip rate Sd' between relational model, determine vehicle braking force QdUnder ' effectΔωd' or Sd' mesh Mark controlling value.Definition is blown out between active brake control variable target control value and pedal brake control variable target control value Deviation：
eQd(t)=Qd-Qd′、eSd(t)=Sd-Sd′、
ΔQd'=| eQd(t)|、ΔSd'=| eSd(t)|、
According to deviation eQd(t)、eSd(t)、It is positive and negative, determine the compatible control logic of braking.Work as eQd(t)、eSd(t)、When more than zero, braking compatible controller respectively controls variable Q with active brake of blowing outd、Sd、Target control value be control The output valve of device processed, i.e., to its each input parameter signal without compatible processing.Work as eQd(t)、eSd(t)、Value is less than zero When, each input parameter signal of brake operating exports the ginseng after the compatible control process of braking through braking compatible controller processing Number Qda、Or SdaSignal, Qda、Or SdaValue determines that braking compatible model is by following brakings compatible Controlling model：
Qda=f (Qd, λ1)、Sda=f (Sd, λ3)
λ in formula1、λ2、λ3To brake any compatible features parameter.Its modeling structure is：Qda、Or SdaRespectively Qd、Sd、It is positive to increase The increasing function of amount, on the contrary it is the subtraction function of its decrement.Qda、Or SdaRespectively λ1、λ2、λ3The subtraction function of increment absolute value, instead For its be reduced absolute value increasing function.λ1、λ2、λ3Mainly by each wheel brake force total amount Qd', comprehensive angular speed it is negativeIt is comprehensive Slip rate Sd', the asymmetric step function model that runflat condition and control parameter γ are basic parameter determines：
λ1=f (± Δ Q 'd, γ), λ2=f (± Δ ω 'd, γ), λ3=f (± Δ S 'd, γ)
Runflat condition and control parameter γ are based on zone properties when runflat condition, control for brake phase and anticollision, by vehicle ideal and reality Border yaw velocity deviationAntero posterior axis balance car wheel set two takes turns equivalent (or with non-equivalent) relative angle velocity deviation e (ωe), angular deceleration deviationBlow out time zone taiIt is determined for the mathematical model of parameter.The modeling structure of parameter γ is：e(ωe)、Increasing function, the γ t of absolute value incrementaiThe increasing function of decrement.Brake any compatible features parameter lambda1、 λ2、λ3Modeling structure be：λ1、λ2、λ3The respectively increasing function of γ increments, λ1、λ2、λ3Respectively parameter, Δ Qd′、ΔSd′、Δ ωd' just travel parameters (+Δ Q 'd、+Δω′d、ΔS′d) increment subtraction function, negative travel parameters (- Δ Q 'd、-Δω′d、-Δ S′d) increment increasing function.Wherein asymmetric step function model refers to：In the positive and negative stroke of brake pedal, λ is determined1、λ2、λ3's Function model has different structures, parameter, Δ Q 'd, weights of the γ in positive stroke is less than the weight in negative stroke, positive row The functional value of its parameter is less than the functional value of its parameter in negative stroke in journey：
Or
Positive and negative (+, -) of each parameter is by the positive and negative determination of brake-pedal travel in formula, and each parameter value increases, the origin of decrement is inclined Poor eQd(t)、eSd(t) or0 point.By the model can quantification determine that pedal brake is grasped parallel with active brake of blowing out Make man-machine self-adaptive wavelet base.Work as eQd(t)、eSd(t) orWhen value is less than zero, braking compatible controller is based on blowing out Each control period and feature parameter"λ"1、λ2、λ3, determine wheel stable state, each wheel balance, vehicle stable state, brake force total amount (A, B, C, D) Control logic combines, includingDeng.It brakes compatible controller and uses closed loop Control, when deviation is negative, controller is to brake compatible deviation eQd(t)、eSd(t)、For parameter, it is compatible with by braking B, C control of deviation carry out each wheel braking force distribution and adjusting, and the actual value that active brake controls that makes to blow out tracks its mesh always Controlling value is marked, active brake of blowing out after braking compatible processing control output valve is its target control value Qda、Or Sda, as 0 The braking compatibility control of deviation.Early period, fore-aft vehicle blow out when being in Collsion proof safety time zone, γ values are 0, and vehicle mainly usesBrake control logic combination.Each phase or/and Collsion proof safety dangerous each later stage, use after the true phase of blowing outBrake control logic combination, by parameter lambda1、λ2Or λ3Increase, it is possible to increase each wheel balancing brake B controls The braking force component of system, but the brake force of each wheel balancing brake B controls is not assigned to wheel of blowing out.With runflat condition deterioration or Fore-aft vehicle enters the forbidden time zone of anticollision, and wheel of blowing out enters stable state and controls, and each balanced system power for taking turns balancing brake B controls only divides The non-balance car wheel set of blowing out of dispensing.Each control period after inflection point of blowing out, with the further deterioration of runflat condition, releasing is blown out to take turns and be made Power, other each wheels or non-balance car wheel set of blowing out in addition to wheel of blowing out useOrBrake control logic group It closes, in its control loop, increases each wheel differential system power of vehicle stable state C controls, keep or reduce balancing brake B controls Brake force, and by braking any compatible features parameter lambda1、λ2Or λ3γ, Q ' in modeld、ω′dOr Sd' between coordination, i.e. Qda、Or SdaIt carries out with λ1、λ2Or λ3Reduction and reduce, Qda、Or SdaWith Q 'd、ω′dOr Sd' increase and increased coordination Adaptive compatible control of the artificial pedal brake with active brake of blowing out is realized in control.
Ii, the active brake of automatic driving vehicle and active brake of blowing out (referred to as two classes are braked) compatible controller.The control The brake force total amount Q for the tyre burst brake control that device processed is determined with vehicle single wheel modeld1, comprehensive angular decelerationComprehensive angle speed Spend negative increment Δ ωd1, comprehensive slip rate Sd1, vehicle decelerationOne of parameter, and it is total with the power that vehicle active brake controls Measure Qd2, comprehensive angular decelerationAngular speed negative increment Δ ωd2, slip rate Sd2One of parameter be input parameter, by vehicle system It is dynamic to coordinate control model with anticollision, individually or parallel work-flow state according to the braking of two classes, using following brake operating compatibility mode, Solve the control hazard of two classes braking parallel work-flow.When one, the braking of two classes individually carry out, the control for brake of this two generic operation is not Conflict, brake monitor independently carry out blow out active brake or the control operation of automatic driving vehicle active brake.Secondly, two class systems When dynamic parallel work-flow, braking compatible controller determines that following brakings are compatible with mould according to set collision prevention of vehicle control model, model Formula.One of parameter that braking compatible controller is braked with two classes is input parameter, defines the deviation of two class brake parameters：
eQd(t)=Qd1-Qd2、eSd(t)=Sd1-Sd2、
It is determined according to positive and negative (+, -) of deviation " higher value " and " smaller value " of the braking of two classes, deviation is determined as " larger for timing Value " when deviation is negative, is determined as " smaller value ".Compatible controller is braked to brake by two class of fore-aft vehicle anticollision control model pair Control parameter is handled：Two class control for brake are in Collsion proof safety time zone taiWhen interior, braking compatible controller is with two class systems Dynamic control parameter (Qd、Δωd、Sd) in " the greater " type of retardation as operation and control type, and it is " larger with parameter Value " is as braking compatible controller output valve.The control of one of two classes braking is in anticollision danger or forbidden time zone taiWhen, braking Compatible controller is using the type of retardation of two class control for brake parameters " smaller " as operation and control type, " smaller value " of parameter As braking compatible controller output valve, the control hazard when braking parallel work-flow of two classes is thus solved, realizes automatic driving car Active brake is compatible with active brake control of blowing out.
7., brake-by-wire control and controller
Brake monitor includes mainly：Electric-controlled hydraulic, line traffic control mechanical braking controller.Electric control hydraulic braking controller be with It is upper described.Line traffic control mechanical braking controller is based on above-mentioned electric control hydraulic braking controller, while adding line traffic control fail-ure criterion device, uses In normal and each operating mode such as blow out braking and control.
I, line traffic control mechanical braking controller.The controller is with brake-pedal travel SwOr brake pedal force sensor detection letter Number PwFor parameter, S is establishedwOr PwThe equivalency transform model of parameter, model include mainly：
Qd=f (Sw)、
Sd=f (Sw, δ, μi, Nz)
By transformation model, by SwOr PwBe converted to vehicle decelerationBrake force total amount Qd, wheel integrate angular deceleration Comprehensive angular speed negative increment Δ ωd, slip rate SdEtc. other parameters form.Based on Qd、Δωd、SdOne of parameter is blown out by above-mentioned Control for brake pattern model and algorithm determine each wheelOr SiThe target control value of distribution passes through A, B, C, D brake control logic The loop cycle of combination realizes the control of vehicle flat tire brake-by-wire.Because of Qd、SdEtc. parameters to parameterResponse lag, Compensator can be used, phase lead compensation is carried out to it：In the cycle period H of control for brakehIn, after phase lead compensation, pass Sensor detection parameters signal Sw、It is consistent with the low frequency signal phase that driver inputs brake pedal, control variable Qd、 SdWith parameter signal Sw、Phase basic synchronization.Phase compensation (correction) model includes：
G in formulac(t) be the phase compensation time, k is coefficient, and the sound of braking control system and relevant parameter is improved after compensated Answer speed.
Ii, brake-by-wire control fail-ure criterion.To ensure the reliability of malfunction and failure judgement, set by brake-by-wire controller Electronic control unit (ECU), sensor etc. use fault-tolerant design, and according to line control brake system structure, model and algorithm, construction is set up The sensor redundancies information such as wheel speed, brake force, pedal displacement of each electric control gear determines automatically controlled dress associated with fault tolerant object It sets, sensor etc., fault verification is carried out by residual error, fault message is stored in electronic control unit, is alarmed using sound, light crossing-signal, Driver's ageing treatment is prompted, the systematic failure risk of electric control braking subsystem is thus reduced, on this basis, while in real time Carry out operation troubles fail-ure criterion.One, wheeled vehicle state parameter fail-ure criterion device.The judging device mainly integrates angle with each wheel DecelerationOr vehicle decelerationBrake-pedal travel detection parameters SwOr with braking force sensor detection parameters signal PWIt is defeated Enter parameter signal, using following fail-ure criterion patterns.Pattern one, wheel speed respond determinating mode, establish fail-ure criterion receptance function：
w1b=kbSw
Work as w1bUp to setting threshold value cw1bWhen, w1aLess than limit threshold value cw1aWhen judgement brake-by-wire failure.Pattern two, brake force Determinating mode is responded, fail-ure criterion receptance function is established：
w2a=kaPw、w2b=kbSw
Work as w2bUp to setting threshold value cw2b, w2aLess than threshold value cw2aJudge brake-by-wire failure.After judging brake fade, Electronic control unit exports brake fade signal il.Secondly, automatically controlled parameter it is forward and inverse to brake fade judging device.It is forward and inverse to be lost to failure Effect judges：Otherwise system electric control signal is positive malfunction and failure judgement from the judgement being input on outbound course is reverse Malfunction and failure judgement.The determinating mode is：The automatically controlled parameter of brake-by-wire controller is on signal transfer direction, brake-by-wire The input of the signal of detection, control parameter set by the structure of controller is not 0, and the output of relevant parameter signal is 0, input letter on the contrary Number for 0 output be not 0, judge brake fade.By the structural unit of brake-by-wire controller, it is set detection, control parameter letter Number input be not 0, output judges brake fade by not being 0 to switch to 0.It is forward and inverse using 0 and non-zero to be patrolled to fail-ure criterion pattern Volume Threshold Model and decision logic meet as defined in model 0 and non-zero logic decision condition, then decision-making system malfunction and failure, defeated Go out brake fade signal il。
Iii, brake-by-wire control device.Regulated power supply and circuit, stand-by power supply or power storage is mainly arranged in the device Element (including mainly capacitance, inductance storaging piece etc.), voltage or/and electric current configurator, voltage and current monitor, alarm. Regulated power supply links with EMS (or EHS) line control system, and stand-by power supply links with brake fade protective device.Wherein voltage or/and Electric current configurator is voltage, electric current as defined in braking control system configuration, driving type, structure and the mould used by brake apparatus Formula provides corresponding electric power for brake apparatus.
8., brake control mode and flow
I, brake control mode.Brake monitor uses closed loop or opened loop control, and brake monitor is with each wheel brake force Qi、 Angular decelerationThe positive and negative increment Delta ω of angular speediOr slip rate SiVariable in order to control in the braking of wheel stable state, respectively takes turns balanced system In the loop cycle that dynamic, vehicle stable state braking, brake force total amount (A, B, C, D) control logic combine, mould is controlled by A, B, C, D Formula, model and algorithm determine control variable Qi、Or SiTarget control value, Qi、SiActual value by Each wheel brake-pressure sensor, wheel speed sensors real time detection signal, are determined using certain model and algorithm.Definition control variable Qi、SiThe deviation e of target control value and actual valueqi(t)、eΔωi(t)、esi(t).It brakes in closed-loop control, braking Controller is to control the Q of variablei、Δωi、SiParametric form, by deviation eqi(t)、eΔωi(t)、esi(t) or the number of its deviation Value determined by model is learned, in the cycle in control for brake period, controls braking executive device, makes each wheel control variable Qi、Δ ωi、SiActual value track its target control value always, realize each wheel brake force QiOr other parametersΔωi、SiDistribution And control.
Ii, control for brake flow.Electronic control unit set by controller carries out data processing, the output phase by control program or software It answers automatically controlled signal to control electric-controlled hydraulic (EHS), electric-controlled mechanical (EMB) braking executive device, adjusts wheel cylinder hydraulic coupling or EMS Braking motor torque and corner, realize it is each wheel brake force distribution and control, normally with the collision prevention of vehicle for operating mode of blowing out control, it is quick-fried The control of tire active brake is compatible with ABS, ASR, VDC or ESP control for brake.
9., tyre burst brake control subprogram and electronic control unit
I, tyre burst brake controls subprogram
By tyre burst brake control structure and flow, control for brake pattern, model and algorithm, work out control for brake subprogram or Software, using Structured Programming, which is mainly arranged：Wheel stable state, balancing brake, vehicle stable state and brake force are total Measure (A, B, C, B) control for brake, control for brake parameter and the configuration of (A, B, C, B) control for brake type combination, braking-distance figures processing And control process, actively system of blowing out is compatible with pedal brake, and braking coordinates control program module, or and line traffic control with anticollision control Dynamic program module.A, B, C, B brake control routine module：The main each wheel for including A, B, C, B control for brake Type Control variable Distribution and control submodule.Parameter and Control Cooling combine configurator module：By (A, B, C, B) Control Cooling and control week Phase selectes control variable, determines the logical combination of A, B, C, B Control Cooling.Braking-distance figures processing and control program module：Setting A, the data processing of B, C, B Type Control pattern, model and algorithm, all types of logical combinations of A, B, C, B control for brake.It brakes simultaneous Hold program module：When active brake of blowing out is with brake pedal parallel work-flow, the compatibility mode used, mould are controlled by braking is compatible Type, to blowing out, active brake carries out compatible processing with pedal brake control signal.Brake-by-wire subroutine module adds following journeys Sequence submodule.One, signal conversion program submodule：The submodule is based on pedal travel SwAnd its change rateOr and braking Pedal force sensor detects signal, by pedal travel SwWith vehicle decelerationOr brake force total amount QdEquivalent parameters model and Algorithm determines QdOrTarget control value.Secondly, brake fade decision procedure submodule：The submodule is sentenced by brake fade Determine the wheeled vehicle state parameter of device use, automatically controlled parameter it is forward and inverse to determinating mode, model, carry out brake fade judgement, sentence Output brake fade signal i after fixed establishmentl.Thirdly, brake fade control model conversion program submodule：The module is used for hydraulic pressure Or the braking of mechanical braking system switches to the brake fade protection of brake fade protective device.Four, brake fade controls journey Sequence submodule：The submodule is with brake fade signal ilFor switching signal, according to brake subsystem power supply, electronic control unit, automatically controlled The characteristic of device, executing agency and combinations thereof structure starts brake fade protective device using brake fade transformation model, real Now normal and blow out operating mode control for brake and abating protection device control model conversion.Five, power management routines submodule： The submodule presses automatically controlled parameter and standard, is monitored to automatically controlled parameters such as the electric currents, voltage, frequency of power supply, is less than established standards Export Failure Alarm signal il。
Ii, electronic control unit ECU
Electronic control unit ECU set by controller is mainly by input/output, microcontroller, minimum peripheral circuit, voltage stabilizing The compositions such as power supply.Main setting input, data signal acquisition and signal processing, communicate (including mainly the communication of CAN, MCU data), Data processing and control, monitoring, power management, driving output module.Data signal acquisition and processing module：Mainly taken turns by each wheel The circuits structure such as filtering, amplification, shaping, amplitude limit and Phototube Coupling of the parameter signals such as speed, brake pressure, yaw rate At.Data processing and control module：Subprogram and each subroutine module are controlled by above-mentioned tyre burst brake, to the group of parameter and control Close that configuration, (A, B, C, B) all types of brakings, braking be compatible, braking is coordinated with anticollision or with line traffic control Parameter Switch respectively control into Row data processing.Drive output module：Include mainly the circuits such as power amplifier, digital-to-analogue conversion, Phototube Coupling, for using high-speed switch The hydraulic braking regulator of solenoid valve, the signal processing mode of the pulsewidth modulation (PWM) of setting signal, and press brake apparatus institute If solenoid valve, motor, relay types determine its type of drive.
10., braking executive device
Braking executive device is using electric control hydraulic braking, line traffic control mechanical braking two types.
I, electric control hydraulic braking executive device and control flow
One, electric control hydraulic braking executive device.The device is based on controlled vehicle-mounted electrical hydraulic braking executive device, establishes just Often, the electric controlled brake device structure of operating mode of blowing out wheeled vehicle stable state (or stability) control, the device mainly includes：Wheel is just Normal operating mode braking anti-lock and operating mode stable state of blowing out control, the braking force distribution and tune blown out with the non-wheel of balance car wheel set two of blowing out Section, pedal brake and blow out active brake independence or parallel work-flow it is compatible control, blow out and non-tyre burst brake Failure Control.The dress It sets with each wheel brake force Qi, angular decelerationAngular speed negative increment Δ ωiOr slip rate SiParameter signal in order to control, setting are diagonal The hydraulic brake circuit of line or antero posterior axis arrangement realizes distribution and control between each wheel braking wheels of three or four channel.Triple channel Brake control mode：Two wheels of same control are distributed with balanced system power, to two wheel partition equilibrium systems of independent control The unbalanced system power of power or differential braking is superimposed a balanced system power on the basis of differential system power.Four-way is braked Control mode：To the wheel of four independent controls, distribution is with four-wheel balanced system power, two wheel differential system power and the two same systems of wheel Power or four-wheel differential system power are balanced brake force superposition differential system power, thus adjust and blow out and non-balance of blowing out The brake force that wheel pair is respectively taken turns.The device is mainly by pedal brake device, braking regulator, hydraulic pressure power supply device, braked wheel The compositions such as cylinder.Pedal brake device be a kind of servo-hydraulic (or air pressure) power-assisted follow-up braking device, mainly include brake pedal, It is driven leverage, master cylinder, fluid pressure line, pressure or is lost with pedal travel sensor, pedal sense simulator, hydraulic braking Imitate protective device.Regulator is braked mainly by high-speed switch electromagnetic valve, hydraulic pressure pressure regulator valve, electromagnetism and hydraulic switching valve, oil storage Cylinder, fluid pressure line or with the compositions such as voltage regulation cylinder.Hydraulic pressure power supply device includes mainly motor, hydraulic pump, valve, accumulator, oil storage Cylinder, using two class formation forms；Structure type one, the structure type using booster pump, oil storage cylinder, valve etc. as component are set to In the hydraulic pressure pressure-control circuit for braking regulator；Structure type two is made of hydraulic pump, oil storage cylinder, accumulator and valve, as System power supply device is independently arranged.In braking executive device, master cylinder and pump accumulator, two balances for braking regulator Wheel pair hydraulic brake circuit (axle or the hydraulic brake circuit of diagonal line arrangement), wheel cylinder, are returned by hydraulic braking Two control valves (reversal valve) set by road constitutes or is formed two classes mutually independent hydraulic brake circuit I, II.Control valve not on Electricity is normal open, and control valve blocks the pipeline of power supply device (pumping accumulator) to braking regulator, by master cylinder to braking The pipeline connection of regulator organizes structure or forms hydraulic brake circuit I.Hydraulic brake circuit I compositions are independent pedal brake The wheel cylinder in circuit, master cylinder, braking regulator and two balance car wheel sets collectively forms each wheel braking anti-lock (ABS), the independent pedal hydraulic control system of power processed distribution (EBD), pedal brake power distribution (EBD) control include mainly before, Rear car axle braking force or distribution and control with the left and right brake force of two axles.It replaces when control valve powers on, control valve will be braked total The pipeline of pump and braking regulator block and by the pipeline connection of master cylinder to pedal sense simulator, simultaneously will be for Energy device (pump accumulator) organizes structure or formation hydraulic brake circuit II to the pipeline connection for braking regulator.Power supply device (pump Accumulator), braking regulator and two balance car wheel sets braking each wheel cylinder, collectively form nominal situation ASR, ESP (including VSC, VDC) control, operating mode of blowing out wheel of vehicle stable state, each wheel balance, vehicle stable state, brake force total amount (A, B, C, D) control solely Vertical active brake fluid system.Anti-slip regulation (ASR) control uses hydraulic brake circuit II, the pressure fluid of pump accumulator output It is taken turns into drive shaft wheel pair two, wheel pair two takes turns the mutually isolated composition of braking hydraulic circuit mutually independent hydraulic brake circuit, By two wheel differential system power distribution, ASR controls are realized.During turning to driving, balanced by driving or with nonpowered axle two Wheel pair four-wheel differential system power distributes, and realizes that drive shaft two takes turns the deficiency of vehicle or oversteering control in anti-skidding and steering driving System.Nominal situation ESP (including VSC, VDC) controls and blows out active brake control using hydraulic brake circuit II, pumps accumulator The pressure fluid of output enters the wheel hydraulic brake circuit of balance car wheel set two through braking regulator.Braking executive device is using control The distinctive parametric form of variable：Brake force Qi, angular decelerationAngular speed negative increment Δ ωiOr slip rate Si, it is based on A, B, C, D The logical combination and its loop cycle of control for brake type, the same or independent control taken turns by two balance car wheel sets two are realized The distribution and adjusting of balance car wheel set and each wheel control parameter.It brakes in regulator, passes through set solenoid valve, hydraulic pressure pressure regulation The spool position state (open and close) of valve, reversal valve and combinations thereof structure, it is established that normal and operating mode of blowing out, blow out it is non-blow out it is flat The wheel pair two that weighs takes turns the hydraulic brake circuit of mutually isolated same control or independent control, the former takes turns for balance car wheel set two The identical same control of brake force, the latter take turns brake force difference, the independent control of differential braking for balance car wheel set two.This is same One or independent control include：Two wheels of independent control or two wheels pair are taken turns in the same control of one wheel pair, two wheel, another wheel pair two Using independent control.The hydraulic coupling of pedal brake device output is detected by pressure sensor, detects signal input brake controller, Brake monitor by brake it is compatible in a manner of, coadaptation compatible processing, output control are carried out to active brake and pedal brake power Signal is with ASR, ESP and non-active brake compatibility control mode control braking regulator of blowing out of blowing out.
Secondly, the structure of electric control hydraulic braking regulator and voltage regulating mode.The regulator is mainly by high-speed switch electricity Magnet valve, solenoid directional control valve, hydraulic pressure pressure regulator valve, hydraulicdirectional control valve (or with mechanical braking compatible apparatus) constitute composite structure, mainly Be arranged hydraulic pump (including reflux, low pressure, high-pressure pump) and corresponding fluid reservoir or and accumulator, wherein hydraulic pressure pressure regulator valve is by pressure regulation The compositions such as cylinder and relief piston, high-speed switch electromagnetic valve mainly use bi-bit bi-pass, 3-position-3-way, 3-position 4-way all types of.Electricity Hydraulic braking regulator is controlled using circulation cycle or the pressure adjusting structure and control model of variable volume, electronic control unit output signal With pulsewidth (PWM) or frequency (PFM), amplitude (PAM)) modulation system, it is electric that the high-speed switch in brake circuit is respectively taken turns in continuous control Magnet valve is adjusted by the pressure regulative mode of voltage-regulating system supercharging, decompression and pressurize in each hydraulic brake circuit, wheel cylinder Hydraulic coupling.During pressure regulation, the hydraulic pressure system of each valve combination and spool position state (on or off) composition different type structure Three kinds of specific pressure regulation states of dynamic circuit and wheel cylinder supercharging, decompression and pressurize.Pressurized construction and pressure regulation state：Braking The access of releasing of wheel cylinder is closed by valve or hydraulic pressure voltage regulation cylinder, the pressure fluid of pedal brake device or power supply device output, through system It moves regulator, into wheel cylinder, forms pressurization control time zone and the state of hydraulic brake circuit and wheel cylinder.Pressurize knot Structure and pressure regulation state：The bleeder pipe routing valve or the closing of hydraulic pressure voltage regulation cylinder, pedal brake device and power supply device of wheel cylinder Enter the pipeline of wheel cylinder by braking regulator while closing, when the pressurize of formation hydraulic brake circuit and wheel cylinder Area and state.Pressure reduction structure and pressure regulation state：The pipeline of releasing of wheel cylinder stores fluid cylinder through valve or the connection of hydraulic pressure voltage regulation cylinder Distribution channel is opened, and the pipeline that pedal brake device is connected to wheel cylinder with power supply device through braking regulator is closed, and is formed The decompression time zone of wheel cylinder and state.Each wheel brake force passes through wheel cylinder supercharging, pressurize and decompression state and controlling cycle Cycle, constitute each wheel braking force distribution and control process, realize that each wheel controls variable Qi、Δωi、SiDistribution and control.It adjusts The circulation pressure adjusting structure and pattern of pressure device be：Hydraulic pressure pressure-control circuit, wheel cylinder input and output port height is respectively set Fast switch electromagnetic valve, electronic control unit is using signal modulation modes such as pulse-width signals (PWM), by controlling hydraulic brake circuit In the input of set wheel cylinder, output high-speed switch electromagnetic valve, adjust pressure fluid in hydraulic brake circuit and wheel cylinder Supercharging, decompression and three kinds of states of pressurize realize each wheel brake-force control in the loop cycle of three kinds of states of pressure regulation process.System The transfiguration pressure adjusting structure and pattern of dynamic regulator be：The device is mainly by voltage regulation cylinder, relief piston, pressure regulator valve, solenoid valve, height Fast switch electromagnetic valve is constituted, and the access of wheel cylinder is entered by solenoid valve control pedal brake device or hydraulic pressure power supply device, The supercharging of attainment brake hydraulic pressure circuit and wheel cylinder；Pass through pressure regulator valve, high-speed switch electromagnetic valve control pedal braking dress simultaneously It sets or hydraulic pressure power supply device input pressure liquid enters voltage regulation cylinder, the pressure at relief piston both ends is thus adjusted, to regulate and control pressure regulation The displacement of piston and the volume of voltage regulation cylinder, based on the variation of voltage regulation cylinder volume, the pressure fluid in the wheel cylinder that keeps or release is real Pressurize, the decompression of existing wheel cylinder.
Thirdly, the work system of electric control hydraulic braking executive device.Braking executive device passes through hydraulic brake circuit I, II Specific structure constitute nominal situation pedal brake, operating mode of blowing out active brake, compatible, the brake fade protection of braking etc. mutually solely Vertical, mutually coordinated work system.Job family is unified, is based on hydraulic brake circuit I；Using circulation cycle pressure adjusting structure and mould Formula：When driver's independent brake operates, normal open of the master cylinder output pressure liquid through solenoid valve, hydraulic valve in braking regulator Road establishes the servo-actuated brake fluid pressure of pedal in hydraulic brake circuit I and directly controls wheel by the adjusting of high-speed switch electromagnetic valve Hydraulic coupling in cylinder.Variable capacity pressure adjusting structure and pattern：Between master cylinder and wheel cylinder and connect a set of hydraulic device, steps on Plate brake fluid pressure oil circuit and hydraulic control oil circuit are mutually isolated, and the device mainly includes hydraulic pressure voltage regulation cylinder, relief piston, hydraulic pressure Valve is changed by voltage regulation cylinder volume set by hydraulic control oil circuit, indirect control wheel cylinder brake pressure.Work system two is based on liquid Press brake circuit II, the pressure fluid of master cylinder output through set in fluid pressure line set electromagnetism or hydraulic control valve respectively with pressure regulation Device, the connection of brake feel simulator；When carrying out ASR, VSC, VDC or ESP and active brake of blowing out control, control valve changes Position, master cylinder output pressure liquid enter brake feel simulator, and hydraulic pressure power supply device output pressure liquid enters braking pressure regulation The hydraulic brake circuit II of device and wheel cylinder, master cylinder output pressure liquid with pump accumulator output pressure fluid mutually every From.Electronic control unit set by brake monitor is with each wheel angular speed negative increment Δ ωiOr/and slip rate SiVariable in order to control is based on it The deviation e of target control value and actual valueΔωi(t) or/and esi(t), output control signal, with pulsewidth (PWM) modulation system, even It is continuous to adjust braking regulator high speed switch electromagnetic valve, by increasing, subtracting the pressure regulative mode with pressurize, carry out each wheel braking Anti-slip regulation, dynamic stabilization, electronic stability program system (ASR, VSC, VDC or ESP) control are realized in the distribution and adjusting of power And active brake control of blowing out.When work system three, active brake of blowing out and operator brake parallel work-flow, brake monitor Using pressure sensor detection parameters signal, active brake of blowing out parameter signal set by master cylinder master cylinder as input parameter signal, Compatible processing is carried out to each wheel braking force distribution value by braking compatibility mode, output braking compatible signal is returned by hydraulic braking Road II, with pulsewidth (PWM) modulation system, regulator high speed switch electromagnetic valve is braked in continuous control, and adjusting blows out, non-blows out Balance car wheel set and the brake force of each wheel distribution.Work system four, using two kinds of brake fade protected modes；Mode one, hydraulic pressure In brake circuit (I, II), a normal open fluid pressure line by master cylinder to wheel cylinder is included at least, in the fluid pressure line Solenoid valve, hydraulic valve be set as normal open (opening), i.e., opened when solenoid valve does not power on, braking executive device without control electric signal it is defeated Fashionable, the pressure fluid of master cylinder output can be directly entered wheel cylinder；In mode two, hydraulic brake circuit I, II, braking is total A differential pressure reversal valve, master cylinder or hydraulic energy-accumulating is arranged in pump or the hydraulic brake circuit between hydraulic accumulator and wheel cylinder Device, differential pressure reversal valve and wheel cylinder group constitute an independent hydraulic brake circuit, and differential pressure reversal valve passes through master cylinder or liquid Hydraulic coupling is formed by differential pressure commutation, electric control hydraulic braking executive device between pressure accumulator and electric control hydraulic braking circuit I, II Electric control part failure when, master cylinder or hydraulic accumulator output pressure fluid it is straight by this independent hydraulic brake circuit It taps into wheel cylinder, realizes brake fade protection.
Four, electric control hydraulic braking executive device control structure and flow.Under the operating modes such as normally, blow out, control for brake mistake Cheng Zhong, electronic control unit output switch set by controller and each control signal group.Switching signal group gza, by solenoid valve set by each device The control rule open, closed, controls reversing solenoid valve set by hydraulic pressure power supply device (pump motor) and brake regulation system respectively (including switch and control valve), by the opening and closing of solenoid valve, realize master cylinder, electric-motor pump, pressure fluid input, let out It the working conditions such as puts, commutate, shunting, collaborating, coordinating the entrance of the function of completing each device and tyre burst brake control, exit. Switching signal gza1The operation and stopping of pump motor are controlled by the energy supply demand of braking and the storage pressure state of accumulator, and is passed through Control valve establishes hydraulic coupling in the hydraulic brake circuit I or II of each wheel.Signal gza2Reversing solenoid valve (control valve) is controlled, is built Erect each wheel hydraulic brake circuit I or II；Signal gza3Control be set to booster pump in hydraulic brake circuit I or II unlatching, It closes, realizes the increasing of brake regulation system hydraulic brake circuit, subtracts or the adjusting of pressurize.Control signal group control structure be with It is lower described.gzbFor vehicle traction anti-sliding control (ASR) signal, when drive control, it is based on hydraulic brake circuit II, signal gzbIt adjusts Braking force distribution section driving or taken turns with nonpowered axle balance car wheel set two realizes that vehicle traction is anti-skidding and insufficient or oversteering Control.gzcBraking force distribution (EBD) signal for axle before and after nominal situation or with left and right wheels is based on when pedal brake controls Hydraulic brake circuit I, signal gzcFront and back two axles or the distribution with two axis left and right wheels brake force are adjusted, realizes that wheel braking is anti-skidding With vehicle stabilization control (including vehicle whipping, deficiency or oversteering when preventing pedal brake).gzdIt is respectively taken turns for nominal situation Braking anti-lock controls signal, is based on hydraulic brake circuit I, and when wheel reaches braking anti-lock threshold value, electronic control unit terminates The output of the other control signals of the wheel, calls braking anti-lock signal gzd, the brake force of the wheel is adjusted, realizes its braking anti-lock Control.gzeFor nominal situation vehicle electric stability program ESP (including VSC, VDC) system control signal, pedal brake is not carried out When, signal gzeFor the initiative brake target control value signal of vehicle stable state (C) control；When pedal brake and ESP active brakes When parallel work-flow, compatible processing is carried out by electronic control unit, is controlled and vehicle stable state (C) control using each wheel balancing brake (B) The brake force target control value of logical combination, ESP controls is that balancing brake (B) control that each wheel distributes is controlled with vehicle stable state (C) Make the sum of the differential unbalanced system power target control value of distribution；Based on hydraulic brake circuit II, signal gzeAdjust two balance cars Wheel set and braking force distribution is respectively taken turns, realizes vehicle stabilization control.gzf(including gzf1、gzf2、gzf3) it is blow out wheel and vehicle of blowing out Steady state control signal is based on hydraulic brake circuit II, (including really blows out, inflection point, the systems such as knocking over by runflat condition and control period Dynamic control period), i.e. signal ia、ib、icOr when arriving with subordinate in each control period each phase control signal, automatically controlled list set by controller Member terminates each wheel nominal situation control for brake at once, is transferred to operating mode control for brake pattern of blowing out, electronic control unit set by controller with Each wheel brake force Qi, slip rate Si, angular deceleration negative increment Δ ωiVariable in order to control is taken turns, is blown out, non-balance car of blowing out by each The brake force Q of wheel setiDirectly distribution or slip rate Si, angular deceleration negative increment Δ ωiDistribution indirectly, realization, which is blown out, takes turns stable state Or its non-wheel anti-lock of blowing out, the control of vehicle stable state.Control entering signal of blowing out iaWhen arrival, no wheel, which is blown out, takes turns in which kind of just Normal operating conditions state, the state of a control terminate at once, and wheel of blowing out enters stable state A controls, according to parameter Si、Thresholding and control Simulation, signal gzf1High-speed switch electromagnetic valve in control braking regulator, reduces the wheel brake force Q that blows out step by stepi, make this Wheel is in stable state brake area, and when inflection point of blowing out later stage or wheel rim detach, releasing, which is blown out, takes turns braking, makes wheel negative increment Δ ωi、 SiTend to 0.In signal iaThis cycle H to arrivehOr next cycle Hh+1, electronic control unit is controlled using the wheel stable state A that blows out, each wheel is flat The logical combination of weighing apparatus braking B controls, the C controls of vehicle stable state, exports the operating mode vehicle steady state control signal g that blows outzf2, it is based on hydraulic pressure Brake circuit II, with A controls, C controls or and superposition B control logics combination each take turns, blow out, non-balance car wheel set of blowing out Braking force distribution realizes longitudinal direction of car, sideway control (DEB and DYC).When active brake and the pedal brake parallel work-flow of blowing out When, electronic control unit set by brake monitor exports the control signal g after braking compatible processingzf3, and by gzf3Substitution control letter Number gzf2, the target control value of braking force distribution and adjusting is the target after pedal brake and active brake compatible processing of blowing out Controlling value.Brake force total amount D controls are mainly poor by the brake force total amount of each wheel balancing brake B controls, the vehicle stable state of C controls The combinatorial regulation of dynamic brake force and the wheel stable state brake force of A controls is realized；The control variable mesh that brake monitor is controlled according to D The deviation for marking the sum of each control variables A, B, C control targe controlling value of controlling value and each wheel distribution, determines and adjusts vehicle D controls Parameter processedΔωd、SdTarget control value, adjust the brake force total amount target control value of vehicle D control indirectly.When automatically controlled When hydraulic braking executive device brake fade, electronic control unit output signal gzgSolenoid valve set by abating protection device is moved in control (should Solenoid valve can be replaced by differential pressure reversal valve and combinations thereof valve), it is connected to the hydraulic path of accumulator or master cylinder and each wheel cylinder, Hydraulic coupling, attainment brake hydraulic pressure fail safe are set up in wheel cylinder.It blows out and exits signal ieWhen Deng coming, tyre burst brake control It is voluntarily exited with control model, is transferred to nominal situation control and control model, until the entering signal i that blows outaIt arrives again；Braking Executive device is controlled into new period tyre burst brake, thus constitutes the loop cycle of A, B, C, D control for brake.
Five, in hydraulic brake circuit I, II, the wheel of balance car wheel set two or each wheel group constitute mutually independent brake back Road.Electronic control unit is with brake force Qi, slip rate Si, angular decelerationOne of parameter or multiple parameters variable in order to control, export each group Control signal gz；The condition that the wheel of brake monitor balance car wheel set two implements same control is：The left and right wheel control of balance car wheel set Signal gz1、gz2Each hydraulic brake circuit identical, that balance car wheel set two is taken turns, with Qi、SiOr Δ ωiParametric form, keep etc. It is worth the brake force of (same), in the logic loops of each wheel supercharging, decompression and holding pressure control, keeps brake force equivalent or equivalent same One, keep supercharging, decompression and the synchronization of holding pressure control time, control parameter SiOr Δ ωiWith QiKeep its equivalence；Normal work Under condition, when wheel braking anti-lock controls, the wheel of balance car wheel set two of same braking is carried out using the high choosing of brake force or low choosing Input；It blows out operating mode, the wheel of tire bursting vehicle wheel set two is using the low choosing input of brake force or differential input.Balance car wheel set two takes turns independence When control, electronic control unit is with Qi、SiOr Δ ωiParametric form carries out the distribution of the secondary left and right two wheels relevant parameter of the wheel, output Signal gz1、gz2High-speed switch electromagnetic valve in the left and right wheel hydraulic brake circuit of independent control balance car wheel set, by being pressurized, subtracting The logic loops of pressure and holding pressure control realize the direct or indirect distribution and adjusting of the secondary left and right wheel brake force of the wheel.
Ii, line traffic control mechanical braking executive device, control flow and brake fade protective device
One, line traffic control mechanical braking executive device control structure, control flow.The device is mainly by pedal travel or and system Simulator is felt in dynamic pickup, pedal brake, motor, slow down, increase square, conversion of motion (rotation translation conversion), clutch, Braking clamp body device, composite battery group are constituted.Device is using two kinds of structures of no self energizing effort or self energizing effort；EMS uses front and back axle Diagonal line arrangement two balance car wheel sets it is same control or four-wheel independent brake, be arranged forward and backward axle or diagonal line arrangement Two sets of mutually independent braking systems, when wherein a set of braking system faults failure, another set of system independently implements to meet an urgent need to make It is dynamic.Under normal and each operating mode such as blow out, electronic control unit set by line traffic control mechanical braking controller is to control the parameter shape of variable use Formula：Brake force Qi, angular speed negative increment Δ ωiOr slip rate SiIt exports each wheel braking force distribution and Regulate signal group (is referred to as believed Number) gz1、gz2、gz3、gz4、gz5、il；gz1For switching signal, unlatching and the pass of each wheel braking electromechanical assembly (including motor) are controlled It closes, motor is in standby after opening；gz2For the braking force distribution and tune of the wheel of balance car wheel set two or four-wheel under nominal situation Signal is saved, the line traffic control mechanical braking that structure is organized in control by braking motor, deceleration, increasing square, conversion of motion device, wheel jointly executes dress Set, realize wheeled vehicle Anti-slip regulation (ASR), braking anti-lock (ABS), electronic stability program (ESP) control (including VSC, VDC)；gz3For operating mode wheeled vehicle steady state control signal of blowing out, it is based on line traffic control mechanical braking executive device, according to each control of blowing out Phase and anticollision control time zone, and (A), balancing brake (B), vehicle stable state (C) differential braking, brake force total amount D are moved by wheel stable state The logical combination of control, realization blows out, non-blows out balance car wheel set and wheel pair two takes turns braking force distribution and control；gz4For wheel Steady state control signal, under nominal situation, up to the braking anti-lock control setting thresholding presentation time, electronic control unit is terminated to this non-wheel of blowing out Take turns brake-force control signal gz3Output, with signal gz41Replace gz3, realize that its braking anti-lock controls；It blows out each control period, Electronic control unit is to wheel output signal g of blowing outz42, to replace gz3, signal gz42Control, which is blown out, takes turns braking executive device, and realization is blown out It takes turns stable state to control, when wheel motion state of blowing out deteriorates (including braking inflection point, knocking over etc.), releasing, which is blown out, takes turns braking.As the master that blows out When dynamic braking is with pedal brake parallel work-flow, control letter of the electronic control unit output set by brake monitor after braking compatible processing Number gz5, and by gz5Substitution control signal gz3, the target control value of braking force distribution and adjusting is pedal brake and blows out actively Brake the target control value after compatible processing.In control for brake, braking motor exports braking moment, and through slowing down, increasing square, movement turns The devices such as change, clutch input each wheel braking clamp body, and each wheel obtains wheel stable state, the brake force of vehicle stability contorting.
Secondly, brake-by-wire abating protection device.Brake fade judging device integrates angular deceleration with each wheelPedal travel Or detect signal S with braking force sensorwOr and PwAutomatically controlled parameter signal be input parameter signal, by wheeled vehicle state parameter, The just reverse brake fade determinating mode of automatically controlled parameter, model, judgement brake fault failure, output Failure Alarm signal il.Line traffic control Braking executive device is arranged pedal brake and feels simulator and abating protection device (abbreviation two devices), with set pedal gear, Fluid power emergency power brake apparatus, two devices are complex as a whole, and share brake pedal operation interface, and convert by electric-controlled mechanical Device (including mainly electric controller and mechanical switching device), realizes that pedal force (including mechanically or hydraulically power) turns between two devices It moves.Brake fade alarm signal ilWhen arrival, signal ilIt controls the solenoid valve in electric-controlled mechanical conversion equipment, mechanically or hydraulically store Energy device, completion pedal force, mechanically or hydraulically energy storing brake power are felt in pedal brake between simulator and abating protection device Transfer.
7) it, blows out throttle control and controller
Throttle control is based on on-board engine electronic throttle (ETC), passes through throttle opening during control of blowing out Control, indirect control engine fuel injection and power output, throttle controller use two types.One, using X-by- Wire buses constitute the connection of high speed fault-tolerant bus, high-performance CPU management, suitable for the air throttle electricity of normal each operating mode such as blow out Transmission control system (Throttle-by-wire) system；Secondly, air throttle information unit, controller and execution unit tied using integrated Structure uses physical routing therebetween, and by CAN data/address bus into row information, data exchange.Solar term are arranged in air throttle information unit Door aperture or/and accelerator pedal position sensor and signal processing circuit, and it is electric with ETC share sensors and transducing signal processing Road.Throttle controller mainly include blow out throttle control structure and flow, control model model and algorithm, electronic control unit, Control program or software, the corresponding control module being arranged including software and hardware including, wherein electronic control unit mainly by microcontroller, outside It encloses circuit and regulated power supply is constituted.Electronic control unit set by controller is independently arranged or same with vehicle-mounted existing electronic throttle (ETC) If one electronic control unit of structure altogether, according to electronic control unit setting situation, with signal of tyre burst I etc. for conversion signal, using program, communication The different structure and pattern such as agreement and external converter are realized the entrance for control of blowing out, are exited, the normally control with operating mode of blowing out The conversion of system and control model.Control entering signal of blowing out iaWhen arrival, no matter vehicle (including someone or automatic driving vehicle) Which kind of state of a control in nominal situation terminates former working condition, and no matter at this time gas pedal is in what position (including oil Door pedal is in the engine driving of one stroke), it blows out control into throttle control of blowing out.It blows out and exits signal ie、if When Deng arriving, operating mode of blowing out throttle control exits, and is transferred to nominal situation throttle control.
1., throttle controller
Throttle controller with throttle opening, throttle position, accelerator pedal position, engine speed, air throttle into Atmospheric pressure, air flow rate signal are main input parameter signal, with throttle opening variable in order to control, using actively or from return Control mode establishes the coordinated control mode of blow out active control and reflection driver's control wish of having ready conditions, according to air throttle Aperture DjTarget control value, air-fuel ratio cfAnd the parameter value of above-mentioned input parameter, determine air input of engine by air and distributive value, Adjust engine air throttle aperture and fuel oil injection, the output of indirect control engine power.
I, active control mode：Entering signal of blowing out iaWhen arrival, controller using successively decrease, constant, dynamic, idle speed control Pattern and each pattern jointly control, wherein successively decrease, constant and idling mode it is unrelated with accelerator pedal stroke h control signals, move Morphotype formula have ready conditions to accelerator pedal stroke h it is related, according to condition limit enter vehicle traction control.One, decline mode：With quick-fried Tire entering signal iaThrottle opening when arrival is initial value Dj0, setting throttle opening decrement Δ Dj, descending cycle HwWith (secondary) the number n of grade of successively decreasing, by setting value Δ DjThe continuous throttle opening that successively decreases is up to being 0 or reaching idling position, early period of blowing out, Δ Dj Or by the wheel tire pressure p that blows outriAnd its change rateIt is determined for the equivalent mathematical model of parameter：
Secondly, constant pattern：Valve opening is adjusted, throttle opening is setting value, on setting idle speed air admission road and idle valve Vehicle close air throttle, and can be by adjusting the idle valve that be set on idle speed air admission road, adjusting air inlet after closed throttle Amount.Thirdly, dynamic mode, the pattern be mainly used for manned vehicle, setting or do not set auxiliary man machine operation interface nobody Vehicle is driven, is had ready conditions into air throttle dynamic mode under the particular state of tyre burst brake control, which mainly wraps It includes：Other particular states of the anticollision of vehicle flat tire braking mode, path trace and rear vehicle of blowing out driving；Dynamic mode is using quick-fried The compatibility mode of tire operating mode air throttle active control and the artificial active drive control intervention of operating mode of blowing out, manual operation interface (packet Include accelerator pedal operation) control and when active drive control intervention, air throttle enters dynamic control pattern, and tyre burst brake control is same When exit.Dynamic mode one, control parameter are mainly driver to vehicle feed speed control wish characteristic parameter Wi, it is based on the ginseng Number establishes logic threshold model；Door pedal one stroke does not use dynamic mode, using Constant control pattern, close air throttle or Air throttle is adjusted to setting position or idle position；The D in gas pedal two, three times in strokejIn positive and negative stroke, target control Value Dj1、Dj2Work as WiWhen up to setting threshold value, air throttle enters dynamic control pattern.Air throttle dynamic control is with throttle opening DjVariable in order to control, with wheel tyre pressure pri(including the wheel detection tire pressure p that blows outraOr state tire pressure pre), the positive and negative row of gas pedal (± h is main input parameter to journey, by pri, ± h asymmetric step function model and algorithm, determine DjTarget control value, it is main to wrap It includes：
Wherein gas pedal is secondary or multiple stroke h initial bits are set as origin, value 0, pri=pr0-Δpi, pr0For standard Tire pressure, Δ pi、h、It is taken as absolute value；DjFunction model modeling structure：Dj(including Dj1、Dj2) it is priWith the increasing of h absolute value increments Function is tire pressure change rateThe subtraction function of absolute value；Function Dj2、Dj1In its positive and negative increment+Δ hi、-ΔhiAny section With identical or different change rate, i.e., so-called asymmetry；Asymmetry or Asymmetric Model are expressed as：In parameter h, hjIt is negative Increment (- Δ h ,-Δ hj) section, function Dj1Absolute value be less than the positive increments of parameter h (+Δ h ,+hj) interval function absolute value Dj2, the positive increments of parameter h (sections+Δ h), function absolute value Dj2Less than parameter under nominal situation in the sections h throttle opening Dj3Absolute value, i.e.,：
|Dj1| ＜ | Dj2| ＜ | Dj3|
Work as WiLogic threshold threshold value is not reached by Threshold Model, and throttle controller exits dynamic control pattern and is transferred to solar term of blowing out Other control models of door；Dynamic mode two, automatic driving vehicle are blown out in control, are needed to terminate tyre burst brake control, be started Engine driving controls, and air throttle enters dynamic control pattern, throttle opening DjTarget control value presses engine drive request It determines (referring to following drive control related Sections of blowing out).Throttle opening DjTarget control value or using PID, optimal, fuzzy It is determined etc. corresponding control algolithm.Four, idling mode, when engine speed reaches setting threshold value, adjusting throttle opening Or idle speed air admission valve opening, make engine peed stable in idling；Idle speed control uses open loop or closed-loop control, is based on solar term Door, fuel oil eject sensor detection parameters signal, by distributive value Qf, air inflow Qn, air-fuel ratio cfDeng adjusting, make to start Machine rotating speed controls in idle range.The combination of throttle control pattern includes following types.Type one, by decline mode after Into dynamic or constant pattern.Type two is directly entered dynamic or constant pattern first, then between dynamic and constant pattern Mutually converted.In the control of above-mentioned each integrated mode, enter idling mode up to idle condition.Decline mode is mainly used for quick-fried Tire controls entering signal iaThe vehicle accelerated in driving when arrival, constant pattern include 0 aperture of air throttle (closing air throttle) And other setting constant values.Air throttle uses open loop or closed-loop control.Closed-loop control：With accelerator pedal position, throttle position (aperture), engine speed, admission pressure and flow etc. are parameter, using nominal situation, the successively decreasing of operating mode of blowing out, constant, dynamic State, idling and its combined control model and algorithm determine throttle opening DjTarget control value.Define throttle opening DjTarget Controlling value and throttle position sensor measured value Dj' between deviation eDJ(t)：
eDJ(t)=Dj-Dj′
Controller, electronic control unit (ECU) are according to deviation eDJ(t) feedback, control electric current, the voltage for determining and exporting adjust section Throttle opening in valve executive device, the practical aperture D of air throttlej' its target control value D is tracked alwaysj.By Threshold Model, As engine speed ωbWhen less than threshold value, engine is transferred to idle control model.
Ii, from return control mode：Entering signal of blowing out iaWhen arrival, electronic control unit output signal, control ETC driving electricity Transmission system between machine and throttle body makes set electromagnetic clutch in transmission system disengage (separation), in throttle body Air throttle is closed under return spring effect, while by adjusting set regulating valve on air throttle idle speed air admission road, and control is started Machine air inlet pipeline latus rectum, engine enter idle speed control.
2., throttle control subprogram or software
Based on throttle control structure and flow of blowing out, control model model and algorithm, throttle control subprogram is worked out Or software, the subprogram use Structured Design, control model is converted, successively decreases, constant, dynamic, idling jointly control journey for setting Sequence module.Control model conversion module：Successively decrease, constant, dynamic, idling and its jointly control pattern conversion.Air throttle constant and Idling jointly controls program module：Entering signal of blowing out iaIt is setting constant value that air throttle or throttle opening are closed when arrival, Engine speed is transferred to idle speed control when reaching idling threshold value.Air throttle constant, dynamic, idling jointly control program mould Block：Control entering signal of blowing out iaIt is setting constant value, manual operation interface (packet that air throttle or throttle opening are closed when arrival Include accelerator pedal operation) or vehicle active drive control intervention when, throttle control is transferred to dynamic mode；In the pattern, solar term Door aperture DjTarget control value is with the wheel detection tire pressure p that blows outra(or state tire pressure pre), based on the positive and negative stroke of gas pedal (± h) The asymmetric step function model and algorithm for wanting parameter determine；For automatic driving vehicle, throttle opening DjTarget control value is by preventing Hit, path trace and to parking vehicle traveling accelerationIt is determined for the mathematical model and algorithm of major parameter；Gas pedal Stroke h be 0 orTarget control value be 0 when close air throttle.Engine speed is transferred to idling when reaching idling threshold value Control.
3., electronic control unit (ECU)
Electronic control unit is independently arranged or sets total structure together with vehicle-mounted existing electronic throttle (ETC) electronic control unit.ECU mainly by Input/output interface, microcontroller, peripheral circuit are constituted.ECU uses modularized design, and main includes input, signal acquisition and place Reason, communication (including mainly that CAN, MCU data communicate), MCU data processings and control, the modules such as driving output, monitoring.MCU numbers Include mainly throttle opening D according to processing modulej, electromagnetic clutch opening and closing data processing and control submodule.Driving output mould Block includes mainly signal output, power amplifier, digital-to-analogue conversion, Phototube Coupling submodule.Knot of the signal output sub-module based on air throttle Structure type is mainly opened and closed each signal type of drive using air throttle direct current or stepper drive motors, electromagnetic clutch.
4., air throttle execution unit
For throttle control using each sensor and other subsystem relevant parameter signals as input parameter signal, air throttle is automatically controlled Unit is by throttle control subprogram or the software progress data processing of blowing out, output signal gd1、gd2、gd3Air throttle is controlled to execute Unit.Air throttle execution unit be based on electronically controlled throttle valve (ETC) executive device, mainly by motor, throttle body, deceleration mechanism, The compositions such as idle speed control valve.Electronic control unit output signal gd1Control direct current or stepper motor, the displacement signal of motor output, through subtracting Fast mechanism, clutch adjust throttle opening into air-throttle assemble.Signal gd2Control the clutch of clutch, gd2It is not timed out Clutch is in normally off.gd2Throw-out-of clutch is controlled when arrival, air throttle is closed under return spring effect.Signal gd3 Control is set to the idle valve on idle speed air admission channel, realizes the adjustment of engine idle speed air admission.Signal i is exited in control of blowing oute、if When being exited Deng arrival or the control of this brake subsystem tyre burst brake, throttle control of blowing out exits at once, is transferred to nominal situation section Valve controls, until the entering signal i that blows outaIt arrives again, the throttle control into a new period recycles.
8) fuel Injection Control of, blowing out and controller
Fuel Injection Control be based on on-board engine electronic fuel injection device (EFI) and electronic throttle (ETC), and with Realization device resource share it is shared.Electronic control unit, execution unit set by controller are used with information element part sensor When integrated design, physical routing is used therebetween.Controller and onboard system are by data/address bus into row information, data exchange. Sensor and transducing signal processing circuit is arranged in information unit.Controller mainly by blow out fuel Injection Control structure and flow, Control model model and algorithm, electronic control unit, control program and software sharing.Electronic control unit includes mainly microcontroller, periphery Circuit and regulated power supply.Controller presses its type and structure, and corresponding structure and function module is arranged.Controller electronic control unit is only It erects and sets or with vehicle-mounted existing electronic fuel injection device (EFI) with a shared electronic control unit is set, electronic control unit is mainly with quick-fried Tire signal I is conversion signal, using the different transformational structure and pattern such as program, communication protocol and external converter, is realized quick-fried The entrance of tire control is exited, the normally conversion with blow out operating conditions and control model.Fuel injection control apparatus includes distributive value Controller and air inlet amount controller.Throttle control and fuel Injection Control can mutually replace, its two kinds controls or to constitute it multiple Close control structure.
1., fuel controller
Controller with signal of tyre burst I, blow out wheel tire pressure pri, throttle opening or/and accelerator pedal position, engine turn Speed, air mass flow, boost pressure signal are main input parameter signal, with distributive value and air inflow target in order to control, control of blowing out Entering signal i processedaWhen arrival, be based on the engine operational cycle period, using subtract oil, oil-break, dynamic, idle speed control pattern or The combination of its control model.Oil-break, idling mode are unrelated with accelerator pedal stroke or throttle opening；Subtract oil, dynamic mode with Accelerator pedal stroke h has ready conditions correlation, according to condition limits and enters vehicle drive control of blowing out.Control entering signal of blowing out iaIt arrives When, no matter vehicle (including someone or automatic driving vehicle) is in which kind of state of a control of nominal situation, fuel injection control apparatus It terminates former working condition and enters control of blowing out.
I, subtract oily pattern.With the entering signal i that blows outaEngine Injection Mass when arrival is initial value, by successively decreasing for setting Distributive value Δ QfWith dust cycle series n, distributive value is made to be decremented to zero.
Ii, fuel cut-off mode.Entering signal of blowing out iaWhen arrival, no matter accelerator pedal stroke is in which kind of position, controller Set electronic control unit sends out signal, terminates engine oil spout.
Iii, dynamic mode.The pattern be mainly used for manned vehicle, setting auxiliary man machine operation interface nobody drive Vehicle is sailed, entrance of having ready conditions under the particular state for control of blowing out, which includes mainly：Vehicle flat tire braking anticollision, Other specific shapes that path trace and rear vehicle of blowing out need to drive；The pattern is using fuel oil injection active control and manpower intervention control The compatibility mode of system.Into after dynamic mode, fuel injector stops oil spout.The fuel oil injection control of blowing out of one, manned vehicle Device processed enters gas pedal one, two or repeatedly the dynamic control pattern of stroke；In gas pedal first time stroke, no matter throttle is stepped on What position plate is in, and engine terminates oil spout or presses idle speed control mode tuning distributive value；When accelerator pedal operation control intervention, In the case where gas pedal is secondary or multiple Stroke Control state, fuel oil is injected into dynamic control pattern of blowing out, tyre burst brake control It exits simultaneously；The control parameter of dynamic mode is mainly driver to vehicle feed speed control wish characteristic parameter Wi, being based on should Parameter establishes logic threshold model, works as WiWhen up to setting threshold value, fuel oil is injected into dynamic control pattern；The pattern is to fire Oil spurts amount QfVariable in order to control, with wheel tyre pressure pri(including the wheel detection tire pressure p that blows outraOr state tire pressure pre), gas pedal Positive and negative stroke ± h is main input parameter, by pri, ± h asymmetric step function model and algorithm, determine QfTarget control value, should Model includes mainly：
P in formulari=pr0-Δpri、pr0For standard tire pressure, Δ pri、h、It is taken as absolute value.QfModeling structure：Qf(including Qf2、Qf1) it is tire pressure priIt is tire pressure change rate with the increasing function of accelerator pedal stroke h increment absolute valuesDecrement absolute value subtracts Function.Function Qf2、Qf1There is different change rates in any section of its positive and negative increment+Δ h ,-Δ h, i.e., it is so-called asymmetric Property.Asymmetry model or asymmetry are expressed as：In parameter h negative increments (- Δ h) interval functions Qf1Value just increases less than parameter h Measure (+Δ h) interval function values Qf2, in the positive increments of parameter h (the absolute value Q of+Δ h) interval functionsf2Less than nominal situation parameter h Section distributive value Qf3, i.e.,：
Qf1＜ Qf2＜ Qf3
Fuel injection amount QfTarget control value is determined using the control algolithm of the modern control theories such as PID, optimal, fuzzy.Its Two, the fuel injection control apparatus of blowing out of automatic driving vehicle, by speed control, the requirement of path trace, with distributive value QfFor control Variable processed, with speed ux, fore-aft vehicle anticollision control time zone taiFor parameter, vehicle traction controlling cycle is set, its parameter is established The Controlling model of increase and decrease amount：
Qf=f (Δ ux, Δ tai)
By the logic loops of controlling cycle, distributive value Q is determinedfTarget control value.When fore-aft vehicle is in Collsion proof safety time zone, tai Value is 0；Vehicle enters and rear car anticollision danger time zone, QfFor taiThe increasing function of decrement；Vehicle enters dangerous with front truck anticollision Time zone, QfFor taiThe subtraction function function of decrement.
Iv, idling mode.By Threshold Model, as engine speed ωbLess than threshold value afWhen enter idling mode, it is idle Speed control uses open loop or closed-loop control, based on air throttle, fuel injection system sensor detection parameters signal, passes through distributive value Qf, air inflow QnOr air-fuel ratio cfIt adjusts, makes control of engine speed in idle range.Idle speed air admission amount is mainly by being set to The idle speed bypass valve regulation in idle speed air admission road.The combination of fuel Injection Control pattern includes mainly following types.One, by passing Dynamic or fuel cut-off mode are entered back into after size reduction mode.Secondly, be directly entered dynamic or fuel cut-off mode, subsequently into dynamic and oil-break mould Mutual conversion between formula.Signal i is exited in control of blowing oute、ifWhen Deng arriving, electronic fuel injection device (EFI) exits combustion of blowing out Oil spurts controls, and is transferred to nominal situation fuel Injection Control.
2., air inlet amount controller
Distributive value QfAfter target control value determines, air inlet amount controller sets air-fuel ratio cf, it is based on distributive value QfTarget control Value, by engine charge computation model and algorithm, in the logic loops of controlling cycle, determines air inflow Q needed for engineh、 Throttle opening DjTarget control value, computation model include mainly：
Qh=f (Qf、cf)、Dj=f (Qh、ug)
U in formulaaFor throttle inflow flow velocity, uaIt is determined by intake flow sensor detected value.
3., fuel Injection Control subprogram, software
Based on fuel Injection Control structure and flow, control model, model and the algorithm of blowing out, fuel Injection Control journey is worked out Sequence or software, using programming is structured into, fuel Injection Control subprogram is arranged：Control model conversion, fuel oil spray journey Sequence module mainly jointly controls submodule by subtracting oil, oil-break, dynamic, idling and constitutes.One, oil-break and idling combine Injection Control Program module：Entering signal of blowing out iaEngine fuel injection is terminated when arrival, when engine speed reaches idling threshold value It is transferred to idle speed control.Secondly, oil-break, dynamic, idling jointly control program module.Control entering signal of blowing out iaIt is terminated when arrival Engine fuel injection, when the control of manual operation interface (including accelerator pedal operation interface) or vehicle active drive intervenes, combustion Oil spurts is transferred to dynamic control pattern；In the pattern, fuel injection amount QfWith the wheel detection tire pressure p that blows outra(or state tire pressure pre)、 The positive and negative stroke of gas pedal (± h) is that the asymmetric step function model of major parameter and algorithm determine；For automatic driving vehicle, QfTarget control value by anticollision, path trace and to parking ground vehicle travel accelerationFor major parameter mathematical model and Algorithm determination, whenTarget control value be 0 when, fuel oil be injected into idle speed control pattern.Air inflow controls program module：Into Tolerance QhTo blow out, fuel oil sprays Qf, air-fuel ratio cfIt is determined for the function model of major parameter, and thereby determines that throttle opening. Control model conversion module：The pattern and structure converted using program, agreement or converter, control entering signal of blowing out iaIt arrives When, while entering blow out fuel oil injection and the control of air inflow program.
4., electronic control unit (ECU)
ECU is independently arranged or is shared with controlled vehicle-mounted electrical fuel injection system (EFI) electronic control unit isomorphism.Electronic control unit is main It is made of microcontroller, peripheral circuit structure, regulated power supply.Using modularized design, include mainly input, Signal acquiring and processing, The communication of CAN data, MCU data processings and control, driving output, monitoring block.MCU data processings and control module：Including blowing out Fuel oil injection and air inflow data processing and control submodule, at blow out fuel oil injection and throttle control program progress data Reason, while determining injection time, air-fuel ratio, ignition timing etc..Driving output module includes throttle opening control motor, fuel oil Pump motor and fuel injector output sub-module, the structure based on fueling injection equipment is driven to use corresponding signal type of drive, including arteries and veins Wide modulated signal (PWM), switching signal, output driving control signal.
5., fuel oil of blowing out spray execution unit
The execution unit is arranged fuel oil and sprays executive device, and the device is mainly by fuel pump, fuel filter, fuel pressure Regulating device, fueling injection equipment, switch electromagnetic valve are constituted with air throttle and idle speed control valve.Fuel injection subsystem (EFS) is controlled Device processed is according to EFI fuel injector structures, the types such as fuel oil single-point, multiple spot or the cylinder injection of EFI and above-mentioned control model, model Combination.A timing, distributive value control is kept to be converted to effective injection duration control in injection pressure.Injection Control mainly wraps Include time, air-fuel ratio, ignition timing control.Time control：Using simultaneously, grouping or sequential fuel injection.Air-fuel ratio controls：Using opening Ring or closed-loop control.In closed-loop control, by the feedback of target and the deviation signal of actual air-fuel ratio, fuel injection pulsewidth is determined.Point Fiery timing control：It include mainly ignition advance angle control.
9) drive control of, blowing out and controller
During blowing out, there is sideslip and even breaks away in vehicle (someone and automatic driving vehicle) moment, except progress wheel, vehicle The control of slowing down of stability is outer, under vehicle flat tire anticollision, addressing parking, the path trace particular state to parking position, opens Dynamic vehicle flat tire drive control.During blowing out, there is sideslip and even breaks away in vehicle (someone and automatic driving vehicle) moment, and removes Carry out wheel, intact stability control of slowing down it is outer, vehicle flat tire anticollision, addressing parking and in vehicle of blowing out to parking position Under the path trace spy's state set, start vehicle flat tire drive control.It blows out drive control device, based on truck mounted braking systems, starts Electrical Control air throttle (ETC) and electronic fuel injection device (EFI), by data/address bus into row information, data exchange, realization is set Standby resource sharing is shared.Drive control device of blowing out includes mainly blow out drive control structure and flow, control model model and calculation Method, control program and software, electronic control unit, the corresponding module of software and hardware of type and structure setting used by it, wherein automatically controlled Unit is mainly made of microcontroller, special chip, peripheral circuit and regulated power supply.Drive control device of blowing out is based on runflat condition Process, control period of blowing out and anticollision control time zone, using sensing equipment, the spacing detection of realization someone or automatic driving vehicle, Context awareness pattern, by blowing out, driving coordinates control model with vehicle anticollision all around, adjusts vehicle engine driving of blowing out Output, and according to vehicle balance drive and wheeled vehicle stable state brake coordination control model, model and the algorithm of blowing out, determine control Each drive shaft driving force (square) Q of variablep, balance car wheel set two take turns (differential) brake force (square) Qy((including Qya、Qyb、Qyc、 Qyd).Each drive shaft driving force (square) Q as control variablepIt can be with vehicle accelerationThrottle opening Dj, fuel oil injection Measure Qj, drive shaft wheel angular accelerationOr slip rate SiEqual effect exchange, QpWith DjExchange use two Relationship between Parameters Equivalent model, through QpWith DjThe related data of field test test determines.QpWithOr SiEqual effect exchange condition be：As The wheel of same parameters effectively rolls RiIt is equivalent identical.In drive control of blowing out, the driving moment of engine output is filled through transmission It sets and differential mechanism, equal driving moment is passed into the wheel of drive shaft two or independent four-wheel.
The drive control of one, the automatic driving vehicle that human assistance operation interface is set or manned vehicle.It blows out Drive control device is with engine driving torque Qp, throttle opening DjOr fuel Injection Control amount QjOne of variable in order to control, with inspection Survey tire pressure praOr state tire pressure pre, accelerator pedal stroke h be major parameter determine D by the asymmetric mathematical model of its parameterj、 QjTarget control value, indirect control engine driving torque Qp(referring to above-mentioned air throttle or fuel injection control apparatus associated chapter Section).
Secondly, the drive control of automatic driving vehicle.Drive control device of blowing out is with vehicle drive force QpOr vehicle accelerationThrottle opening DjOne of variable in order to control, Qp、DjReal-time control value is driven for automatic driving vehicle, the value is by following Function model determines：
Qp=Qpk+Qy′、Dj=Djk+Dja
Qpk=f (Qpk0, γ),Djk=f (Dja0, γ)
Or
Q in formulapk、DjkBlow out driving force, the vehicle needed for vehicle path trace that respectively vehicle central main controller determines add Speed or throttle opening, Qy' be and vehicle differential brake force QyThe driving force that balances each other,For vehicle drive force Qy' under Vehicle acceleration, DjaDriving force Q is obtained for vehicley' under the conditions of throttle opening.Qpk0、Djk0Respectively vehicle central The vehicle path trace predetermined value of blowing out that main controller determines.γ is runflat condition feature and control parameter, and parameter γ is that vehicle is horizontal Pivot angle velocity deviationBalance car wheel set two of blowing out takes turns equivalent opposite angular speed that deviation e (ωe) and angle acceleration-deceleration it is inclined DifferenceIncreasing function, the γ t of absolute value incrementaiThe increasing function of decrement.Qpk、DjkFore(ωe)、Absolutely The subtraction function of value increment and be all taiThe increasing function of decrement.(including front left, front right) vehicle bumps against before the entrance of this vehicle danger or Forbidden time zone tai, start this vehicle drive control.Drive control device of blowing out is with anticollision time zone taiFor parameter, the letter of its parameter is established Exponential model：
Qpk=f (tai)、Or Djk=f (tai)
The model modeling structure is：Qpk、DjkFor taiThe increasing function of decrement, when this vehicle exits the danger bumped against with front truck Area tai, release blow out drive control or the drive control into vehicle route tracking.In speed uxLess than control entrance of blowing out Within the scope of threshold value, vehicle can implement or not implement wheel vehicle stable state retarding braking control, or by vehicle balance driving with Vehicle stable state controls coordination control model, model and the algorithm of (differential braking), adjusts engine output, implements vehicle traction control System.Wheel drive torque Qy' with vehicle discuss differential braking brake force QyIt balances each other, Qy' include Qya′、Qyb′、Qyc′、Qyd′
1., setting driving, nonpowered axle vehicle drive control device of blowing out
I, drive shaft wheel is blown out.In view of the axle two wheel radius RiAnd R2, attachment coefficientOr friction coefficient μiNot phase It takes turns Deng, drive shaft two and is difficult to obtain ideal (target) and equal driving moment.It blows out during driving, drive control of blowing out Device is driven using drive shaft (or driving wheel) and the balance drive pattern of wheel additional differential braking.Drive control device blow out with Dj Or Qj, blow out the non-wheel radius R that blows out1And R2, blow out it is non-blow out wheel attachment coefficientOr friction coefficient μiOr and load NiIt is main Input parameter establishes the two wheel drive torque Q of drive shaft of its parameterpEquivalent model.
One, drive shaft of blowing out driving force QpDetermination.Drive control device is based on each control period of blowing out, with two wheel attachment systems NumberRadius of wheel RiFor parameter, the drive shaft two of blowing out for establishing its parameter takes turns (differential) brake force QyaEquivalent mathematical model, The model includes mainly：
Or
Qp=Qp+Qya′、Qya'=- Qya
Q in formulapFor drive shaft driving moment of blowing out,eR(t) it is respectively to blow out, non-wheel attachment coefficient of blowing out, effectively roll Deviation between radius, Qya' be and brake force QyaEquivalent driving force, i.e. Qya' it is to take turns differential system power with drive shaft two of blowing out QyaThe driving moment to balance each other.QyaModeling structure be：QyaFor QpThe increasing function of increment iseR(t) absolute value increment Increasing function, QyaIncrease will increase the driving moment of drive shaft.Blow out early period, to axle two of blowing out take turns usually do not apply it is differential The equilibrium driving force of braking.It is true to blow out and its later each control period, differential system power is applied to the wheel of blowing out for axle of blowing out Qya, i.e. QyaParameter during the drive shaft two that is only assigned to blow out is taken turns(or μe) value is smaller, effective rolling radius RiSmaller wheel.
Secondly, to non-nonpowered axle of blowing out.Drive control device applies differential braking to the non-wheel of nonpowered axle two blown out Unbalanced system power Qyb, pass through QybThe yaw moment that differential system power generates balances, balance is blown out, and drive shaft two takes turns semidiameter eR (t) driving moment of blowing out brought is to the uneven yaw moment of vehicle centroid.Differential system power QybWith driving wheel system of blowing out Power QyaIt is determined for the equivalent mathematical model of major parameter, includes mainly：
Qyb=f (Qya)、Qyb=KQya
K is coefficient in formula.Determine QybModeling structure be：QybFor QyaThe increasing function of increment, QybValue be less than QyaValue.
Ii, nonpowered axle wheel are blown out.Drive control device of blowing out is with throttle opening DjOr fuel injection amount QjBecome in order to control Amount, based on engine output and DjOr QjRelational model, adjust DjOr QjValue thus engine export.Engine output Driving moment passes to drive shaft two through transmission device and differential mechanism, by equal driving moment and takes turns.Driving force (square) QpIt calculates Formula is：Target control value is：
Qp=Qp0+Qyc′、Qyc'=- Qyc
Q in formulap0For the target control value of driving force, Qyc' be and brake force QycEquivalent driving force.Controller or simultaneously to non- Drive shaft blows out the wheel of balance car wheel set two using the braking C controls of vehicle stable state, by the determining differential system power Q of C controlsycIt generates Yaw moment, leveling wheel are blown out the yaw moment of blowing out of generation, and realization is blown out vehicle balance drive and whole vehicle stability control. The additional yaw moment M that C control targe controlling values determineuBy yaw rate, side slip angle deviationeβ(t) It is determined for the mathematical model of major parameter：
K in formula1(Pr)、k2(Pr) it is runflat condition feedback variable (referring to above-mentioned tyre burst brake controller related Sections).
2., setting before and after drive shaft vehicle drive control device of blowing out
One wheel of front or rear drive shaft is blown out, and drive control device of blowing out is with throttle opening DjOr fuel injection amount QjFor control Variable processed, based on engine output and DjOr QjRelational model, adjust DjOr QjValue thus engine output adjust engine Output, equal driving moment is passed to blow out by the driving moment of engine output through transmission device and differential mechanism blows out with non- Drive shaft two is taken turns.Drive control device of blowing out uses balance drive pattern, model and algorithm to non-drive shaft of blowing out, to driving of blowing out Axis uses balance drive, non-equilibrium braking mode, model and algorithm.
I, the non-wheel of drive shaft two of blowing out obtains the equal driving moment of engine output by differential mechanism.
Ii, in view of blowing out and the non-wheel effective rolling radius R that blows outi, attachment coefficient(or friction coefficient μi) and two wheel loads Difference, the suffered ground activation force (i.e. tire driving force) of two wheels is unequal, using the material unaccounted for for the wheel of drive shaft two of blowing out Dynamic braking mode, model and algorithm, the non-wheel of blowing out in being taken turns to drive shaft two of blowing out are braked, and the axle unbalanced system is passed through Power QydBalance or compensation, (in theory) wheel that makes to blow out obtain and the non-tire driving force for blowing out equal.Brake force QydWith The driving moment Q that this drive shaft obtainsp, drive shaft two take turns effective rolling radius Ri, attachment coefficient(or friction coefficient μi), two Wheel load NiIt is determined for the equivalent function model of major parameter：
Qyd=f (Ri, μi, Ni, Qp)
Define two wheel parameter Ri、μi、NiNon-equivalent relative deviation (or ratio)：eR(t)、eN(t), and to the model into Row linearization process, ignores NiVariation, determine QycEquivalent function model include mainly：
K in formula1、k2、k3For coefficient.QydModeling structure be：QydFor deviation eR(t)、The increasing function of absolute value increment；System Power QydTarget control value need to be imitated through field test fixed, pass through coefficient k1、k2、k3Adjusting, adjust QydTarget control Value processed.The braking of driving wheel of blowing out uses closed-loop control, and when steering wheel angle is 0, blow out wheel brake force QydActual value always Its target control value is tracked, under the action of its brake force, wheel (in theory) of blowing out can get and non-equal tire of blowing out Driving force；When steering wheel angle is not 0, based on vehicle rotation direction, theory and practical yaw velocity deviation, judgement vehicle drives Deficiency or oversteering during dynamic, by adjusting the non-wheel brake force Q that blows out of drive shaft of blowing outydTarget control value, make drive Motor-car keeps a kind of slight understeer state.
3., the drive control device of blowing out of four motorized wheels vehicle
Four motorized wheels vehicle uses balance car wheel set, the driving of independent wheel and brake coordination control model or use Single drive control pattern, control parameter, control variable and the Controlling model and above-mentioned drive that driving, brake coordination control use It is dynamic, nonpowered axle vehicle is identical.
I, four motorized wheels and brake coordination control model；Include mainly：The driving of above-mentioned forward and backward axle and braking association The coordination control model of regulation and control system and four motorized wheels and braking.Four motorized wheels are mainly wrapped with brake coordination control model It includes：The control model for being operated alone or applying braking again simultaneously can be used in each wheel, and (front and back or diagonal line) blows out, is non- Two wheel drive of balance car wheel set of blowing out, the coordination control model of braking.Under the pattern, it can apply or not apply driving to wheel of blowing out Power and brake force apply driving force to non-wheel of blowing out or apply brake force again simultaneously.And pass through the non-each wheel institute of wheel that blows out Obtain the driving moment identical or different to vehicle centroid, compensation blow out wheel obtained to the unbalanced driving of vehicle centroid Torque and the moment of resistance of blowing out, each wheel are essentially 0 (in theory) to the sum of vehicle centroid sideway driving moment.
Ii, four motorized wheels control model include mainly：Four motorized wheels or two balance car wheel set drive control moulds Formula.Four motorized wheels pattern：The driving moment of non-wheel acquisition of blowing out, to the unbalanced driving moment of vehicle centroid, is led to be a kind of Cross the imbalance driving moment, compensation blow out that wheel obtained to the unbalanced driving moment of vehicle centroid or the moment of resistance of blowing out. Two balance car wheel set drive control patterns：The driving moment that balance car wheel set two of blowing out wheel obtains is a kind of to vehicle centroid injustice The driving moment of weighing apparatus compensates balance car wheel set two of blowing out and takes turns the injustice obtained to vehicle centroid by the imbalance driving moment Weigh driving moment and or the moment of resistance of blowing out, thus vehicle obtain it is each take turns to the sum of vehicle centroid sideway driving moment (in theory On) tend to be 0 or essentially 0.
4., drive control of blowing out subprogram or software
Based on drive control structure and flow of blowing out, control model model and algorithm, establishment blow out drive control program or Software.Program uses Structured Design, and wheel drive control subprogram includes mainly：Tyre burst brake and drive control pattern turn It changes, drive shaft of blowing out and non-two wheel drive of drive shaft of blowing out, drive shaft of blowing out and non-drive shaft wheel differential of blowing out brake, are non-quick-fried The braking of tire nonpowered axle wheel differential, the driving of balance car wheel set and independent wheel and brake coordination control, four motorized wheels Control program module.For the vehicle of setting driving and nonpowered axle, the wheel of drive shaft of blowing out two passes through driver module and quick-fried The program of tire wheel retrosequence module controls, and increases the equilibrium driving force for the wheel of drive shaft two of blowing out；Or and pass through non-non- drive of blowing out The program of moving axis wheel differential retrosequence module controls, and balance drive shaft of blowing out blows out what wheel radius change generated vehicle Uneven yaw moment.For the four-wheel drive cars of drive shaft before and after setting, the wheel of drive shaft of blowing out two by driver module and The program control of non-wheel retrosequence module of blowing out, balance drive axis blow out the change for taking turns radius and attachment coefficient to vehicle generation Uneven yaw moment；The non-wheel of drive shaft two of blowing out, which is then controlled by the program of non-drive shaft driver module of blowing out, to be obtained Vehicle balance drive torque.Drive control program module：Be arranged engine air throttle or with fuel oil injection program submodule.Braking Program module：Blow out wheel and non-wheel differential braking program submodule of blowing out are set.
5., electronic control unit
Electronic control unit set by drive control device of blowing out is independently arranged or is sprayed with on-board engine air throttle, fuel oil, braking Electronic control unit isomorphism is controlled to share.Electronic control unit is mainly arranged：Input, driving and brake parameters signal acquisition process, CAN and The communication of MCU data, microcontroller data processing and control, detection, driving output module.Microcontroller data processing and Control module includes mainly：Someone or automatic driving vehicle driving data processing control submodule, air throttle or/and fuel oil injection And braking-distance figures handle control submodule.Braking-distance figures handle control submodule：Next stage blow out wheel, it is non-blow out wheel system Mover module.Driving output sub-module include：Next stage throttle motor, fuel oil driving pump motor, fuel injector control, braking are adjusted Save device control submodule.
10), deflecting roller flywheel moment control (control of abbreviation turning power) and controller
Turning power (square) is the turning power (square) that ground effects surround stub in deflecting roller.During blowing out, generation is blown out Turning power constitutes steering steering wheel moment and impacts, deflecting roller mechanical characteristic, steering wheel force and servo steering system Kinetic characteristics change.It turns round force controller and is based on vehicle mounted electric servo steering system (EPS), Electro-Hydraulic Power Steering System (EPHS), main includes blow out turning power control structure and flow, control model model and algorithm, electronic control unit, control program And software, blow out turning power control subprogram and corresponding program module are set.Electronic control unit is mainly by microcontroller, periphery electricity Road and regulated power supply are constituted, and corresponding structure and control module is arranged.Electronic control unit set by controller is independently arranged or and vehicle It carries existing automatically controlled servo steering system and sets total structure together.It is adopted using signal of tyre burst I as conversion signal according to electronic control unit facilities With the different transformational structure and pattern such as program, communication protocol and external converter, realizes the entrance for turning power control of blowing out, moves back Go out, normally convert with blow out operating conditions and control model.Revolution force controller includes blow out direction determining device and control of blowing out Device, controller set steering wheel torque control cycle Hn, HnFor setting value or it is steering wheel rotation angular speedFunction, i.e.,HnForThe subtraction function of absolute value increment.Revolution force controller, which uses, to be stated steering wheel angle, power steering square, turns to Disk torque and its jointly control pattern.
1., direction determining device of blowing out
Direction judging device is mainly used for blow out flywheel moment, power steering square, assist motor electric current imAnd assist motor Rotation direction judges.Power steering controller provides：Steering wheel angle δ and torque Mc(or steering wheel angle and torque) turns to The suffered ground flywheel moment M of wheelk(include mainly aligning torque Mj, flywheel moment of blowing out Mb'), steering wheel (or deflecting roller) corner The surveyed corner δ of sensor, torque sensor and torque Mc0 point be origin.It is provided based on origin：The surveyed corner of rotary angle transmitter It is increased to trace (+), corner is reduced to backhaul (-).Origin (0 point) based on the surveyed corner δ of steering wheel angle sensor will turn To disk corner, δ points are left-handed and dextrorotation：When corner δ is dextrorotation, it is specified that steering-wheel torque McDextrorotation be positive (+), it is left-handed be negative (-).When corner δ is left-handed, it is specified that steering-wheel torque McLeft-handed is positive (+), dextrorotation is negative (-)；That is steering wheel angle δ is with 0 Be origin, steering wheel or so when oppositely oriented, it is specified that steering-wheel torque positive (+), negative (-) it is opposite.It provides simultaneously：It blows out back Torque M 'b, power steering square MaDirection provide it is identical as the regulation in the directions steering wheel angle δ, positive (+), negative (-) It indicates.Based on above-mentioned regulation, for Mb' and MaDirection determining uses following various modes.
One, torque direction determinating mode.Steering wheel angle and torque sensor are set to the drive shaft system of steering In, wherein torque sensor is set in the steering shaft between steering wheel and steering gear.Based on above-mentioned steering wheel angle δ and torque McOrigin regulation, the regulation and steering-wheel torque M in the direction of the above-mentioned left and right rotations of steering wheel angle δcRegulation, establish quick-fried Tire flywheel moment direction positive (+), the decision logic for bearing (-) judge the flywheel moment M that blows out according to decision logicb' direction, and root According to the flywheel moment M that blows outbPositive (+) in ' direction, negative (-), judgement power steering square MaPositive (+) in direction, negative (-).
Secondly, outer corner difference determinating mode.Two rotary angle transmitters are set to steering shaft torque arm both ends (i.e. steering wheel One end and steering gear one end), absolute corner and corner direction of the shaft torque arm both ends to nonrotational shafting are measured, calculates two absolutely Relative rotation between corner and its direction, absolute corner, the direction of relative rotation and its difference are indicated with positive (+), negative (-). Based on above-mentioned steering wheel angle δ and torque McOrigin regulation, the regulation in the direction of the above-mentioned left and right rotations of steering wheel angle δ, turn to Disk torque McRegulation and the surveyed corner of sensor and corner difference positive and negative regulation, decision logic is established, according to judgement Logic decision judges the flywheel moment M that blows outb' direction, and according to the flywheel moment M that blows outbPositive (+) in ' direction, negative (-), determines Power steering square MaPositive (+) in direction, negative (-).
Thirdly, blow out wheel location determination pattern.Based on wheel position of blowing out, steering wheel angle direction, vehicle is insufficient and excessive The judgement of steering determines the turning power M that blows outb' direction and power steering square MaDirection.
Four, Vehicular yaw determinating mode.It is inclined with the direction of steering wheel angle δ, vehicle ideal and practical yaw velocity DifferenceIt is positive and negative, judge the deficiency or oversteering of vehicle, thereby determine that the turning power M that blows outb' and power steering square Ma's Direction.
2., controller of blowing out
Turning power of blowing out (square) control mainly uses steering wheel angle, power steering of blowing out (square) and steering wheel torque control Pattern.
I, steering wheel angle controller
The controller is using steering wheel angle δ as variable, with speed ux, floor synthetic friction coefficient μk, car weight NzMainly to join Number, establishes δ and its derivative under runflat conditionCharacteristic parameter YkMathematical model：
The mathematical model include mainly with δ andux、uxOr and μkFor parametric function model：
Ykai=f (δai, ux, Nz)、Or
Ykai=f (δai, ux, μk, Nz)、
YkaiDetermining value is steering wheel angle target control value, YkbiDetermining value is steering wheel rotation angular speed target control Value, Ykai、YkbiValue can be determined by above-mentioned mathematical model or with field test, μ in formulakFor established standards value or real-time assessment Value, μkIt is determined by the contact to earth average or Weighted Average Algorithm of friction coefficient of deflecting roller.YkModeling structure be：Ykai、YkbiFor μkIncrease The increasing function of amount, YkaiFor speed uxiThe increasing function of decrement.The serial value set u to successively decrease by speedxi[uxn……ux3、ux2、ux1] Determine corresponding steering wheel angle δ, rotational angular velocity under each speedThe set Y of target control valuekai[Ykan……Yka3、Yka3、 Yka2、Yka1]、Ykbi[Ykbn……Ykb3、Ykb3、Ykb2、Ykb1].U in the numerical value of setxnFor the max speed for rear vehicle of blowing out.Ykai Each value in set is：Certain speed uxi, floor synthetic friction coefficient μk, car weight NzLower vehicle steering wheel angle δ can reach The limiting value or optimal setting arrived, YkbiFor：Certain speed uxi, car weight Nz, floor synthetic friction coefficient μkLower automobile turning wheel Rotational angular velocityThe limit value or optimal setting that can be arrived.During blowing out, certain u is definedxi、μk、NzUnder state, vehicle turns To disk corner target control value YkaiWith steering wheel angle actual rotational angle δyaiBetween deviation eyai(t), vehicle speed uxiShape Under state part, eyai(t) it is positive (+), steering wheel angle δ at this timeyaiWithin the scope of the restriction of δ, deviation eyai(t) it is negative (-), control Device processed is with deviation eyai(t) it is parameter, establishes and determine steering wheel power steering square Ma1Mathematical model：
Ma1=f (eyai(t))
In deflecting roller turning power (square) controlling cycle HnLogic loops in, controller is determined according to positive (+) of deviation, negative (-) The direction that steering wheel angle δ reduces, the power steering square M determined by mathematical modela1, steering assist motor is controlled to steering A limitation increased flywheel moment of steering wheel angle δ is provided, until eyai(t) it is 0.Define uxi、μk、NzIt is special under certain state Levy parameter YkbiAbsolute value and automobile turning wheel rotational angular velocityDeviation e between absolute valueybi(t), speed uxiShape Under state part, as deviation eybi(t) when being less than 0 to bear (-), controller is with deviation eybi(t) it is parameter, establishes and determine that steering wheel turns to Power-assisted square Ma2Mathematical model：
Ma2=f (eybi(t))
In deflecting roller turning power (square) controlling cycle HnLogic loops in, based on mathematical model determine power steering square Ma2, According to deviation eybi(t) positive and negative is provided by steering assist motor and is turned by the direction that steering wheel rotation angular speed absolute value reduces To power-assisted or the moment of resistance, steering wheel rotation angular speed is adjusted, deviation e is madeybi(t) it is 0.In short, in the certain u of vehiclexiAnd μkState Under, controller presses above-mentioned control model and model, exports power steering or the moment of resistance, steering assist motor is controlled, to steering system System provides limitation steering wheel angle δ, a velocity of rotationFlywheel moment, realize vehicle flat tire stable turning control.This turn It can be independently operated, to disk corner control model and also jointly control pattern with following revolution force control mode isomorphism compositions of blowing out.
Ii, power steering of blowing out (square) controller.
Torque or outer corner difference direction determining pattern of the controller based on direction determining device of blowing out, judgement steering wheel angle δ And torque McGround flywheel moment M suffered by (or steering wheel angle and torque), deflecting rollerk(including aligning torque Mj, revolution of blowing out Torque Mb') and power steering square MaDirection.
One, the controller are based on steering wheel angle δ, steering-wheel torque McAnd the flywheel moment M that blows outb' direction determining, With δ, McFor main input parameter signal, with steering-wheel torque McFor variable, with speed uxFor parameter, determine that steering of blowing out helps Force control mode, model and characterisitic function.First, on the positive and negative stroke of steering wheel angle δ, nominal situation its variable is established McWith parameter uxPower steering square MaControlling model：
Ma1=f (Mc, ux)
The model determines nominal situation power steering square MaCharacterisitic function and characteristic curve, characteristic curve include straight line, folding Line or curve three types.Ma1Modeling structure and characteristic be：On the positive and negative stroke of steering wheel angle, characterisitic function and song Line is identical or different, and power steering square Ma1For parameter uxThe subtraction function of increment is all steering-wheel torque McIncrement is absolute The increasing function of value and the subtraction function for being reduced absolute value.Wherein so-called " difference " refers to：In the positive and negative stroke of steering wheel angle On, characterisitic function MaThe function model of use is different, in variable and parameter McOr and uxSame value point on Ma1Value Difference, on the contrary it is " identical ".Based on each parameter calculated value, numerical value chart is formulated, which is stored in electronic control unit.Normally, quick-fried Under tire operating mode, electronic control unit controls program by the power-assisted steering that controller uses, by look-up table, with steering-wheel torque Mc, vehicle Fast ux, steering wheel rotation angular speedFor major parameter, nominal situation steering wheel power steering square M is called from electronic control unita1Target Controlling value.
Secondly, controller blown out flywheel moment M using various modes determinationb′
Pattern one, blown out turning power M using steering mechanics state model determinationb′.Turning power of blowing out Mb' direction determining is set up Afterwards, Mb' value can be by steering-wheel torque Mc, steering wheel angle δ, ground force M suffered by deflecting rollerk, aligning torque MjOr and Steering wheel (or deflecting roller) flywheel moment increment Delta McIt is determined for the mathematical model and steering mechanical equation of major parameter.Really Determine Mb' equivalent mathematical model be：
Mb'=f (Mc, Mj, Mk, Δ Mc)
Steering mechanical equation is：
Positive force M is returned in formulajFor the function of δ, GmFor retarder reduction ratio, imFor power assisting device driving current, θmTurn for power assisting device Angle, BmFor steering Equivalent damping coefficient, jmFor power assisting device equivalent moment of inertia, jcFor steering equivalent moment of inertia.
Pattern two determines M using equivalent mode and modelb′.Based on runflat condition, blow out control stage and steering Structure, with the wheel radius R that blows outi(or vertical lateral rigidity), slip rate Si, load Nzi, friction coefficient μi, tire pressure pri, or and wait The opposite angular velocity omega of effecte, angular decelerationSteering wheel angle δ, speed ux, vehicle side accelerationYaw velocity state DeviationFor major parameter, the turning power M that blows out of its parameter is establishedb' Equivalent Calculation Model, using PID, sliding formwork control, mould Paste, sliding mode control algorithm or tire burst test determine the flywheel moment M that blows outb' and the realizing balanced rotation power M that blows outbValue.
Thirdly, controller pass through an additional power steering square Ma2With the flywheel moment M that blows outb' balance each other, i.e. Ma2=-M 'b= Mb；It blows out under operating mode, power steering square MaTarget control value is steering-wheel torque sensor detected value M under blowing out operating modea1With it is quick-fried Tire adds power steering square Ma2The sum of：
Ma=Ma1+Ma2
Wherein MbFor the flywheel moment M that blows outb' trimming moment.In the control of deflecting roller flywheel moment, by compensation model to turning to Power-assisted square MaPhase lead compensation is carried out, EPS system response speed is improved.
Power steering (square) controller of four, blowing out can be used independently, or can be with above-mentioned steering wheel angle controller group structure At controller is jointly controlled, in the certain speed of vehicle, definitely rub friction coefficient μkUnder state, pass through steering wheel hard-over δkOr with steering wheel rotation angular speedRestriction, effectively realize blow out vehicle stable turning control.
Five, controller presses torque MaWith the electric current i of motormOr voltage VmRelational model：
im=f (Ma)、Vm=f (Ma)
By power steering square MaBe converted to the control electric current i of power assisting device (including motor)maOr voltage Vma.Power steering controls Realizing balanced rotation torque of blowing out is arranged in device | Mb| power-assisted limit value ab, make in control | Mb|≤ab、abLess than flywheel moment of blowing out | Mb' | maximum value, | Mb' | maximum value can be determined by field test.Controller is mended using the phase based on phasing model Repay one of device, compensator：With DC chopped-wave (PWM) switch periods Hx(or power steering controlling cycle Hn) it is parameter, it establishes and turns to Power-assisted phase compensation model, model include：
In control, by compensation model to power steering square MaPhase lead compensation is carried out, the control of deflecting roller turning power is improved Response speed.
Iii, steering wheel torque control device of blowing out
One, the controller, the torque based on direction determining device of blowing out or outer corner difference direction determining pattern, directly judgement turn To helping square power MaDirection.Direction determining model is：Define steering-wheel torque target control value Mc1With steering-wheel torque sensor Real-time detected value Mc2Between deviation delta Mc：
ΔMc=Mc1-Mc2
According to deviation delta McPositive and negative (+, -), determine power steering square Ma, assist motor electric current imAnd assist motor rotation direction； As Δ McFor timing, power steering square MaDirection be power-assisted square MaIncreased direction, as Δ McWhen being negative, power steering square Ma's Direction is power steering square MaThe direction of reduction, i.e. moment of resistance MaIncreased direction.
Secondly, the controller, using steering wheel angle δ as variable, with speed ux, steering wheel rotation angular speedFor parameter, It establishes and determines steering wheel torque control pattern, model and characterisitic function, steering-wheel torque McModel is：
Mc=f (δ, ux) or
The model determines that the characterisitic function and characteristic curve of nominal situation steering-wheel torque, characteristic curve include straight line, broken line Or curve three types.Characterisitic function McDetermining value is automobile turning wheel torque target controlling value, McModeling structure and characteristic For：On the positive and negative stroke of steering wheel angle, characterisitic function and curve identical or difference, and steering-wheel torque McBecome for ginseng Measure uxThe subtraction function of increment, McFor δ,The increasing function of increment absolute value and the subtraction function for being reduced absolute value.It is wherein so-called " no Refer to together "：On the positive and negative stroke of steering wheel angle, characterisitic function McThe function model of use is different, in variable and parameter δ or and uxSame value point on McValue it is different, otherwise be " identical ".According to characterisitic function, determine that nominal situation turns To disk torque target controlling value Mc1, it is based on each parameter calculated value, formulates numerical value chart, which is stored in electronic control unit.Normally, It blows out under operating mode, electronic control unit controls program by the power-assisted steering that controller uses, by look-up table, with steering wheel angle δ, vehicle Fast ux, steering wheel rotation angular speedFor parameter, the target control value M of steering-wheel torque is called from electronic control unitc1.Steering wheel turns Square actual value Mc2It is determined by the real-time detected value of torque sensor.Define steering-wheel torque target control value Mc1With steering-wheel torque The real-time detected value M of sensorc2Between deviation delta Mc：
ΔMc=Mc1-Mc2
Pass through deviation delta McFunction model, determine normal and operating mode steering wheel power-assisted (or resistance) the square M that blows outa：
Ma=f (Δ Mc)
Based on steering characteristic function, steering wheel torque control uses various modes.
Pattern one, basic aligning torque type mainly use Mc=f (δ, ux) torque function model, it is specific by the model Functional form including broken line curve, determine McTarget control value Mc1.In the arbitrary point of steering wheel angle, Mc1Derivative with Vehicular turn aligning torque MjDerivative it is almost the same, in MjUnder the action of driver obtain best or preferable steering wheel feel. Mc1In torque function model, certain speed uxUnder, Mc1With aligning torque MjIncrease with increasing with δ, Mc1With steering wheel rotation angle SpeedIt is unrelated, the real-time detected value M of steering-wheel torque sensorc2(i.e. steering wheel hand-power) is with steering wheel rotation angular speed's It changes and changes.
Pattern two, balance aligning torque type, it is main to useTorque function model, had by the model Body functional form, determining steering-wheel torque McTarget control value Mc1.In the arbitrary point of steering wheel angle, Mc1Derivative and vehicle Steering reversal torque MjDerivative it is almost the same.McIn torque function model, certain speed uxUnder the conditions of, Mc1Increase with δ and increases Greatly.Steering-wheel torque McTarget control value Mc1With the real-time detected value M of steering-wheel torque sensorc2(i.e. steering wheel hand-power) and turn It is synchronized to disk rotational angular velocityIt is related.In each cycle H of steering wheel torque controlnIn, in the positive and negative row of steering wheel angle δ Cheng Shang, Mc1And Mc2In ratio different and appropriate, withIncrease or reduce and synchronize and increase or reduce.Turned based on steering wheel Square defines：
ΔMc=Mc1-Mc2
Establish Ma=f (Δ Mc) specific function model appropriate, steering is in power steering or resistance MaUnder the action of, nothing It is in which kind of operating mode by it, driver can get best steering wheel feel and road feel, thus increase power steering to turning to The strength of adjustment of disk torque.
Thirdly, controller press steering-wheel torque and current of electric (or voltage) relational model：
imc=f (Δ Mc)、Vmc=f (Δ Mc)
By Δ McBe converted to current of electric imcOr voltage Vmc.In steering-wheel torque McUnder conditions of direction determines, each parameter Mc、 imc、VmcIt is vector.
3., flywheel moment of blowing out control subprogram or software
Based on turning power of blowing out (square) control structure and flow, control model, model and algorithm, flywheel moment of blowing out is worked out Control subprogram, which uses Structured Design, main setting turn to relevant parameter direction determining, steering wheel angle δ and Rotational angular velocity, power steering square of blowing out, steering-wheel torque or and flywheel moment control subroutine module of blowing out.Direction determining Module include torque direction judgement, outer corner difference judgement, or with the direct direction determining program submodule of power steering square.Steering wheel turns Angle δ rotational angular velocity subroutine modules：Mainly it is made of steering wheel angle and rotational angular velocity program submodule.Steering of blowing out helps Torque control routine module：Mainly by nominal situation power steering square E control programs submodule, power steering square and Current Voltage Relationship G control submodules and flywheel moment control algolithm program submodule of blowing out are constituted.Steering wheel torque control module：Mainly by Steering-wheel torque E control program submodules and power steering square torque are constituted with current-voltage correlation G control program submodules.
4., electronic control unit (ECU)
Electronic control unit set by revolution force controller of blowing out is shared with controlled vehicle-mounted electrical power-assisted steering electronic control unit isomorphism.Automatically controlled list First main setting input, steering wheel angle, steering-wheel torque and each parameter signal acquisition process of power steering square, CAN and MCU numbers According to communication, microcontroller data processing and control, control monitoring, driving output module.Microcontroller data processing mould Block includes mainly：Normally relevant parameter signal-data processing and direction determining, power steering square, steering wheel are turned to operating mode of blowing out Torque, flywheel moment of blowing out data processing submodule and power steering square and driving motor Current Voltage change data are handled Submodule.Microcontroller control module：Main includes adjusting, modulation, driving, the output of control power steering control signal The equal peripheral circuits such as submodules and feedback.
5., electric power steering control executive device, including electric-controlled mechanical or electric-controlled hydraulic servo steering device, machinery turn To system, deflecting roller, mainly it is made of assist motor or hydraulic servo, deceleration mechanism, mechanical driving device.It blows out control Entering signal iaWhen arrival, electronic control unit carries out data processing by control program or software, and output signal controls in power assisting device Motor or hydraulic device, export power torque in defined rotation direction, power torque through deceleration mechanism or with clutch, Mechanical transmission mechanism inputs steering, and in any corner position of steering wheel, power steering or the moment of resistance are provided to steering.
11), someone, the control of automatic driving vehicle active steering and controller
Manned vehicle active steering is based on vehicle-mounted active front steering system AFS (active from steering), vehicle Stability contorting programming system (ESP) or with four-wheel steering system FWS (four wheel steering), active steering is main Using the coordination control model of AFS, ESP, by electric-controlled mechanical active steering controller or the steering-by-wire of setting road feel controller Controller is realized.Controller mainly include active steering control structure and flow, control model model and algorithm, control program or Software, electronic control unit.When signal of tyre burst I arrives, control and control model converter are using signal of tyre burst I as conversion signal, use Program transformation, protocol conversion and converter conversion pattern and structure, realize blow out control entrance and exit, nominal situation with The conversion for operating conditions and the control model of blowing out.Active steering controller of blowing out mainly uses electric-controlled mechanical active steering and line traffic control Active steering controls two types.Provide pivoted wheels on vehicle corner, torque, or with steering wheel angle, torque and its direction, with just Negative (+, -) indicate.Provide corner, 0 of torque be origin, since origin, corner and the left-handed of torque, dextrorotation be trace, It is indicated with positive value (+), otherwise backhaul is negative, is indicated with negative value (-), torque, corner involved by controller, motor drive current (including Mk、Mh、θe、izDeng) it is vector, which is suitable for someone and following automatic driving vehicles simultaneously.
1., manned vehicle active steering controller
I, blow out additional rotation angle θebDirection determining device.It is provided by 0 of above-mentioned steering wheel angle δ and direction, use is positive and negative (+, -) it indicates.Direction based on δ and yaw velocity deviation eωr(t) positive and negative (+, -) determines the deficiency of vehicle and excessively turns To, and by steering wheel angle δ and its direction, the deficiency of vehicle and oversteering or and blow out wheel position, determine blow out control it is attached Add rotational angle thetaebDirection (+, -).
Ii, additional rotation angle controller of blowing out.The steering wheel angle θ based on determined by steering wheelea, and to active front steering system AFS executing agencies apply one and operate determining additional rotation angle θ independent of drivereb, in the critical vehicle of vehicle stable state control In fast range, an additional yaw moment θ of generationeb, balancing vehicle, which is blown out, generates yaw moment, and compensation vehicle flat tire generates not Foot or oversteering, deflecting roller actual rotational angle θeThe steering wheel angle θ determined for steering wheeleaWith the additional rotation angle θ that blows outebVector Linear superposition：
θe=θea+θeb
Additional rotation angle θebWith the steering angle θ that blows outeb' relationship be：
θeb=-θeb′
Mechanical active steering controller blow out with steering transmission ratio Kh, steering wheel angle δ, servo motor rotational angle thetak, wheel Fast ωi, yaw velocity ωr, or and vehicle lateral accelerationAttachment coefficientTurn to wheel slip Si, tire pressure prIt is main Input parameter, based on runflat condition parameter and its stage of determination, the adoption status method of difference or phase plane method establish each deflecting roller Rotational angle thetaeCorresponding independent or coordination control model, model, using modern times such as PID, sliding formwork control, optimum control or fuzzy controls The corresponding control algolithm of control theory, determines steering rotational angle thetaeTarget control value.Electric-controlled mechanical active steering controller is adopted With independence or jointly control pattern.
One determines deflecting roller additional rotation angle θebControl model, model and algorithm
Controller to blow out, non-wheel construction mechanical state parameter, the vehicle status parameters of blowing out as input parameter, based on wherein Relevant parameter establish deflecting roller additional rotation angle θebEquivalent mathematical model, include mainly：
Equivalent function model includes mainly：
θeb=f (eωr(t), e (ωe), λb)
θeb=f (eωr(t), e (Se))、
θeb=f (eωr(t), pra, λb)
To the steering angle θ that blows outeb' carry out mechanical analysis, θeb' it mainly can be analyzed to θeb1′、θ′eb2、θeb3′：
θ′eb=θ 'eb1+θ′eb2+θeb3′
θ′eb3=f (M 'b)
R in formulai0、Ri, b, e (ωe)、e(Se), M 'b、ux、pri、eωr(t) it is respectively standard tire pressure radius of wheel, quick-fried Tire wheel radius, wheelspan, turn to or the non-balance car wheel set two of blowing out that turns to takes turns equivalent opposite angular speed, angle acceleration-deceleration, slip rate Deviation, deflecting roller are blown out turning power (square), vehicle lateral acceleration, speed, the ideal and practical yaw angle of wheel tire pressure, vehicle of blowing out Speed omegar1、ωr2Between deviation.Modeling structure is：θ in modelebFor balance car wheel set of blowing oute(Se) absolute value increasing The increasing function of amount, θebIt is all the wheel tire pressure decrement Δ p that blows outriIncreasing function.It is quick-fried when current or rear car wheel set a wheel is blown out Tire wheel wheel footpath reduces, and sets each wheel and makees pure rolling, vehicle generates steering angle θeb1′.When blowing out, axle balance car wheel set side The steering angle θ that blows out that is unequal to tire force, generatingeb2′。θeb2' it is parameter e (ωe)、The increasing function of increment.Deflecting roller When blowing out, flywheel moment of blowing out M 'bIt is formed, blows out the impact generation of steering system (disk) to rotational angle thetaeb3', it is needed in practical control Determine θeb3' duration te, duration teLater θeb3' value is 0；Due to vehicle and active front steering system (AFS) Inertia, the impact etc. for damping and blowing out to steering wheel, the additional rotation angle θ for generation of blowing outeb' and yaw velocity, tire pressure, steering wheel Corner δ sensors etc. detect signal existence time or phase difference, additional rotation angle θebControl or using compensation and penalty coefficient λ (λa、λb), θ is setebTime lag penalty coefficient λaWith the impact penalty coefficient λ that blows outb.Time or phase compensation factor λaWith master Controlling cycle H of the turn to actuating unit (including motor etc.)yAnd the function model that comprehensive lag coefficient v is parameter determines, it is main Including：
λa=f (Hy, v)
Parameter v is by the inertia of system associated drive means and damping, the lag time of sensor detection parameters signal, wheeled vehicle State determines relevant parameter response lag time etc., and the response speed of AFS is improved by compensation.Blow out impact penalty coefficient λb With M 'bOr anduxIt is determined for the function model of parameter, includes mainly：
Deng
In formulaFor M 'bDerivative, according to the transmission ratio of steering by θebBe converted to steering wheel additional rotation angle Δ δ；The steering Take turns additional rotation angle θebControl model, model and algorithm can be used for following steering-by-wire controllers.Deflecting roller is blown out, and balance is additional to be turned Angle θebOr determined using certain control algolithm of its parameter, algorithm includes：
Δpri=pra0-pra
P in formulara0For standard tire pressure, pra、It, which is sensed, for tire pressure detects tire pressure and change rate, kp、kI、kDRespectively ratio, product Divide, differential coefficient, eωr(t) it is yaw velocity state deviation, k0、K1For coefficient.
Secondly, active steering coordinate control model
The pattern be based on ESP (Electronics stability program system), AFS (active front steering system) or with FWS (four-wheel steerings System), mainly using ESP and AFS or with more kinds of coordination control models of FWS.Coordinate control model one, establish AFS, FWS and ESP Two system shares reference model, and two system is tracking target to share reference model, by active front steering system (ASSA, SBWS, SAWS the consistent yaw moment of phase) is generated in related direction, is determined the direction of the yaw moment for generation of blowing out, is made two system The yaw moment of generation balances each other with yaw moment of blowing out.Control model two, based on vehicle two or with multifreedom motion differential Equation, foundation and vehicle flat tire rotational angle theta 'ebThe additional steering angle θ to balance each otherebReference model, the mesh determined according to reference model The deviation for marking state parameter and vehicle virtual condition parameter determines the yaw moment of vehicle compensation, makes vehicle track reference always Yaw moment is distributed to braking system yaw moment control device (DYC) and front-wheel master by model by certain rule and allocation proportion Dynamic steering (AFS) or/and FWS steering, and control the frequency that Vehicular yaw DYC, AFS or/and FWS mutually switch. Control model three, using sliding formwork control；Based on AFS sliding formwork controls and feedback of status torque-variable VTD (variable torque Distribution distribution) and control propose fuzzy rule：Under small yaw moment, only start AFS, medium yaw moment by AFS and VTD shareds, big yaw moment are undertaken by VTD completely.Based on active front steering system structure, servo motor, machine are established Tool transfer, angular displacement stacking apparatus and deflecting roller system dynamics model, determine system dynamic response, overshoot, stabilization The kinetic characteristics parameter such as time.Controller uses steering wheel angle θeWith deflecting roller driving torque MhIt is two-parameter to jointly control mould Formula：Controller is with steering transmission ratio Kh, steering wheel angle δe, ground turning power M suffered by deflecting rollerk, deflecting roller revolution driving Torque MhOr it is main input parameter to turn to the steering moment of servo motor output, with θe、MhVariable in order to control determines deflecting roller Deviation between target rotation angle and actual rotational angle, deflecting roller target torque and actual torque.In Mk、MhUnder the action of, pass through revolution Driving torque MhAnd steering wheel angle θeActive or automatic adjusument, control steering wheel angle θe, θeActual value track always Its target control value turns to steering moment (or the M of servo motor outputh) its target control value is tracked always, pass through θeWith MhIt is double Parametric joint controls, and realizes that additional rotation angle of blowing out compensates and reduce impact of the turning power to steering wheel of blowing out.
Iii, active steering of blowing out control subprogram or software
Based on active steering control structure and flow, control model, model and the algorithm of blowing out, active steering control of blowing out is worked out Subprogram, the subprogram use Structured Design, mainly by additional rotation angle direction determining of blowing out, additional rotation angle of blowing out, steering Wheel corner, blow out active steering and the ESP controls coordination of Electronics stability program system or and active steering revolution driving of blowing out Torque program module is constituted.It blows out additional rotation angle module：Mainly by additional rotation angle control model model and algorithm, four rotation of blowing out Axle corner distribution program submodule is constituted before and after to system FWS.
Iv, electronic control unit
Electronic control unit set by active steering controller of blowing out is shared with vehicle-mounted active steering electronic control unit isomorphism.Electronic control unit Main setting input, the communication of wheeled vehicle relevant parameter signal acquisition process, data, microcontroller data processing and control, Microcontroller minimizes peripheral circuit, driving output, control monitoring modular.Microcontroller data processing and control mould Block：Main includes blowing out additional rotation angle direction determining, operating mode of blowing out deflecting roller additional rotation angle, ESP and AFS or to coordinate to control with FWS The data processing and control submodule that axle corner distributes before and after system, four-wheel steering system FWS.Drive output module：Mainly by The power amplification of steering wheel angle driving control signal, type of drive, optically isolated submodule or its circuit are constituted.
V, active steering execution unit
Using electric-controlled mechanical active steering apparatus (or using setting road feel controller steering-by-wire executive device, referring to Following manned vehicle line traffic control active steering control execution unit related Sections).Electric-controlled mechanical active steering apparatus mainly by Mechanical steering and active steering apparatus are constituted, and active steering apparatus is generally disposed at steering shaft and the steering of steering Between device, steering wheel angle θ is realized by dual planetary gear mechanismeaWith servo motor additional rotation angle θebSuperposition, active steering system System (AFS) or with servo steering system (EPS) or be configured to combine the unit.
2., manned vehicle line traffic control active steering control and controller
The controller is a kind of connection of high speed fault-tolerant bus, high-performance CPU controls and management, by steering wheel operation control Steering-by-wire controller；Steering-by-wire controller uses Redundancy Design, each deflecting roller line control system composite structure is arranged, before Wheel steering-by-wire, rear wheel mechanical walk around to or four-wheel line traffic control independent steering various structures and control model, include mainly two, three or Four groups of electronic control unit (ECU) or with a set of mechanical steering system, the combination settings of double or multiple software and its hardware；Steering system For system mainly by steering wheel and deflecting roller module composition, two modules detach or use clutch coupling；Deflecting roller module is by turning to electricity Machine, steering mechanical and deflecting roller constitute dynamic system；Steering wheel module constitutes automatically controlled steering by steering wheel and line control system System；System group structure turns to, road feel is fed back and turns to multiple functional rings that fail, and constitutes steering wheel angle, flywheel moment or and turns To multiple feedback control loops such as disk power, steering wheel angle, deflecting roller turning power self adaptive control are realized；Steering-by-wire controller is set Set the malfunction and failure control model and controller of mechanical steering-by-wire, each wheel differential braking yaw moment assisted diversion；Line traffic control turns To control setting information unit, controller and execution unit；Information unit mainly include steering wheel angle, torque and its direction, Or with steering wheel angle, torque and its direction sensor and each sensor detection signal processing circuit；Using X-by-wire Bus, and by vehicle-mounted data bus and this controller, onboard system into row information, data exchange；Controller, which is mainly arranged, to be turned To wheel, steering response, line traffic control malfunction and failure sub-controller, electronic control unit controls program and corresponding structure and function module；Turn It is a mechanical kinetics system to control execution unit；Controller is with steering wheel angle θe, turn to flywheel moment MkAnd deflecting roller Revolution driving torque MhFor major parameter, the system dynamics equation is established, the equation includes mainly：
Mk=Mj+Mb′+Mm
J in formulau、BuRespectively steering equivalent moment of inertia, equivalent drag coefficient, Mb' it is blow out flywheel moment, MmTo turn To the revolution moment of friction on ground suffered by wheel, MjFor aligning torque, MkSize and Orientation dynamically change；Setting is turned to Motor, the steering for turning to electric appliance, steering mechanism and deflecting roller, kinetic model are：
I, steering motor model：
T in formulam、Jm、θm、Bm、G、kt、imRespectively motor torque, rotary inertia, corner, viscosity friction coefficient, rotating ratio, electricity Magnetic torque constant, electric current；TaFor pinion shaft torque, TaBy deflecting roller flywheel moment MkMathematical model determine：
Ta=f (Mk)
MkThe torque sensor parameter values for detection set by steering determines, when using equivalent model：
Ta=λaMk
λaFor equivalent coefficient, λaBy the rotary inertia J of wheel and steering mechanismmaAnd its viscosity friction coefficient and parameters is waited to determine；
Ii, steering motor and appliance model：
V in formulam、R、LmRespectively anti-electrodynamic type, armature resistance, inductance；
Iii, deflecting roller and steering mechanism's model：
T in formular、Js、BsRespectively equivalent pinion shaft steering resisting moment, deflecting roller and steering mechanism's rotary inertia, each transmission Device viscosity friction coefficient；Speeds match, the θ for ignoring motor torsion stiffness, considering motor and pinion shaftm=G θs, ignore Tr、 It carries out Laplace transformation, obtain transmission function：
Using pid control algorithm, integer, fractional order PIλDμThe transmission function of controller is：
When λ, μ value be 0 or when, be configured to integer rank PID, PI or PD control device, steering motor rotation direction determine item Under part, motor drive current, voltage and steering wheel angle are determined by controller；When being controlled using fractional order, system response Time and overshoot are held essentially constant；The fuzzy of other modern control theories, neural network, most excellent corresponding control algolithm and Controller omits.Based on system dynamics equation, steering-by-wire controller establish it is normal, blow out, bumpy road, driver's overshoot and Fault Control pattern, model and algorithm, using steering wheel angle θeWith deflecting roller revolution driving torque MhTwo-parameter lotus root closes control mould Formula in steering wheel angle control, while controlling θeWith MhTwo parameters；Electronic control unit set by steering controller presses steering-by-wire Control model, model and algorithm carry out data processing, and output signal controls line traffic control mechanical steering system, realizes line traffic control active steering Control；
I, deflecting roller controller
One, steering wheel angle control；Normally, it blows out under operating mode, is based on nominal situation steering wheel angle δeaDetermining turns To wheel rotational angle thetaea, controller applies the additional rotation angle θ that blows out independent of driver to steeringeb, in vehicle stable state Within the scope of the critical speed of control, an additional yaw moment balancing vehicle of generation, which is blown out, generates yaw moment, and compensation vehicle is quick-fried The deficiency or oversteering that tire generates, steering wheel angle θeFor steering wheel angle θeaWith the balance additional rotation angle θ that blows outebThe line of vector Property superposition：
θe=θea+θeb
θ in formulaeaIt is nominal situation by steering wheel angle δeaDetermining steering wheel angle, θeaBy δeaWith steering transmission ratio Cn It determines, θebWith the steering wheel angle θ that blows outeb' relationship be θeb=-θeb′；Deflecting roller controller detects tire with wheel sensor of blowing out Press pra, speed ux, steering wheel angle δ, yaw rate ωr, side slip angle β be major parameter, establish its parameter Blow out additional rotation angle θebEquivalent mathematical model, model includes mainly：
θeb=f (pra, eωr(t), eβ(t), ux)
E in formulaωr(t)、eβ(t) it is respectively deviation between the ideal and practical yaw velocity of vehicle, side slip angle, e (ωe) It blows out the equivalent phase angle velocity deviation of balance car wheel set left and right wheels for deflecting roller, μiFor ground friction coefficient；Determine θebSpecific number Learning expression formula includes：
θeb=kωreωr(t)+kββ+kee(ωe)
K in formulaωr、kβ、keRespectively yaw velocity ωr, side slip angle β and e (ωe) parameter feedback factor；θebOr it adopts It is determined with the respective algorithms of the modern control theories such as the PID of its parameter, fuzzy；Set course changing control cycle Hy, HyFor setting value, HyOr by unit interval intrinsic parameter Δ δ, fyMathematical model determine：
Hy=f (Δ δ, fy)
Δ δ is that steering wheel angle positive and negative changes frequency n in the unit time in formulaiThe sum of variation absolute value, fyFor motor or Steering response frequency；It blows out in control, deflecting roller controller is with steering wheel angle θeVariable in order to control, with steering wheel angle δea, system steering gear ratio Cn, balance of blowing out additional rotation angle θebMajor parameter establishes the mathematical model of its parameter, determines θe's Target control system, model include mainly：
θe=f (δe, Cn)、δe=δea+δeb、θea=f (δea, Cn)
θeb=f (δeb, Cn)、θe=f (δea, Cn)+f(δeb, Cn)
δ in formulaebFor θebAnd CnIdentified steering wheel, which is blown out, balances additional rotation angle；Steering-by-wire controller uses two deflecting rollers Independent or same control structure, steering wheel angle θ in absolute constructioneTarget control value θe1With actual value θe2It is each for single wheel From parameter value, θ in same control structuree1、θe2For the shared parameter value of two wheels；Non- e (ω when blowing oute)、Value is 0, Entering signal of blowing out iaE (ω when arrivale)、Value determined using certain algorithm by the detection parameters of aforementioned wheel；Transmission Compare CnThe dynamic value determined for constant value or by mathematical model；CnFor constant K when, Vehicular turn steady state yaw velocity gain ωr/δ)eFor the function of speed, requirement and the burden of driver's steering are thus increased；Based on people-Che-road closed loop power mould Type, vehicle dynamic model, determine CnKinematic function model by ux, ay, β, ωrIn one of parameter or multiple parameters number It learns model to determine, model includes mainly：
Cn=f (ux)、Cn=f (ωr)、Cn=f (ux, ay, β, ωr)
Vehicle side acceleration a in formulay, vehicle centroid side drift angle β, yaw velocity ωrFor state feedback control parameters, pass through ωr、 ay, the feedback of β adjusts the C of vehiclen, the steering characteristic of vehicle is thus controlled, ω is improvedr, β response speeds and driver path with The ability of track compensates vehicle load and operating condition (including surface friction coefficient etc.) variation, makes Vehicular turn characteristic not by vehicle Fast ux, steering wheel angle δeThe influence of variation；Define steering wheel angle θeTarget control value θe1With actual value θe2Between it is inclined Difference：
e(θe)=θe1-θe2
Wherein actual value θe2It is determined by the corner or the real-time detected value of displacement sensor that are set in deflecting roller steering driving system； Based on deviation e (θe), using open loop or closed-loop control, in deflecting roller controlling cycle HyCycle in, the actual value of steering wheel angle θe2Always its target control value θ is trackede1；The rotation direction of motor is by deviation e (θe) positive (+), negative (-) determine, e (θe) it is just When motor rotation direction be θeIncreased direction, on the contrary it is the direction of its reduction；
Secondly, deflecting roller revolution driving torque MhController；Controller is with steering wheel angle δe, ground suffered by deflecting roller returns Turn power Mk, deflecting roller revolution driving torque MhFor input parameter, with θe、MhVariable in order to control, in Mk、MhUnder the action of, pass through drive Dynamic torque MhAnd steering wheel angle θeActive or adaptive combined adjusting, control steering wheel angle θe, make θeActual value always Track its target control value；When blowing out, the flywheel moment M that blows out is generatedb', ground effects are in deflecting roller flywheel moment MkSize and Direction changes, in steering wheel angle θeWhile control, deflecting roller revolution driving torque M need to be carried out in real timehIt adjusts；Really Determine MhUsing both of which；Setting turns to turning power in pattern one, the mechanical transmission mechanism between deflecting roller and steering Or torque sensor, detect the flywheel moment M of deflecting rollerk；According to the differential equation：
Determine MhTarget control system, j in formulau、BuRespectively steering equivalent moment of inertia, equivalent drag coefficient；In view of biography The lag of the detection signal of sensor, to MkCarry out phase compensation；In course changing control cycle HyIn cycle, penalty coefficient Ge(y) it uses With steering wheel angle target control value θe1With actual value θe2Between deviation e (θe) and its derivativeTransmission device damping system NumberIt is determined for the mathematical model of major parameter：
Ge(y)=f (e (θe),
Wherein Ge(y) it is, e (θe)、Absolute value andThe increasing function of increment；Pattern two, in course changing control cycle HyCycle In, controller is with e (θe)、e(ωe) it is major parameter, the equivalent mathematical model of its part or all of parameter is established, determines and turns to Take turns turning power (square) MkAnd deflecting roller revolution driving torque Mh, mathematical model includes mainly：
Using determining MhEquivalent mathematical model, mathematic(al) representation includes：
In Controlling model and formula, Ge (y) it is penalty coefficient, HyFor the course changing control period,For steering wheel angle θeTarget control value θecWith actual value θedIt Between deviation derivative, k1、k2For coefficient, deflecting roller is blown out the equivalent phase angle velocity deviation e (ω of balance car wheel set left and right wheelse) can be by The equivalent Relative sliding rate deviation e (S of two deflecting rollerse) substitution；Based on steering system structural, establishes steering and include motor, turn To mechanism (rack-and-pinion etc.) and the kinetic model of wheel, Laplace transformation is carried out to model, transmission function is determined, using PID (including integer, fractional order PIλDμ), fuzzy, neural network, most excellent modern scientist reason take turns corresponding control algolithm, design turns to control Device processed makes system response time and overshoot be maintained at a best scope (including being basically unchanged)；Steering-by-wire controller is logical Cross desired transmission when motion transmission ratio CnControl, yaw velocity ωr, the parameters such as side slip angle β feedback of status, turn To wheel rotational angle thetaeWith deflecting roller flywheel moment MkOr turn to driving moment MhControl lotus root close, determine relevant parameter in course changing control (including yaw rate ωrDeng) dynamic response, solve overshoot, stabilization time, (blowing out) flywheel moment size, side To the drastically technical problems such as change；
Ii, road feel controller
The controller includes mainly motor, magnetic rheological body, or used with the novel man machine operation interface such as control stick, pedal Road feel controller, is controlled by road feel, and driver is made to experience wheeled vehicle attachment state, lateral deviation power and steering road feel over the ground Feed back back wash effect.Road feel controller using PID, fuzzy, sliding formwork, heredity, neural network, from modern times such as antidisturbance controls (ADRC) The respective algorithms of control theory design, and include the road feel feedback control of the line traffic control hydraulic steering system designed based on fuzzy-adaptation PID control Device processed.Relationship based on steering wheel angle, speed, vehicle side acceleration and steering resisting moment, using multi-variability fuzzy control Algorithm, designs a kind of parameter and road feel data point reuse controller, which includes the PID that is adjusted based on BP neural network adaptive Answer controller etc..Road feel controller is using really with virtual two kinds of control models, the pattern is simultaneously suitable for normal, work of blowing out Condition.
One, true road feel pattern.Deflecting roller revolution driving torque M is arranged in controllerh(or Mk) detection sensor, to turn To wheel revolution driving moment Mh(or flywheel moment M in ground suffered by deflecting rollerk), steering motor electric current isOne of be variable, with speed ux, face mould friction coefficient μ, yaw velocity ωr, steering wheel angle δeAnd side acceleration ayFor main parameter, establish true Physical circuit induction device feedback force MwaMathematical model, include mainly：
Mwa(Mh, ux, ωr, ay, μ, δe)
Thereby determine that road feel feedback force MwaFor deflecting roller flywheel moment Mh(or Mk、is) and its parameter characterisitic function.Its Middle steering samsara torque MkMainly by returning positive force (square) Mj, flywheel moment of blowing out Mb' and ground revolution moment of friction MmIt constitutes, And it is its vector sum：
Mwa(or road feel current of electric it) modeling structure include as described below：M in modelwa(or it) it is deflecting roller flywheel moment Mk(or Mh) absolute value, friction coefficient μ, steering wheel angle δeIncrement increasing function, Mwa(or it) it is speed ux, lateral accelerate Spend ay, yaw velocity ωrSubtraction function, and surveyed deflecting roller flywheel moment M can be based onk, pass through parameter ux、μ、ωr、δeIt is right MwaCarry out linearization process.Set parameter μ, δeInterval, in μ, δeThe value of each parameter in section is to MwaWith not Same weight.Work as ayMore than limit threshold value ca1……can, work as ωrMore than limit threshold value cω1……cωn, increase parameter step by step respectively ωrWeight, make road feel feedback force Mwa(or it) gradient of decrement increases, until Mwa(or it) it is a constant or 0.Using steering Wheel revolution driving moment Mh(or rack pinion power) sensor detected value determines MkValue and its direction.In view of steering-by-wire The steering wheel of system is disconnected with deflecting roller mechanical driving device, normally, is blown out under operating mode, and deflecting roller revolution driving torque M is definedh With time positive force (square) Mj, ground revolution moment of friction MmBetween deviation ehj(t)：
According to ekj(t) positive and negative, determines Mwa(or it) direction. True road feel device feedback force MwaEquivalent mathematical expressions, include mainly：
Mwa=f (ekj(t), Mj, Mm, ux, ωr, ay, μ, δe)
The meaning of each parameter is same as described above.
Secondly, virtual road feel pattern.Steering-by-wire controller does not set deflecting roller torque sensor, based on virtual wheel, vehicle Correlation model and viewer, using a variety of virtual road feel patterns.Pattern one, mainly with steering wheel angle δe, steering-wheel torque McOr and steering (motor) current sensor detection parameters signal is, establish road feel feedback force MwbModel, model mainly wraps It includes：
Mwb(Mkb, δe, ux, ωr, ay)
Mwb(is, δe, ux, ωr, ay)
Using certain algorithm, M is determinedwbTarget control value Mwb0.Samsara is turned in formula turns power (square) MkbValue by above-mentioned steering Take turns turning power (square) MkOr with deflecting roller revolution driving torque MhMathematical model determine, include mainly：
Parameter θ in formulae1、θe2For steering wheel angle target control value, actual value,e(ωe),JwTitle and Meaning is as previously described.Pattern two, using tire force evaluation method, frictional force is modeled as random Gass-Markov processes, design Extended Kalman filter, estimation deflecting roller flywheel moment Mk, it is based on MkDetermine road feel feedback force Mwb.Pattern three establishes steering System model and the steering differential equation：
Using two degrees of freedom whole vehicle model as virtual vehicle reference model, steering wheel road feel feedback force M is determinedwb.Road feel controls During the control of device, the road feel device of road feel motor or magnetic rheological body based on road feel module, make driver pass through steering wheel, Steering arm turns to the operation interfaces such as pedal, obtain reflection road surface, wheel, vehicle running state road feel information.
Iii, steering (AFS) and deceleration of electrons stability program (ESP) system coordination controller
Coordinate control model based on above-mentioned manned vehicle AFS and ESP, according to runflat condition, control period of blowing out and preceding Left and right anticollision controls time zone afterwards, and tuning controller is using the wheel stable state in vehicle stable state control for brake, balanced system power, vehicle The logical combination of stable state and brake force total amount (A, B, C, D) Control Cooling is produced by each wheel differential braking unbalanced system kinetic moment The control that raw yaw moment and steering wheel angle are adjusted is coordinated, and realizes direction of traffic, gesture stability and path trace.
Iv, steering-by-wire fail-ure criterion device
One, fail-ure criterion device are sentenced using steering wheel angle, deflecting roller wheel corner, vehicle status parameters and electrical parameter failure Mould-fixed, the pattern is with steering wheel angle δe, steering wheel angle θe, speed ux, yaw velocity ωr, based on side slip angle β Parameter is wanted, fail-ure criterion receptance function Z is establishedk, function includes：
Zk=f (δe, e (θe), ux)、Zk=f (e (θe), δe, ux, ωr, β) etc.
Using the control algolithms such as PID, fuzzy, Z is determinedkFail-ure criterion value, e (θ in formulae) be steering wheel angle target control value θe1With actual value θe2Between deviation, δe, ux, ωr, the meaning of β parameters is the same.Set threshold value cwk, by Threshold Model, when ZkUp to threshold value cwkWhen, judgement brake-by-wire failure.
Secondly, fail-ure criterion device it is forward and inverse to fail-ure criterion pattern using electric control gear parameter.It is forward and inverse to malfunction and failure Judgement refers to：Line traffic control control structure unit (including mainly information unit, controller, execution unit) automatically controlled parameter is transmitted in signal Process fail-ure criterion in positive and negative direction.The input of the signal of the set detection of the structural unit and control parameter is not 0, accordingly Parameter signal output is 0, is judged for positive malfunction and failure；Otherwise signal input is 0, and output is not 0, is sentenced for reverse malfunction and failure It is fixed.It is forward and inverse to use 0 and non-zero logic threshold model and decision logic to fail-ure criterion, meet as defined in model 0 and non-zero patrols Decision condition is collected, then judges that line traffic control control system malfunction and failure, failed controller export Failure Control signal iz。
V, steering-by-wire failed controller
Manned vehicle steering-by-wire Failure Control.Retain a set of mechanical steering system, (two wheels are independent using two front-wheels Or same) steering-by-wire and retain the control model and structure of a set of mechanical steering controller.When normal work steering wheel and turn It is disconnected to two modules of wheel, the Failure Control signal i of controller output when line steering failsz, control clutch closure, turn It to the mechanical connection of disk and deflecting roller module, is operated by driver's steering wheel, realizes that artificial mechanism turns to.
Vi, steering-by-wire of blowing out control program or software
Based on manned vehicle flat tire active steering control structure and flow, control model, model and algorithm, establishment is quick-fried Tire active steering controls subprogram, which uses Structured Design, and steering wheel angle, deflecting roller revolution driving is mainly arranged Torque, active steering and the control of deceleration of electrons stability contorting programming system are coordinated, active steering and the control of stabilized driving system are assisted Tune, the distribution of front and back axle steering wheel angle, steering-by-wire fail-ure criterion, steering-by-wire Failure Control, each program mould of steering response Block.Steering wheel angle program module：Include mainly steering wheel angle and additional rotation angle program submodule of blowing out.Steering response program Module：Include mainly true road feel or virtual road feel program submodule.Steering-by-wire Failure Control module：It include mainly steering wheel With the control of deflecting roller mechanical clutch, line traffic control Failure Control program submodule.
Vii, electronic control unit
Electronic control unit set by active steering controller of blowing out is shared with vehicle-mounted active steering electronic control unit isomorphism.The automatically controlled list First main setting input, the communication of wheeled vehicle state relevant parameter signal acquisition process, data, steering Failure Control pattern turn It changes, microcontroller (MCU) data processing and control, MCU minimize peripheral circuit, control monitoring and driving output module.Micro-control Device MCU data processings processed and control module：Main setting wheel turning angle, deflecting roller revolution driving torque, steering response, master Turn to coordinate with the control of brake electronic stability program system, the distribution of axle wheel steering angle, vehicle before and after four-wheel steering system Braking is coordinated to control each submodule with drive control.Drive output module：Mainly put including steering wheel angle drive signal power Greatly, type of drive and Phototube Coupling submodule.Active steering coordinates submodule with vehicle braking, drive control：By vehicle system Dynamic and driving differential braking or driving moment when carrying out speed control, coordinate steering wheel angle control.
Viii, steering-by-wire execution unit；
Steering wheel, two module of deflecting roller is arranged in the execution unit.Steering wheel module includes mainly steering wheel, steering column, road Electrification machine or magnetic rheological body fluid path sensing device, deceleration device, steering wheel angle and torque sensor for road feel.Deflecting roller Module mainly by steering motor, deceleration device, transmission device (including mainly rack-and-pinion or steering linkage, clutch) and turns to Wheel is constituted.
3., automatic driving vehicle blows out active steering controller
Steering-by-wire controller is the active steering control of a kind of connection of high speed fault-tolerant bus, high-performance CPU control and management Device processed, the controller use Redundancy Design, each deflecting roller line control system composite structure are arranged：Using front and back axle or four-wheel line traffic control The various controls such as independent steering pattern and structure, setting two or three groups of (artificial intelligence) central primary control computers, double or triple Independent group of steering-by-wire control electronic control unit, double or multiple software, two or three groups of electronic control unit and active steering motor Close structure.The controller is formed based on the dynamic system that deflecting roller, steering motor, transfer and ground force are constituted Steering-by-wire, turns to fail multiple control function rings and feedback control loop at pavement state feedback.Deflecting roller, line is arranged in controller Control malfunction and failure or with steering response sub-controller, using steering-by-wire, braking system respectively take turns differential braking generation sideway power The steering malfunction and failure control model of square assisted diversion realizes steering-by-wire fail safe.Steering-by-wire controller uses X-by- Wire buses, and exchanged into row information and data with this controller, onboard system by vehicle-mounted data bus.Steering-by-wire controls Information unit：Steering wheel angle, torque and its direction be set, or with steering wheel angle, torque and its direction, turn to driving motor Corner and torque and its direction sensor, sensor detection signal after testing signal circuit processing after input data bus.Line traffic control Steering controller：Obtain each sensor detection signal and relevant parameter sending out signals from data/address bus, braked by vehicle flat tire or Driving, anticollision, active steering coordinates control model, model carries out data processing；Electronic control unit set by the controller：Export each work Condition controls signal, controls each wheel steering-by-wire executive device, and by steering kinetics steering, it is actively adaptive to carry out vehicle Wheel and vehicle stable state, Vehicular turn, track holding, path trace and gesture stability are realized in adjustment in direction.
I, it blows out steering controller
The controller is with Vehicular turn angle θlr(or steering wheel angle θe), deflecting roller revolution driving torque MhBecome in order to control Amount, the speed u that controller is determined based on central master path tracex, Vehicular turn angle θlr, steering wheel angle θeTarget control Value, by active steering control model, the model of blowing out, passes through steering wheel angle θe, deflecting roller revolution driving torque MhTwo-parameter joint (coupling) control algolithm calculates θ under runflat conditioneOr θlrTarget control value.
One, steering wheel angle controller
The nominal situation Vehicular turn angle θ that controller is exported based on central masterlr, steering wheel angle θeTarget control Value, by θlr、θeValue carry out direction of traffic control.It blows out in view of wheel, especially deflecting roller is blown out, and wheel attachment and steering are special It sexually revises, in same steering wheel angle θeUnder the conditions of, it blows out and is differed with the non-steering angle for blowing out vehicle acquisition.Define vehicle and Two class deviations of wheel.Deviation one：The desired steering angle θ of vehicle path planning, path trace that central master determineslrWith vehicle Take turns actual steering angle or θe' between deviation eθn(t)：
eθT(t)=θlr-θe′
Deviation two, vehicle desired steering angle θlrWith vehicle actual steering angle θlr' between deviation eθlr(t)：
eθlr(t)=θlr-θlr′
Set steering wheel angle dynamic control cycle Hθn, HθnWith speed ux, steering wheel angle deviation eθlr(t) it is major parameter Equivalent model and algorithm determine：
Hθn=f (ux, eθlr(t))
HθnModeling structure include：HθnFor ux、eθlr(t) subtraction function of absolute value increment.In steering wheel angle θeThe period of control In cycle, by reducing controlling cycle Hθn, make blow out in the unit interval vehicle driving trace deviation and the correction amount of lateral displacement More than nominal situation.In the logic loops of steering wheel angle controlling cycle, controller is with eθlr(t)、eθT(t)、θeFor parameter, Establish this period deflecting roller ideal rotational angle theta under runflat conditioneTarget control value θekControlling model and function model：
θek(eθT-1(t), eθlr-1(t), θe)、θek=f (eθT-1(t), eθlr-1(t), θe)
E in formulaθT-1(t)、eθlr-1(t) it is the parameter value of previous cycle,；Define deflecting roller ideal rotational angle thetaekWith actual rotational angle θe′ Between deviation eθ(t), steering wheel angle θeUsing closed-loop control, each controlling cycle HθnIt is interior, with 0 deviation eθ(t) mesh in order to control Mark, makes the actual value θ of steering wheel anglee' θ is tracked alwaysekTarget control value.
Secondly, deflecting roller revolution driving torque controller
Controller is with steering wheel angle θe, deflecting roller turning power (square) Mk, deflecting roller revolution driving torque MhMainly to join Number, establishes the steering kinetics equation of its parameter：
Deflecting roller revolution driving torque M is determined based on the equationhTarget control value Mhk, j in formulau、BuRespectively steering etc. Imitate rotary inertia, equivalent drag coefficient.Blow out M during controllingkSize and Orientation dynamically change, MkValue by being set to Torque sensor detected value determines between deflecting roller and steering driving motor, in tool transmission mechanism.Deflecting roller turning power (square) Mk Or by steering wheel angle θe, ground friction coefficient μ, steering rotary inertia jrIt is determined for the equivalent mathematical model of major parameter：
The function expression of the model is：
M in formulamkFor the turning power moment of resistance on ground suffered by deflecting roller, MjFor aligning torque.Controller uses closed-loop control, presses and turns To wheel rotational angle thetaek, deflecting roller revolution driving torque MhTwo-parameter joint (coupling) control model, model and algorithm, normal, quick-fried Tire, bumpy road and MmkIn the state of variation, actively adjusts steering driving motor and steering wheel angle is exported to deflecting roller Target control value θekAnd revolution driving torque Mhk, make θeAnd MhAlways its target control value is tracked.
Ii, steering (AFS) and deceleration of electrons stability program system (ESP) tuning controller
The tuning controller coordinates control model by above-mentioned manned vehicle AFS and ESP, based on runflat condition, blows out Control period and anticollision all around control time zone, and tuning controller uses wheel stable state, balance in vehicle stable state control for brake The logical combination of braking, vehicle stable state and brake force total amount (A, B, C, D) control, passes through each wheel differential braking unbalanced system power The control of yaw moment and steering wheel angle that square generates is coordinated, and realizes the braking of vehicle stable state or driving, direction of traffic, vehicle appearance State controls and path trace.
Iii, steering-by-wire fail-ure criterion device.One, the electric control gear determined using above-mentioned steering-by-wire fail-ure criterion device Parameter forward direction, reverse fail-ure criterion pattern.Secondly, using corner deviation determinating mode：With wheel desired steering angle θeWith reality Steering angle or θe' between deviation eθn(t) it is major parameter, is determining the normal work of vehicle (artificial intelligence) central control computer It is interior in steering wheel angle controlling cycle cycle using the Threshold Model of its parameter under conditions of work, calculate the set n period Intrinsic parameter eθn(t) the accumulated value ψ of absolute valueθr：
Calculate the threshold value C of deviationθlr：
Cθn=f (θen, ux)
By Threshold Model, ψθnUp to threshold value CθnThen judge that steering-by-wire fails.
Iv, steering-by-wire failed controller
One, steering-by-wire controller, electronic control unit (ECU) and sensor etc. use fault-tolerant design scheme.According to control Device structure, Controlling model and algorithm, based on electric control gear, wheel speed, manual operation interface, each sensor redundancy information, determine with The associated electric control gear of fault tolerant object, sensor carry out fault verification by modes such as residual errors, and fault message is stored in automatically controlled Unit is alarmed using sound, light crossing-signal, prompts driver's ageing treatment.
Secondly, steering-by-wire failed controller is taken turns using front or rear axle independent steering two or line traffic control independent steering four-wheel Control model and structure, forward and inverse by electric control gear parameter carry out steering fail-ure criterion to fail-ure criterion pattern.Judge line traffic control After steering is any independent or the failure of multiple wheel steerings, steering-by-wire controller sends out Failure Control signal izi.Line traffic control turns To failed controller, electronic control unit (ECU) or control module to the wire-controlled steering system wheel turning angle θ that does not faileAnd it turns to Wheel revolution driving moment MhIt is redistributed, is accepted by it and implemented the steering-by-wire of vehicle.
Thirdly, steering-by-wire global failure controller.It is when turning to global failure for someone or automatic driving vehicle Steering-by-wire global failure controller, central primary control computer set by central master of uniting, by the system of steering-by-wire Failure Control Dynamic steering pattern, model and algorithm carry out data processing, and output signal controls hydraulic brake subsystem (HBS), electric-controlled hydraulic system Subsystem (EHS) or electric-controlled mechanical brake subsystem (EMS) are braked by each wheel unbalanced differential pair, and auxiliary realizes that line traffic control turns To Failure Control.Skid steer controller is arranged in central master, which respectively takes turns differential braking generation using vehicle and add Yaw moment carries out vehicle assisted diversion pattern and structure, turns to Failure Control signal izThen, controller is based on vehicle stabilization Control system (VSC), Study on Vehicle Dynamic Control system (VDC) or electronic stability program system (ESP), using wheel stable state system It moves, respectively take turns four kinds of control for brake types such as (differential) braking of balancing brake, vehicle stable state, brake force total amount (A, B, C, D) control Control model, model and calculation, with the ideal deviation between practical yaw velocity, side slip angle of vehicleeβ (t), vehicle (or wheel) desired steering angle θlr(or θei) and actual steering angle θlr' (or θei') between deviation eθl(t)、eθi (t) and speed uxTo input major parameter, useLogical combination.By vehicle movement side Journey (including two degrees of freedom and multiple degrees of freedom) auto model, determines certain speed uxOr with the steering wheel under ground attaching coefficient μ Corner δeWith yaw rate ωrBetween relational model, calculate vehicle ideal yaw velocity ωr1With side slip angle β1, The practical yaw velocity ω of vehicler2By yaw-rate sensor the real time measure.Define vehicle ideal and practical yaw velocity, Deviation between side slip angleeβ(t)：
eβ(t)=β1-β2
Witheβ(t) it is major parameter, establishes the mathematical model of its parameter, pass through the Infinite Time shape of LQR Theoretical Designs State observer determines that the lower optimal steering generated of wheel differential braking adds yaw moment Mx, establish steering-by-wire Vehicular turn Take turns rotational angle thetaeWith vehicle yaw moment MxBetween relational model, model mathematic(al) representation includes mainly：
θeAnd MxGeneral mathematical expression include mainly：
By θeMathematical model determine the target control value of steering wheel angle, k in formula1、k2For feedback of status variable or parameter, k1、k2It is determined using above-mentioned normal or operating mode active steering feedback of status variable of blowing out Controlling model and algorithm.Normally, it blows out Etc. under operating modes, optimal steering yaw moment MxEach wheel distribution use brake force Qi, angle acceleration-decelerationAngular speed negative increment Δ ωi, slip rate SiEtc. parameters distribution and control form, and its distribution and control be limited primarily to wheel braking model characteristics letter The stability region of number (curve)：
Fxi~Qi、Fxi~Δ ωi、Fxi~Si
F in formulaxiFor ground longitudinal tire force suffered by each wheel, pass through control for brakeEtc. logics The loop cycle of combination carries out steering Failure Control.It brakes and wheel active differential braking parallel work-flow shape at manual operation interface Under state, steering-by-wire Failure Control usesControl logic combination, B control brake force it is defeated by manual operation interface The function model of the brake force gone out determines, when there is wheel to enter anti-lock control, in new H braking periodhIn, reduce each wheel The brake force Q of balancing brake B controlsiOr reduce Δ ωi、Si, until each wheel balanced system power Q of B control distributioniOr Δ ωi、Si It is 0.By Threshold Model, work as deviation(or and eβ(t)) absolute value is less than setting threshold valueWhen, it usesBrake control logic combines, when it is more thanShi CaiyongOrBrake control logic combination, lead to Cross H braking periodhLogic loops, realize steering-by-wire global failure control and stablize slow down control.
V, steering-by-wire control subprogram or software
Environment sensing based on central master is set to navigation, path ruleization, control decision main program, by blowing out actively Course changing control structure and flow, control model, model and algorithm, work out active steering control subprogram of blowing out, which adopts With Structured Design, setting steering wheel angle, deflecting roller revolution driving torque, active steering and braking, drive control coordination, four Rotation axle wheel or the distribution of four-wheel independent steering angle forwards, backwards turns to and collision prevention of vehicle control, steering-by-wire fail-ure criterion, line Control turns to each program module of Failure Control.Wherein, active steering and vehicle braking, drive control coordinator module：For vehicle The control of the active steering and speed, collision prevention of vehicle of path trace includes mainly active steering and brake electronic stability contorting Program (ESP), wheeled vehicle stability contorting of blowing out coordinates and active steering and driving, wheeled vehicle stability of blowing out driving Each program submodule is coordinated in control.
Vi, electronic control unit
Electronic control unit set by line traffic control of blowing out active steering controller is shared with vehicle-mounted line traffic control active steering electronic control unit isomorphism. Input, wheeled vehicle parameter signal acquisition process, data communication, microcontroller (MCU), MCU is mainly arranged most in the electronic control unit Smallization peripheral circuit, control monitoring and driving output module.Wherein, microcontroller (MCU) module：Based on central computer environment Perception, this vehicle speed of path ruleization determination, Vehicular turn angle, steering wheel angle, deflecting roller revolution driving torque and target control Related datas such as (values) are made, according to control main program, turn to subprogram, setting wheel turning angle, deflecting roller rotary driving force Square, active steering and vehicle braking and drive control are coordinated, are turned to and axle vehicle before and after collision prevention of vehicle control, four-wheel steering system Steering angle distribution, steering-by-wire fail-ure criterion, steering-by-wire Failure Control, active steering and vehicle braking and drive control is taken turns to assist The data processing of tune and control submodule.Drive output module：Include mainly the power amplification of steering wheel angle drive signal, driving Mode and Phototube Coupling submodule or driving output circuit.
Vii, steering-by-wire executive device and control flow
Line traffic control active steering controller output signal controls the driving motor in active steering executive device, driving motor Steering wheel angle and revolution driving torque are exported, through transmission and mechanical steering device, control vehicle line traffic control active front steering system AFS (active from steering), four-wheel move steering FWS executive devices, adjust steering wheel angle, realize unmanned The active steering of vehicle.Signal i is exited in control of blowing outeWhen arrival, active steering of blowing out control is exited.
12), lift Suspension control and controller
The controller is based on vehicle-mounted passive, semi-active or active suspension system, setting information unit, controller and executes list Member.Controller is using skyhook damping, PID, optimal, adaptive, neural network, sliding moding structure or the modern control theories such as fuzzy Respective algorithms establish the normal and operating mode suspension spring rigidity G that blows outv, damper damping BvAnd suspension stroke positions are high Spend SvCoordinate control model, model and algorithm, determines Gv、BvAnd SvTarget control value.Electronic control unit set by controller is independently set Set or with vehicle-mounted existing active suspension system with setting total structure, main controller blow out judgement set up under conditions of, that is, blow out control into Enter signal iaWhen arrival, using major and minor Threshold Model, makees suspension and start secondary judgement, secondary judgement is set up, and controller output is outstanding Frame, which is blown out, controls the enabling signal i of secondary entranceva, by the enabling signal i of secondary entrancevaWith exit signal iveRealize suspension just Often with the conversion for operating conditions pattern of blowing out.Suspension travel adjusts executive device and uses lift unit, damper and shock absorbing resilient Part integration composite construction.
1., suspension lift (stroke) controller
I, the entrance and exit that suspension lift controls.Controller setting is with the wheel tire pressure p that blows outr(pra、pre) (or effectively roll Half through Ri), vehicle side accelerationFor the Threshold Model of parameter, setting threshold value av(av1、av2).Control of blowing out enters letter Number iaWhen arrival, by logic threshold model, work as pra(or Ri) reach main threshold value av1、Value reaches secondary threshold value av2, orIt reaches Main threshold value av2、preUp to secondary threshold value av1Or pra、One of reach respective threshold threshold value av1、av2, vehicle entrance is blown out outstanding Frame controls, and electronic control unit sends out Suspension control entering signal i set by controllerva；Otherwise Suspension control of blowing out is exited, output is blown out Signal i is exited in controlve.Wherein av2For rollover threshold, av2It is determined by following mathematic(al) representations：
L in formulavFor wheel square, hkFor height of center of mass, cos γdFor gradient cosine of an angle, g be acceleration of gravity, K be equal to or more than 2 coefficient blows out control period when vehicle enters true or inflection point, adjusts K values, K is more than 2, reducesThreshold value av2。
Ii, controller.Suspension stroke positions S is arranged in information unitv, power plant output pressure pv, suspension displacement speedAccelerationSensor and sensor detection signal processing circuit.Controller is with suspension travel Sv, damping resistance Bv, suspension Rigidity GvVariable in order to control, using Gv、BvAnd SvCoordinate control model, establishes Gv、Bv、SvCoordinate Controlling model, determines each wheel Gv、 Bv、SvTarget control value, and calculate the amplitude and frequency being suspended in vehicle body vertical direction.Controller using suspension travel or and Suspension rate damping and its coordination control.
One, in Gv、BvAnd SvCoordinate under control model, the controller is with suspension travel regulating device input pressure pv、 Or/and flow Qv, load Nzi, liquid flow damping between each working cylinder of damper (or throttle valve opening kj), fluid viscosity vy、 Suspension displacement SvFrame velocity of displacementAcceleration(or fluid stream flow velocity, acceleration through throttle valve), bearing spring elasticity Coefficient kx(including kxa、kxb) it is major parameter, establish the S of its parameterv、Bv、GvMathematical model：
Sv=f (pv, Nzi, Gv)、Sv=Sv1+Sv2+Sv3
Gv=f (kxa, pv) or Gv=f (kxb, hv)
S in formulav1Suspension static height parameter, Sv2For nominal situation position height adjustment parameter, Sv3It blows out suspension position height tune Save parameter, kxaAnd kxbRespectively air, helical spring coefficient of elasticity, hvFor helical spring bullet deformation length.Gas-liquid pressing spring is outstanding Frame uses air-liquid power source and servo pressure regulating device, regulated value Sv3By the wheel effective rolling radius R that blows outiOr tire pressure praFor parameter Function model determine：
Sv3=f (Ri)、Ri=f (pra)
When carrying out suspension stroke positions adjusting using air-liquid pressure lift unit, regulating device air bag, hydraulic cylinder input pressure are established pv(or/and flow Qv) and independent suspension travel position height Sv, load Nzi, suspension rate GvEtc. relational model between parameters：
pv=f (Sv, Nzk, Qv、Gv)
By each wheel suspension position height SvTarget control value be converted to regulating device input pressure pvOr/and flow QvIt is worth, in formula NzkFor wheel dynamic load of blowing out.NzkFor the load N of wheel under nominal situationziWith the load variations value Δ N for wheel of blowing outziThe sum of：
Nzk=Nzi+ΔNzi
Load variations value Δ NziWith wheel effective rolling radius Ri(or tire pressure) and Δ NziBetween equivalent function model determine：
ΔNzi=f (Ri) or Δ Nzi=f (pra)
To simplify the calculation, the load variations value Δ N that blows out is determined using experimentziWith tire pressure praCharacterisitic function, determine runflat condition Under each wheel load NziAnd its change value Δ Nzi.Set the load N under wheel nominal situationz0, detection wheel system in dynamic test Arrange the tire pressure Δ p that successively decreasesraOr effective rolling radius Δ RiUnder load change value Δ Nzi, establish parameter, Δ praOr Δ RiWith Δ Nzi Characterisitic function and tables of data, the table be stored in electronic control unit, blow out control in Δ praOr Δ RiIt is looked into for input parameter and takes Δ NziValue as SvCalculating parameter value.Define suspension position height measured value Sv' and target control value SvDeviation ev(t), lead to Cross deviation ev(t) feedback control adjusts each wheel suspension position height including wheel of blowing out, is adjusted by suspension lift, Keep car body balance and each wheel load balanced distribution.
Secondly, suspension travel Sv, vibration damping resistance Bv, rigidity GvTuning controller.Establish each control variable Gv、Bv、SvAssociation Regulate and control simulation：
Sv(Gv, Bv)
Suspension travel SvAdjusting when, settingControlling value,Controlling value is suitable for the resistance of suspension hydraulic shock absorber Buddhist nun BvControl；For using magnetic rheological body damper suspension, damping BvIt is adjusted to minimum constant value.In Gas fluid pressure spring suspension A compound hydraulic shock absorber, in suspension travel Sv(or dashpot piston), speedAccelerationUnder conditions of certain, fluid power subtracts Shake the B of devicevIt is determined by being connected to the aperture of damping valve and vibration damping fluid viscosity set by each vibration damping hydraulic cylinder；Gas fluid pressure spring suspension In compound magnetic rheological body damper, under conditions of the aperture of damping valve is certain, BvBy adjusting automatically controlled magnetic rheological body Viscosity, realize vibration damping resistance adjusting.Air spring suspension, suspension rate GvAir bag and air are mainly adjusted by suspension lift Spring air bag the blowing pressure and coefficient of elasticity determine；The rigidity G of spiral spring suspensionvIt is true by the deflection and coefficient of elasticity of spring It is fixed.
2., blow out Suspension control program or software
Based on suspension lift control structure and flow, control model, model and the algorithm of blowing out, suspension lift control of blowing out is worked out Subprogram, the subprogram use Structured Design, setting vehicle flat tire Suspension control enter secondary thresholding, blow out with it is non-quick-fried Tire control model is converted, wheel suspension Gv、Bv、SvControl, wheel suspension Gv、Bv、SvControl is coordinated, suspension travel regulating device (input pressure pvOr/and flow Qv) each program module of SERVO CONTROL.Wheel suspension Stroke Control module is mainly static high by suspension Degree, nominal situation position height and each regulator module composition of suspension position height of blowing out.Wherein wheel suspension Gv、Bv、SvCoordinate It controls structure of the program module based on suspension system and its coordinates control model, model and algorithm.
3., electronic control unit
Electronic control unit set by suspension lift control of blowing out is independently arranged or is shared with vehicle-mounted suspension electronic control unit isomorphism.It should Input, suspension parameter detection sensor signal acquisition process, data communication, Suspension control pattern turn is mainly arranged in electronic control unit It changes, microcontroller (MCU), MCU minimize peripheral circuit, control monitors and driving output module；Microcontroller controls mould Block：Subprogram is controlled by above-mentioned suspension lift of blowing out, setting is mainly hanged by blowing out with non-Suspension control pattern conversion of blowing out, wheel Frame Gv、Bv、SvControl and its coordination, the servo-controlled data processing of regulating device and control submodule.Drive output module：It is main To include drive signal power amplification, type of drive and Phototube Coupling submodule or driving circuit and output interface.
4., suspension system executive device
Suspension system includes active, half active and passive suspension.Active suspension uses air spring suspension structure.Passively, half Active suspension uses helical spring or gas-liquid pressing spring composite construction, and following two kinds of structure types are mainly arranged.
I, Gas fluid pressure spring suspension.The suspension is mainly by liquid or Pneumatic propelling plant, regulator, gas-liquid spring, vibration damping Device is constituted, and gas-liquid spring is complex as a whole with lift unit, and air-liquid presses power apparatus output compressed air or pressure fluid, through watching Clothes set adjusting, realize that each wheel suspension travel including wheel of blowing out is adjusted.
Ii, spiral spring suspension.The suspension is mainly made of liquid or Pneumatic propelling plant, helical spring and damper, spiral shell Rotation spring is complex as a whole with lift unit.The signal group g that electronic control unit exports under operating mode of blowing outv1、gv2、gv3.Signal gv1Control Solenoid valve in dashpot piston is turned on and off the circulation passage between the upper and lower piston cylinder of connection in dashpot piston.Signal gv2 Control is set to the regulating valve under piston on cylinder to the circulation passage of liquid storage cylinder, closes circulation passage, and cylinder becomes one liter under piston Power cylinder, damper become lift unit.The signal g of electronic control unit outputv3Gas fluid pressure servomechanism installation is controlled, fluid is through servomechanism installation Adjust, cylinder under input piston, by piston and piston rod displacement, realize that suspension position (height) is adjusted, restore car body balance with Each wheel gravitational equilibrium distribution, reduces the risk of vehicle flat tire rollover.It blows out and exits signal iveWhen arrival, operating mode of blowing out suspension lift Control is exited.
13), the technical solution and effect that this method uses
Compared with prior art, this method have the advantages that following technical characteristics and.This method uses a kind of novel vapour Vehicle is blown out control theory and technical solution, cover someone, nobody drive chief technology in making to blow out control.Technology master To include the control of " dual unstability " of blowing out, define and establish detection tire pressure, state tire pressure and turn to mechanics state model It blows out judgement, true blow out point, inflection point of blowing out based on each state point of blowing out, control process control singular point and when anticollision controls Area, the control that makes to blow out are adapted with runflat condition process, are realized that wheeled vehicle is blown out and are controlled staged, time zone.This method is adopted With blow out control enter and escape mechanism, normally with blow out operating conditions pattern convert, establish wheeled vehicle blow out active control, State controls and man-machine communication's adaptive control scheme.Master control of blowing out, engine braking, brake, section is arranged in this method Valve opening or/and fuel oil injection, deflecting roller turning power, active steering, lift suspension controller, type based on controller, Structure sets corresponding controller and control module.By vehicle-mounted data bus and X-by-wire new exclusive data/address bus, Coordinate to carry out vehicle braking, driving, steering, deflecting roller turning power, suspension are adjusted, realize normal, operating mode of blowing out, true or non-real The control of blowing out for the process blown out in fact.Blow out control theory novelty, the technical solution of this method use are ripe, in process shape of blowing out Under the conditions of state, blow out wheel motion state, vehicle driving posture drastically change, wheel and the serious unstability of vehicle, pole of blowing out are breached End state be difficult to control etc. important technology barrier, solve the key subjects of this long-standing problem automotive tyre explosion safety.
Description of the drawings
Fig. 1 is automobile flat tire control mode, structure and flow chart
Fig. 2 is automobile flat tire self adaptive control mode, structure and flow chart
Fig. 3 is tyre pressure sensor prosecution mode, structure and flow chart
Fig. 4 is tyre pressure sensor structure diagram
Fig. 5 is manual controller's structure and control flow chart
Fig. 6 is engine braking control mode, structure and flow chart
Fig. 7 is brake monitor structure and flow chart
Fig. 8 is the control model and control flow chart of brake monitor
Fig. 9 is engine air throttle control mode, structure and flow chart
Figure 10 is engine fuel injection control flow and executive device structure diagram
Figure 11 is engine fuel injection controller architecture and flow chart
Figure 12 is blow out power steering square control mode, structure and general flow chart
Figure 13 is blow out steering wheel torque control mode, structure and general flow chart
Figure 14 is electric boosting steering system executive device structure and general flow chart
Figure 15 is the broken line type of nominal situation power steering square control characteristic function curve
Figure 16 is the broken line type of nominal situation steering wheel torque control characterisitic function curve
Figure 17 is Suspension control mode, structure and general flow chart
Figure 18 is the control mode, structure and flow chart of method for controlling tire burst embodiment I
Figure 19 is the control mode, structure and flow chart of method for controlling tire burst embodiment II
Figure 20 is brake fluid pressure braking executive device structure, control mode and flow chart
Specific implementation mode
In conjunction with attached drawing, the embodiment of this method is illustrated.For present embodiment, in each " control of blowing out " side In formula, structure and flow chart, for differentiation " general " and " specific " control object, there are different knots for the part such as each " controller " Structure and the component of difference use different attached drawing identification numbers, to show difference.
1), automobile flat tire control mode, structure and flow；, referring to Fig. 1, Fig. 2
1., automobile flat tire overall control mode, structure and flow blow out main controller (abbreviation main controller) 5 with wheeled vehicle state Shape parameter signal 1, fore-aft vehicle state shape parameter or with the parameter signals 2 such as automatic driving vehicle environment sensing, path planning, vehicle Control parameter of blowing out signal 3, vehicle braking, driving turn to manual operation interface output parameter signal 4 and manually key of blowing out Control parameter signal 16 is input parameter signal, by pattern, model and algorithm that control of blowing out uses, carries out relevant parameter calculating, Determine state tire pressure and turn to mechanical state and blow out pattern judgement, calculating is blown out characteristic value, completion blow out judgement, blow out the stage stroke Divide, control and control model conversion, the control of realization manual operation, the coordination of active control of blowing out, each controller control.Blow out master Control device 5 according to runflat condition, blow out definition and determinating mode carries out judgement of blowing out, judgement of blowing out, which is set up, exports signal of tyre burst I 6. The signal of tyre burst I 6 that main controller 5 exports, via data/address bus or directly inputs control model converter 8, is carried out by converter 8 Normal and blow out operating mode and each control and control model conversion.Wheeled vehicle blow out controller 7 by data/address bus or directly from Related sensor obtains each parameter signal through main controller 5 of blowing out, and is based on onboard system, is respectively controlled under the coordination of main controller 5 Device 7 enters independent parallel and controls or controlled with joint coordination, and system enters cycle in control of blowing out.In interior loop control, start Machine throttle controller 9 or/and fuel injection control apparatus 10, by throttle opening, fuel Injection Control pattern model and algorithm, Air throttle or dynamic regulation throttle opening are closed, terminates or the fuel oil of dynamic regulation fuel injection control apparatus 10 sprays, solar term Door and fuel injection control apparatus 9,10 realize engine driving control 22 jointly.Vehicle brake controller 11 is by active brake of blowing out Coordinate control model, model and algorithm with fore-aft vehicle anticollision, using wheel stable state, balancing brake, vehicle stable state and brake force Total amount (A), (B), (C), (D) control logic combines and the logic loops of controlling cycle, realizes vehicle stabilization deceleration, vehicle stable state Control.Revolution force controller of blowing out is based on servo steering system, by steering wheel angle of blowing out, power steering square or steering-wheel torque Control model, model and algorithm, in any corner position of steering wheel, realize blow out power steering or resistance away from double control.It is main Dynamic steering controller 13 applies an additional rotation angle by vehicle flat tire state, blow out active steering control model, model and algorithm Steering angle balances each other with blowing out.Nominal situation deflecting roller turns round force controller 12 and active steering controller 13 is realized and blown out jointly Vehicle active steering control 23.Suspension lift control 14 coordinates control mould using suspension travel, damping damping and suspension rate Formula, model and algorithm are adjusted by suspension lift, reduce the body sway after blowing out, and balance each wheel load, reduce rollover of blowing out Probability.Vehicle flat tire control parameter signal 3 is back to main controller 5 of blowing out by controlling feedback line.Mechanism is started in system or setting Movement controller 15, engine braking control are primarily adapted for use in early period of blowing out.The ad hoc manually keying control of blowing out of main controller 5 of blowing out Device processed, controller output parameter signal I 6 input main controller 5 of blowing out by control line, and manually keying control logic covers It blows out active control logic.Active control blow out simultaneously, boundary is operated by means of vehicle braking, driving, three personal-machine of course changing control Face, realizes man-machine communication's self adaptive control, and the covering of having ready conditions of the manual control logic of man-machine communication's self adaptive control is blown out actively Control logic.Under nominal situation, Vehicle Controller is by data/address bus 21 or directly from related sensor or through master control of blowing out Device 5 and control model converter 8 obtain each parameter signal, by nominal situation control and control model, control corresponding braking, drive Dynamic, steering, suspension executive device 17 realize that onboard system controls outer circulation.It blows out main controller, each controller and onboard system control Device output signal processed into corresponding braking, driving, is turned to, suspension executive device 17, is realized quick-fried through control model converter 8 Cycle in tire operating mode vehicle control.
2., automobile flat tire actively and self adaptive control mode, structure and flow, referring to Fig. 2
Onboard system, sensor output signal set by main controller and each controller of blowing out are defeated directly or by total 21 line of data Enter main controller 5, main controller 5 is with wheeled vehicle state shape parameter signal 1, surrounding enviroment and fore-aft vehicle state shape parameter signal 2, vehicle Control parameter of blowing out signal 3, manually keying parameter signal 16 are input parameter signal, and judgement of blowing out is exported after setting up and blown out Signal I 6, control of blowing out enter or exit signal I (ia, ie) 6 when arriving, each controller enters or exits control of blowing out.
I, it blows out early period, engine brake controller is based on the race of engine, speed change and exhaust brake control model, model And algorithm actively enters or exits engine braking control by engine braking control program, software.
Ii, each control period of blowing out, engine air throttle or/and fuel injection control apparatus 9,10 are based on air throttle or fuel oil sprays Constant, dynamic, idle speed control pattern, model and the algorithm penetrated, it is main by air throttle or/and fuel oil injection program or the software of blowing out It is dynamic to carry out air throttle or/and fuel Injection Control.For manned or setting indirect labor's operation interface automatic driving car , engine air throttle or/and fuel injection control apparatus 9,10 coordinate control model, model and calculation according to fore-aft vehicle anticollision It is special to determine that driver controls wish for the output parameter and its change rate of method and vehicle traction control operation interface (gas pedal) 18 Levy function；Controller 9 or/and 10 controls wish by fore-aft vehicle state parameter (including opposite speed, spacing etc.) and driver Characteristic function establishes man-machine communication and adaptively drives and blow out coordination control model, model and the algorithm of active brake, realizes quick-fried The active of tire control for brake is exited, man-machine communication adaptively drives, adaptive control of exiting and blow out returns to.In gas pedal One, two and repeatedly in stroke, by engine air throttle or fuel Injection Control, engine output is adjusted, while realizing man-machine The collision prevention of vehicle of exchange, active brake of blowing out and the acceleration that vehicle is carried out by driver's wish control.For automatic driving vehicle, Engine air throttle or/and fuel injection control apparatus 9,10, the speed determined by central master, path trace and anticollision control Instruction adjusts throttle opening, fuel injection amount or respectively takes turns brake force, thus adjusts vehicle speed.
Iii, each control period of blowing out, vehicle brake controller 11 are (differential according to wheel stable state, balancing brake, vehicle stable state Braking), brake force total amount (A, B, C, D) control model, model and algorithm, by tyre burst brake control program, software progress data Processing realizes that vehicle active brake of blowing out is coordinated to control with collision prevention of vehicle.Vehicle brake controller 11 is based on vehicle breaking operation Interface 19, by the compatible control model of parallel work-flow of blowing out active brake with pedal and manually brake, with brake-pedal travel, braking Power, angular speed of wheel, slip rate and its equivalent relative parameter and vehicle deceleration, yaw velocity are main input parameter, It determines that active brake of blowing out manually brake (abbreviation two braking) compatible control logic, Controlling model and algorithm with pedal, passes through system Dynamic compatible controller, realize compatible two control for brake, operator brake control wish and active brake control of blowing out it is man-machine from It adapts to coordinate control.
Iv, each control period of blowing out, deflecting roller turn round force controller 12 and are based on vehicle mounted electric servo steering system (EPS), electricity Hydraulic power-assist steering system (EPHS) is controlled, with the corner of the output of Vehicular turn operation interface (including steering wheel) 20, speed, steering Disk torque is main input parameter, normally and is blown out under operating mode, according to balancing steering angle of blowing out, power-assisted steering control model, mould Type and algorithm determine the power steering square of any angular position of steering wheel, right by power-assisted steering control program, the software of blowing out Walk around square, power steering or the moment of resistance of EPS, EPHS steering wheel angle, steering wheel carries out bidirectional modulation.
V, it blows out each control period, active steering controller 13 is based on vehicle active front steering system, by applying to deflecting roller One is balanced each other and additional equilibrium rotational angle theta that direction is opposite with steering angle of blowing outeb, actively carry out Vehicular turn adjusting.Deflecting roller Rotational angle thetaeFor deflecting roller actual rotational angle θ determined by steering operation interface (steering wheel) 20eaWith additional rotation angle θebThe line of (vector) Property superposition.Active steering controller 13 is carried out steering wheel angle control, is realized vehicle by active steering control program, the software of blowing out Direction adjusts and path trace.
Under the conditions of vi, onboard system setting wire-controlled steering system, steering-by-wire controller can replace deflecting roller to turn round simultaneously Force controller 12 and active steering controller 13.Steering-by-wire controller is based on wire-controlled steering system, it is normal, blow out and jolt Under each operating mode in road surface, with deflecting roller and vehicle determined by Vehicular turn operation interface (including steering wheel), automatic driving vehicle The parameters such as steering angle, speed are input parameter, are jointly controlled by steering wheel angle, deflecting roller flywheel moment, realize vehicle side To adjusting and path trace.
Respectively blow out controller control parameter signal by returning feeder line directly or through data/address bus being back to main controller of blowing out 5, vehicle braking, driving, steering operation interface control parameter signal input data bus (not marked in attached drawing), controller of blowing out Set regulated power supply does not mark in the structure for controller of respectively blowing out, flow chart.
2), quick-fried master information acquisition process and main controller
1., wheel tyre pressure sensing and detection.Referring to Fig. 3, Fig. 4.Using direct or indirect mode.Indirect mode：Based on vehicle Wheel, vehicle status parameters and control parameter determine state tire pressure or and steering mechanics state recognition pattern.Direct mode：Using Active, the non-contacting tyre pressure sensor (TPMS) for being set to wheel measures.TPMS is mainly by being set to the transmitting of wheel Device 30 and the receiver 31 for being set to vehicle body are constituted, and one-way or bi-directional communication is used between transmitter 30 and receiver 31, wherein Two-way communication includes mainly unidirectional RF communication or bi-directional RF LF communication.Transmitter (30) hardware includes micro-control unit (MCU), sensing module 32 is arranged in special chip, peripheral circuit, battery, antenna) it micro-control module (microcontroller) 33, calls out Awake module 34, power management module 35, transmitting module 36, monitoring modular 37 and antenna 38, are driven using battery power and power generation Two types.
I, 30 structure of tyre pressure sensor (TPMS) transmitter and control flow
Transmitter 30 is using sleep, operation control model.Under sleep pattern, wake-up module 34 is waken up by wheel acceleration Or waken up by the two-way communication signals between transmitter 30 and receiver 31, operational mode is entered after wake-up.Under operational mode, pass Sense module 32 detects signal and is handled by micro-control module MCU 33, and MCU exports tire pressure and temperature signal after processing.Tire pressure and temperature Signal inputs transmitting module (integrated transmitting chip) 36, through peripheral circuit (including filter circuit etc.), is finally emitted by antenna 38. Monitoring modular 37 carries out monitoring to the operation of each module.Power management module 35 to the powering on of cell voltage and each module, power off It is managed.Transmitter hardware 42 includes mainly microcrystal silicon integrated sensor 43, microcontroller (MCU) 44, wakes up chip 45, hair Core shooting piece 46, battery 47, antenna filter circuit 48, signal processing circuit 49.The RF transmitter of transmitter 30, using 2 ASK radio-frequency transmissions chips make it be operated in 2 different frequency points respectively, and 2 chips work alternatively, and complete the FSK to base band data Modulation；The PA output ends alternating output frequency of 2 chips is fRF1、fRF2Radiofrequency signal, via same antenna matched filter network Emit with antenna；
Ii, the structure of tyre pressure sensor (TPMS) receiver 31 and control flow.Receiver 31 is a highly integrated module, Mainly it is made of matching antenna 38, input interface 39, control module (FSK and MCU) 40, output interface 41.Input interface 39 is logical Cross antenna 38 and receive the signal that sends out of transmitter 30, receive the coding that signal is demodulated FSK modulation by control module, and by MCU into Row data processing, treated, and signal enters system data bus 21 or and alarm display apparatus through output interface 41.
2., the structure and control flow of manual operation controller (RCC), referring to Fig. 5
Manual operation controller RCC devices 50 can be independently arranged or for vehicle main control device or the component part of central master, It is mainly made of manual control keys 51, input interface 52, signal adapter 53, output interface 54, regulated power supply 55, signal conversion Device 53 includes mainly electronic commutator, conversion circuit or and microprocessor.Main controller of blowing out identifies RCC by control circuit The logic state U of " standby ", "close" key positiong、UfAnd Ug、UfStatus signal ig、if.In UgUnder logic state, blow out master The control entering signal i that blows out of control device outputaWhen arrival, each controller of system enters control of blowing out.RCC manipulated keies, which are placed in, " to close Close " key mapping when, RCC is in the logic state U of "close" key positionf, the control of blowing out that signal adapter 53 exports manual keying moves back Go out signal if.Main controller of blowing out calls control of blowing out manually to exit subprogram, and each controller of system exits control of blowing out.Until hand Dynamic operation RCC control keys, make it into " standby " key mapping and UgLogic state, converter 53 restart output " standby " logic state Control signal ig, cycle of the main controller of blowing out into the control of a new period.
3., state tire pressure collection pre[prek, pren, prez, prew] type and algorithm.
I, wheel torsion stiffness, angular speed and yaw rate type.
e(prc)=prc0-prc
E (ω in formulae) it is the two equivalent relative angle velocity deviation of wheel of forward and backward axle balance car wheel set or so,For vehicle ideal And practical yaw velocity deviation, prc0、prcFor wheel torsion stiffness GzciStandard tire pressure, the real-time tire pressure of model determination.Wheel Tire is reduced to the ideal torsionspring with spring-loaded elastic circular ring structure in torsion stiffness model, establishes its torsionspring Model.Torsionspring model, for parameter, is passed through with angular speed of wheel, rotary inertia, torsion stiffness, equivalent viscous damping ratio etc. The kinetic model (differential equation) of its parameter exports the elastic constant of tire and the functional relation of tire pressure in running car.It adopts It with ABS wheel speed sensors detection signal waveforms, is handled by electronic control unit, determines the resonant frequency of tire, it follows that tire Elastic constant.Tire pressure is determined according to the functional relation of tire pressure and boring rate.
Ii, state tire pressure collection preReplacement, compensation and the linearisation of relevant parameter determine state tire pressure collection preFunction Modules Type and linear formula include mainly：
Or
λi=f (Ni, μi)
To take turns turning power deviation.Vehicle it is non-brake and non-driven, driving, on-position one state of a control under, turn When smaller to disk corner δ, left and right wheel load NziChange smaller (negligible), left and right wheels ground friction coefficient μiIt is equal, λiIt is desirable It is 0 or 1.When not carrying out the stable state control of wheeled vehicle differential braking, non-equivalent state parameter e (Sk)、e(ωk)、e(Qk) equivalent In e (Se)、e(ωe)、e(Qe).When controlling (on-position two) into the stable state of wheeled vehicle differential braking, model is using quick-fried Tire, non-balance car wheel set two of blowing out take turns equivalent Relative sliding rate deviation e (Se) and angular speed deviation e (ωe), with non-equivalent opposite Brake force deviation e (Qk) the equivalent relative brake power deviation e (Q of substitutione), steering-wheel torque deviation delta M is used in combinationcOr power steering square Deviation delta MaReplace deflecting roller turning power deviationBrake force deviation e (Q are taken turns by balance car wheel set twok) feature of blowing out Value complement repays yaw velocity deviationCharacteristic value appearance of blowing out " abnormal change ".K in formula0、k1、k2、k3、k4、k5To be It counts, each parameter is taken as absolute value in model.State tire pressure preOr using modern times such as PID, optimal, the fuzzy, sliding formworks of its parameter Control theory relevant control algorithm determines.
Iii, state tire pressure collection pre[prek, pren, prez, prew] in feature tire pressure modeling structure, characteristic and algorithm, setting Non-brake and non-driven, driving, braking three classes status architecture.
One, non-brake and non-driven state structure (-, -).In the state procedure, feature tire pressure prekIt can be used following etc. Imitate model and algorithm：
To take turns turning power deviation, λiFor μi、Nzi, δ parameters equivalent correction factor, λi=f (μi、Nzi, δ), the process system Power Qi=0, thus make non-equivalent opposite angular velocity omegakDeviation e (ωk), angle acceleration-decelerationDeviationEtc. parameters With μi、Nzi、δ、QiValue is equal or the equivalent identical equivalent relative parameter deviation e (ω of valuee)、Effect and spy Property.λ under normal conditionsi0 or 1 is can be taken as, e (ωk) can be by non-equivalent Relative sliding rate deviation e (Sk) substitution.It is carried out based on X quick-fried Tire judgement (referring to following judgement related Sections of blowing out), judges after blowing out, then the non-equivalent opposite angular speed of more forward and backward two axle Deviation e (ωk) absolute value, wherein the greater is to blow out balance car wheel set, and balance car wheel set of blowing out middle left and right two takes turns ωiIt is larger Person is wheel of blowing out.Parameter e (ω in formulak) can be with e (Sk), mutually replace.Wheel, which is in, when non-brake and driving freely rolls shape State, parameter μi、Nzi, δ is through λiAfter equivalent correcting process, equivalent and non-equivalent opposite angular speed, the angle acceleration-deceleration base of left and right wheels This is equal.
Secondly, driving condition structure (+).In the state procedure, feature tire pressure pren(pren1、pren2) mainly by non-driven Axis, the computation model of drive shaft and algorithm determine：
λi=f (μi、Nzi、δ)
In left and right wheel load N in formulaziChange smaller, left and right wheels ground friction coefficient μiCondition equal, steering wheel angle δ is smaller Under, λiPenalty coefficient can be taken as 0 or 1.The left and right wheel of nonpowered axle balance car wheel set is using non-equivalent opposite angular speed e (ωk), angle Acceleration-decelerationDeviation.The left and right wheel of drive shaft is using equivalent opposite angular speed e (ωe), angle acceleration-decelerationDeviation. In left and right wheels ground friction coefficient μiUnder equivalent state, the driving moment Q of the left and right wheel of drive shaftuiIt is equal, e (ωe)、With e(ωk)、It is of equal value or equivalent, λi0 or 1 is can be taken as, in split friction coefficient μiIn the state of use λiTo prenIt is mended It repays.Judgement of blowing out is carried out based on X (referring to following judgement related Sections of blowing out).After judgement is blown out, then it is left and right to compare axle shaft The equivalent opposite angular velocity omega of two wheelse, non-driven axle then more non-equivalent opposite angular velocity omegak, left and right two wheel of two axle of vehicle Middle ωe、ωkThe greater is wheel of blowing out, and it is balance car wheel set of blowing out to have the balance car wheel set for wheel of blowing out.It really blows out, blow out and turn The point phase, in the case where vehicle does not enter anticollision drive condition, vehicle traction actually has dropped out.
Thirdly, on-position structure (+)
Under on-position structure one, nominal situation on-position, the left and right wheel brake force of two axle of front and rear is equal, not The vehicle stable state control for implementing each wheel differential braking, then show that vehicle is in nominal situation or blows out early period, be mainly used for following Equivalent model and its algorithm determine feature tire pressure prez：
Steering wheel angle δ is smaller, load NiChange smaller, left and right wheel friction coefficient μiUnder the conditions of equal or setting is equal, λi It can be taken as 0 or 1.In split ground friction coefficient μi, steering wheel angle δ is larger, load NiUnder jump condition, λiBy left and right wheel μi、Nzi, δ parameters equivalent correction model determine.The left and right wheel brake force of two axle of front and rear is equal, the left and right wheel of two axles Non-equivalent angular speed deviation e (ωk), non-equivalent angle acceleration-decelerationActually it is equivalent to brake force QiUnder the conditions of equal Equivalent relative angle velocity deviation e (ωe), angle acceleration-deceleration deviation(sentenced referring to following blow out based on the X judgements that blow out Determine related Sections).Judge after blowing out, then more forward and backward two axles e (ωe) absolute value, wherein the greater is to blow out balance car Wheel set, smaller are non-balance car wheel set of blowing out.In balance car wheel set of blowing out, pass through e (ωk) positive and negative determination blow out Wheel, or compare the equivalent phase degree angular velocity omega of two wheelseThe size of absolute value, wherein the greater are wheel of blowing out.
On-position structure two, the state be blow out vehicle enter it is each wheel differential braking stable state control condition under state, Under this state, feature tire pressure p is determined using two waysrez.Mode one：Feature tire pressure prezUsing or based on " on-position One " determines state tire pressure, i.e. prez=pren, and judgement of blowing out is carried out with this.Mode two：For with wheel braking force Qi, angle speed Spend ωiAs the vehicle of control variable, using the feature tire pressure p under each wheel differential braking stable state control conditionrezIt calculates.prez's Algorithm one：Judgement of blowing out based on " on-position one ", balance car wheel set two of blowing out wheel applies equal brake force, using following spies Levy tire pressure prez1Computation model：The left and right wheel of balance car wheel set of blowing out uses equal brake force QiWhen, the E of settingnIn same ginseng One of number is Qi, meet balance car wheel set two of blowing out and take turns brake force QiValue is identical, is considered as two wheel effective rolling radius RiValue etc. Imitate the same terms, e (ωk) then it is equivalent to e (ωe).The non-wheel of balance car wheel set two of blowing out carries out differential braking, using following prez2 Computation model：The E of settingnMiddle same parameters are Qi、Ri, parameter e (ωe)、Meet each wheel Q simultaneouslyi、RiValue is equivalent Equal condition.prezAlgorithm two：It blows out, the non-wheel of balance car wheel set two of blowing out applies stable state control differential braking unbalanced system Power is adopted and following uses prez3Computation model,：The E of settingnMiddle same parameters are Ri, parameter e (ωe)、Balance should be met Wheel pair two takes turns brake force Qi, effect rolling radius RiThe equivalent equal condition of value, the model or can be used balance car wheel set two wheel Non-equivalent brake force deviation e (Qk) substitution e (Qe), pass through parameter e (Qk) compensation yaw rate deviationIt is blowing out " abnormal to change " that feature of blowing out in control generates.
λi=f (μi、Nzi、δ)
λ in formulaiBy left and right wheel μi、Nzi, δ parameters equivalent model determine.E (ω in the above formulase) can be with e (Se) exchange.Base Judgement of blowing out is carried out in the value of X (referring to following judgement related Sections of blowing out).Judge after blowing out, then more forward and backward two axles e (ωe) absolute value, wherein the greater is to blow out balance car wheel set, and smaller is non-balance car wheel set of blowing out.In balance of blowing out In wheel pair, pass through e (ωk) positive and negative determination blow out wheel, or compare two wheel ωeThe size of absolute value, wherein the greater For wheel of blowing out.When steering wheel angle δ is larger, ground friction coefficient μ is setiIt is equal, pass through automobile turning wheel corner δ, speed uxOr with tyre slip angle αiEtc. parameters determine vehicle turn radius, thereby determine that left and right wheels operating range deviation and angle of rotation speed Spend deviation delta ω12, according to Δ ω12Or with left and right wheels load variations amount Δ Nz12Function model, determine equivalent corrected parameter λi。 For simplified λiCalculating, ignore the secondary two wheel loads transfer of front and back wheel, by field test, determine λiWith variable δ, parameter uxEtc. corresponding functional relation, work out functional relation numerical value chart, numerical value chart is stored in electronic control unit, in control for brake with δ、ux、μiIt takes Deng being looked into for parameter, call λiValue, be used for axle left and right wheels equivalent parameters and state tire pressure preDetermination.pre Computation model in parameter ωiIt can be with slip rate SiMutually substitution.Deflecting roller flywheel moment deviationDefinition be：Normally With the flywheel moment M in ground suffered by operating mode deflecting roller that blows outk1、Mk2Between deviation
Inclined absolute value of the differenceWith the true tire pressure p of wheelra, state tire pressure preReduction amount positive correlation.Normally with abnormal work Under the conditions of condition, parameterIt can be with steering-wheel torque deviation delta McOr power steering square deviation delta MaIt exchanges (referring to following steerings Mechanical state pattern-recognition and deflecting roller turning power control related Sections).
3), engine braking control structure and flow, referring to Fig. 6.
Engine braking control is based on vehicle electronics air throttle (ETC), electric control fuel oil jet system (EFI) and fluid drive Device (AT).Engine brake controller 60 and ETC, EFI, AT controller 61 from data/address bus 21 obtain signal of tyre burst I 6 and 67 correlation detection signal of ETC, EFI, AT sensor, according to the type and structure of set electronic control unit, main setting sensing, data The control modules such as processing, control model conversion, driving, power supply.Under nominal situation, 61 output signal of ETC, EFI, AT controller, Control electronic throttle (ETC) executive device 63, electric control fuel oil jet system (EFI) executive device 64 and automatic transmission (AT) Executive device 65 realizes nominal situation air throttle, electronic fuel injection and automatic shift control.Control entering signal of blowing out iaIt arrives When coming, the output control signal of operating mode of blowing out engine brake controller 62 gp0, signal gp0Through control model postposition converter of blowing out (66) the nominal situation control of on-board engine air throttle, fuel injection equipment (FIE), automatic gear-box is terminated.Engine braking controls Device 60 using the detection signal of each sensor as input parameter signal, by the race of engine, speed change or gas exhaust inspecting pattern, model and Algorithm carries out data processing, and output, which is blown out, controls signal group gp(include mainly gp1、gp2、gp3).Signal gpThrough driving, power amplifier, every From the circuits such as, output interface, input postposition converter 66, realizes and normally converted with each control model of operating mode of blowing out.Postposition is converted The output control signal of device 66 gp1It controls fuel oil injection executive device 64 and stops oil spout, signal gp2Automatic gear-box 65 is controlled to shift gears, Signal gp3Adjust 63 aperture of electronic throttle, signal gp4Engine exhaust throttling set is controlled, by its control, realization is started Mechanism is dynamic.When needing to exit engine braking control, engine brake controller 60 is sent out quick-fried by engine braking exit criteria Signal i is exited in tire controleDeng ieEqual signals control ETC, EFI, AT through postposition converter 66, terminate engine braking, ETC, EFI, AT restore nominal situation control.
4), brake monitor, referring to Fig. 7, Fig. 8, Figure 20
1., vehicle environmental identification and anticollision control (abbreviation anticollision control)
I, manned collision prevention of vehicle controller
One, the anti-tracing model of rear car driver.Based on runflat condition process, each control period of blowing out, anti-tracing model packet It includes, response lag phase model：The model determine rear car driver see front truck blow out alarming sign made to driver it is emergent anti- There are the lag period between answering, lag period about 0.2s~0.3, the phase is designed as zero braking, and vehicle deceleration is close to 0.Reaction phase mould Type：The model determines that driver emergency is braked by 0 increasing brake force to desired value, input time about 0.2~0.4s, and vehicle work subtracts Speed movement, braking distance SbtUsing the even deceleration formula estimation of vehicle：
Spacing adjusts and retention period model：Rear car driver takes aim at model in advance by spacing, and real-time regulating brake force controls this vehicle and subtracts Speed keeps the safe distance of this vehicle and front truck, and the safe distance is by the number that the speed and relative distance of forward and backward vehicle are parameter Model is learned to determine.Front truck brake monitor of blowing out can estimate rear car emergency brake control according to the anti-tracing model of rear car driver The supplemental characteristics such as time, possible motion state, front-and-rear vehicle distance variation.
Secondly, ultrasonic ranging and coadaptation anticollision coordinate control model and controller.After brake monitor is by vehicle Ultrasonic distance-measuring sensor set by portion determines the maximum detecting distance of this vehicle and rear car setting.Rear car does not enter sensor detection When range, front truck brake monitor of blowing out is based on the anti-tracing model of rear car driver, by the logic of A, B, C, D control for brake model Combination, by controlling the braking in each cycle logic cycle, the anti-control for brake model that knocks into the back of active tracing rear car driver, active Adapt to the braking of rear car and control of slowing down.When rear car enters front truck sensor detection range of blowing out, front truck tuning controller of blowing out Start interconnection type anticollision immediately and coordinates control：Based on the tyre burst brake control residing stage, by regulating brake force, before increase, Rear car is away from Lt, by the anticollision time zone t of Ben Che and rear caraiThe zone of reasonableness being limited between " safety and danger ".When vehicle of blowing out Into the forbidden time zone of anticollision, front truck brake monitor of blowing out releases the brake force of each wheel balancing brake B controls, keeps or reduce vehicle Each wheel differential system power of stable state control C, or start vehicle acceleration drive control, increase front car and rear car spacing of blowing out, makes Fore-aft vehicle exits the forbidden time zone of anticollision.
Thirdly, the braking for each control period of blowing out and the tuning controller with fore-aft vehicle anticollision.It blows out early period, control of blowing out Signal iaWhen arrival, as Ben Che and rear car are in safety (spacing, opposite speed) time zone, that is, zones values t when collidingaiMore than the time zone Threshold value ct0, each wheel useControl logic combines.It is true blow out the phase or with the inflection point phase, i.e., true or inflection point blows out letter Number ib、icWhen arrival, as Ben Che and rear car are in safe time zone ta, a variety of brake control logic combinations can be used.Non- balance of blowing out Two wheel of wheel pair is keptControl logic combines.Wheel of blowing out in balance car wheel set of blowing out switchs toWheel pair It is non-blow out wheel byBe converted to C ∪ B,OrControl logic combines.Wheel knocking over of blowing out controls Phase, knocking over control signal idWhen arrival, if Ben Che and rear car are in safe time zone, releasing, which is blown out, takes turns braking, and non-wheel of blowing out is main UsingOrControl logic combination.If fore-aft vehicle enters anticollision danger time zone or anticollision forbidden zone, release quick-fried Tire wheel is braked, and non-wheel of blowing out usesControl logic.When fore-aft vehicle enters anticollision forbidden zone, or starts vehicle balance and drive It is dynamic.When drive shaft two wheel be non-balance car wheel set of blowing out, drive the wheel pair.The balance for being implemented vehicle using two ways is driven It is dynamic.Mode one, to blow out, it is non-blow out wheel radius determine driving force accuracy by immutable weight value as the mathematical model of parameter.Mode two, to non- The wheel of drive shaft two carries out differential braking, and the yaw moment partial offset that is generated by differential braking reduces drive shaft and blows out balance car The uneven driving force of wheel set, the driving moment that the leveling wheel of blowing out of drive shaft is by-produced are more than what the wheel of nonpowered axle two generated Differential braking torque, the front truck i.e. vehicle that makes to blow out exit the forbidden time zone of anticollision.By the braking of each control period of blowing out and with front and back vehicle The coordination of anticollision control makes vehicle braking efficiency, the control of wheeled vehicle stable state and anticollision control be mutually adapted and up to maximum Change.
In the control of ii, A, B, C, D independent control or its logical combination, in each wheel brake force QiUnder the action of, establish control Variable processedSiWith parameter αi、Nzi、μi、Gri、RiBetween relationship mathematical model, in the stable region of control for brake Domain carries out linearization process using equivalent or compensation model, or to model.
2., wheel stable state A controllers
The A controls of wheel stable state include blow out wheel stable state control for brake, non-wheel braking anti-lock control of blowing out；Non- wheel of blowing out Braking is controlled using the anti-lock of logic threshold：Based on pavement friction grade,Characteristic curve, with wheel angular deceleration Variable and control targe in order to control determine wheel using Threshold ModelThreshold valueAnd with reference to slip rate Si, formulate with WheelFor parameter withFor the control logic of threshold value.In the cycle H of control logicjIn cycle, be pressurized by brake force, The loop cycle of decompression, pressurize adjusts wheel angle acceleration-decelerationMake each wheel slip rate SiThe wave near peak adhesion coefficient It is dynamic.Blow out wheel brake logic Threshold Model stable state control：Based on attachment coefficient under each pavement conditionsWith slip rate Si's Relational model andCharacteristic curve determines the optimal slip ratio under maximum grip coefficient, with slip rate SiIn order to control variable and Control targe passes through each wheel hydraulic pressure or muscular energy brake system using continuous quantity control form with optimal slip ratio for desired slip rate The brake force Q of systemiSupercharging, decompression or pressurize, make wheel slip SiIt is fluctuated near desired value.Without wheel using which kind of pattern, Model and algorithm wipe coefficient by non-the blow out control of wheel braking anti-lock and wheel insensitivity requirement of blowing out in certain road surface mould μi, load NziTransfer, tire pressure Pri, wheel effective rolling radius Ri, longitudinal side vertical stiffness GriEtc. wheel conditions parameter change condition Under, the problems such as speed estimation precision, optimal slip ratio and wheel and vehicle control stability can be solved, it is ensured that braking anti-lock system System (ABS) and wheel braking stable state control system of blowing out be not out of control, and has good robustness.Research shows that：During blowing out, Under Braking, wheel attachment coefficientWith slip rate SiIt is the Discontinuous Function of time, with the wheel tire pressure P that blows outri, vehicle Take turns effective rolling radius Ri, rigidity GriDrastically change, on time-space domainSiThere are several singular points, carries out anti-braking When dead control, the control parameter for wheel of blowing outSiValue will generate acutely oscillation.Solution to this problem will blow out wheel ANTI LOCK control is converted to the control of wheel stable state：In H braking periodjaCyclic process in, by control variableSiReality The amplitude that actual value fluctuates up and down around its target control value, non-equivalent reduce control variable step by stepSiTarget control valueSki, untilSiWithSkiFor a setting value or 0, thus indirect regulating brake force Qi, make QiStep by step, non-equivalent is successively decreased Until being 0.SkiIt is taken as absolute value, ωi、SiIncreasing decrement Δ ωi、ΔSiIt is indicated with its positive (+), negative (-).Control for brake In make to blow out wheel control variableSiActual value always surround its target control valueSkiUpper and lower fuctuation within a narrow range.It is so-calledSkiValue step by step, non-equivalent successively decreases and refers to：Controlling cycle HjaLogic loops each time in, step by step determine target control ValueSkiDecrement, the decrement bySiThe asymmetric mathematical model of fluctuation actual value determines up and down.Asymmetrical control Model refers to：SiControlling model in, by using the weight coefficient k of different model structure or parameteri, make control variableSiThe increment size fluctuated upwards+Δ ωi、+ΔSiWith the decrement value-Δ ω fluctuated downwardsi、-ΔSiWith different weights, Including+Δ ωiWeight be less than-Δ ωi、+ΔSiWeight be more than-Δ SiWeight.This cycle HjaIt is interior, control the mesh of variable Mark controlling valueSkiBy respectively by upper cycle Hja-1It is interiorSi-1Value and its upper and lower undulate quantity ± Δ ωi-1、±ΔSi-1 Function model determine：
Ski=f (± Δ Ski-1, Ski-1)
|Ski| ＜ | Ski-1|
When using control variableSiCombined parameters model when, jointly control variable be vi, viAbsolute value is taken as,This controlling cycle HjaIn, viTarget control value vkiBy a period in parameterSki-1Value and thereon Lower undulate quantity±ΔSki-1Function model determine：
vki=f (± Δ ωki-1, ± Δ Ski-1, vki-1)、|vki| ＜ | vki-1|
When wheel of blowing out carries out stable state control, another wheel for balance car wheel set of blowing out, in the differential braking for not carrying out C control for brake Under conditions of power distribution, the wheel or it is synchronous carry out stable state control for brake, by adjusting the wheel brake force, reduce wheel control step by step VariableSiTarget control value Ski、The wheel is set to control variableSiTarget control value Ski、It is equivalent, equivalent or Close to the target control value S for wheel of blowing outki、Thus make the wheel tire force of balance car wheel set two F that blows outxiTo the torque of vehicle centroid The sum of be less than a setting value cgOr be close to 0, i.e.,：
L in formulaiFor wheel to distance, the c for crossing vehicle centroid longitudinal axisgFor constant or 0.Using wheel stable state control model, mould Type and algorithm when surely being controlled blow out wheel, balance car wheel set of blowing out, can will control variable Si、Step by step, non-equivalent reduces Target control value Ski、Be converted to using logic threshold model step by step, non-equivalent reduce threshold value set cSi、Each value in set is positive number, i.e.,：
Or
The cycle H of wheel stable state controljaIn cycle, pass through logic threshold threshold value set cSi、Step by step, non-equivalent Reduce, indirect control brake force Qi, and make Qi、SiActual value surround its target control value Qki、SkiUpper and lower small amplitude wave It is dynamic.Using correction model to Qki、SkiIt is modified, the Q after being correctedki、SkiEach value, can be used as the A, B that blows out, C, the practical controlling value of the state parameter actual value in D control for brake or the parameter.During wheel stable state of blowing out controls, due to braking Power QiAdjusting of successively decreasing,SiThe wheel state of blowing out characterized is stable state；The embodiment that wheel stable state controls of blowing out is following It is described；
I, logic threshold model and algorithm
One, each wheel (including wheel of blowing out) mainly use slip rate SiOr angular decelerationOne-parameter Threshold Model, Si、 The major and minor Threshold Model of two ginsengs,With SiParameter joint Threshold Model (Si) etc..Set the wheel stable state control for brake period Hj, by Threshold Model, with nominal situationSiAnti-lock threshold value on the basis of be worth, setting control variable Si、Accordingly Decrements logical threshold value set cSi、The set of threshold value is determined using following manner.Mode one, setting are normal Count the threshold value that successively decreases.Mode two sets the threshold value that dynamically successively decreases, in controlling cycle HjLogic loops in, next braking Controlling cycle Hj+1Threshold value cSi+1、By the threshold value c in a upper periodSi、And control becomes Measure Si、To ± the Δ of the undulating value up and down ω of threshold valuei、±ΔSi、Mathematical model determine that model is main Including：
cSi+1=f (cSi, ± Δ Si)、
Deng
By its downward undulating value-Δ ω in the modeli、-ΔSiThe downward decrement for determining threshold value, by its upward undulating value+ΔSiIt determines upward incremental change, and there is different weights ,+Δ ω from the value fluctuated downwards upwardsiWeight be less than- ΔωiWeight ,+Δ SiWeight be more than-Δ SiWeight (coefficient), the wheel control for brake model that shows to blow out more payes attention to SiUpwards Fluctuation,Downward fluctuation amplitude successively decreases to next stage the effect of threshold value ,-Δ ωi、+ΔSiAbsolute value it is bigger, wheel of blowing out The decrement of brake force is bigger, until Si、Or SiWithThe value that jointly controls be decremented to minimum threshold threshold value (or 0).cSi+1、Value by parameterSiThe difference c of the mathematical model calculated value fluctuated up and downSi+1It determines, includes mainly：
cSi+1=cSi-f(-ΔSi,+Δ Si)
It brakes inflection point to control under the states such as later stage, the separation of tire rim, card ground, releasing, which is blown out, takes turns braking.
Secondly, Comprehensive Control model and algorithm
Mainly use wheel angular decelerationSlip rate SiModel.Controller is mainly with rate SiWithFor parameter, establish with Wheel integrates angular decelerationThe logical threshold control model of variable, model include mainly in order to control：
K in formulaωWeight coefficient, S for wheel angular decelerationiFor with reference to slip rate, ksFor SiWeighting coefficient.Nominal situation and It blows out early period, control logic is：
When, ABS system decompression
When, ABS system pressurize
When, ABS system supercharging
In formulaAngular deceleration threshold value (positive value) is integrated for wheel.After the true phase of blowing out, setting is blown out WheelWith SiCombined parameters decrements logical threshold value setIn threshold value set, next period decrements logical thresholding threshold ValueBy in a upper controlling cycle threshold value and undulating value determine that model includes mainly：
S in formulaiIt is taken as absolute value, k1、k2To blow out, wheel stablizes S in control for brakeiWithThe weight coefficient fluctuated above and below.It calculatesWhen, according to SiWithWeight adjust weight coefficient k1And k2.Weight coefficient k1、k2Mainly by surface friction coefficient μi, it is quick-fried Tire balance car wheel set two takes turns equivalent relative angle velocity deviation e (ωe), angular deceleration deviationMiddle relevant parameter determines.It formulates Wheel stable state of blowing out braking, braking force control and anti-lock control logic are based on thresholding mould in the cycle logic cycle of its control Shape parameter sa、Dynamic logic thresholding threshold set closesReduce the wheel brake force Q that blows out step by stepi, by Grade dynamic, which is successively decreased, adjusts sa、Threshold value.sa、Dynamic adjustment be substantially：Threshold values and wheel braking at different levels The adjusting of power, sa、Threshold value by a upper cycle HjControl variable sa、Practical undulating value determine.After inflection point control When phase or wheel rim are detached with tire, releasing, which is blown out, takes turns braking.
Ii, field test and logic threshold, fuzzy, sliding mode control algorithm
One, according to live braking anti-lock control (ABS) actual road test, determine actual speed of a wheel change curve, based on ABS control Cycle H processedj, reference speed u is solved by wheel speed peak value line in brakingcn+1And with reference to slip rate Scn+1：
R is wheel effective rolling radius, u in formulacn+1、Scn+1、ωn+1Respectively n-th to n+1 moment reference speed, slip rate, Angular speed of wheel, uwnFor n-1 to n moment wheel speed peak values, tn+1For ucn+1With uwnBetween time, Δ TnFor uwn-1With uwnBetween control Cycle HjTime interval.ucn+1、Scn+1After determination, blows out by the modern control algorithms determination such as logic threshold, fuzzy, sliding formwork, is non- Blow out wheel control variable sa、Target control value or its logic threshold model threshold value set.To wheel of blowing out using steady State control mode reduces its brake force step by step by the pattern of decrements logical threshold value, until releasing brake force.
Secondly, blow out wheel stable state (A) control Sliding mode variable structure control algorithm, be divided into two parts.First part, in sliding formwork Approximation control based on model on face.Second part, the control before reaching sliding-mode surface, the control is unrelated with model, meets Sliding formwork condition.
Thirdly, blow out wheel stable state control (A) FUZZY ALGORITHMS FOR CONTROL.Based on empirical rule and trial and error procedure, to desired value into Row control, control rule are：
U=α E+ (1- α) DE
The Linguistic Value of variable, α are weighting coefficient, E and DE to U in order to control is error and the linguistic variable value of error rate in formula. Carry out anti fuzzy method processing.
The integration algorithm that wheel stable state (A) of four, blowing out controls
First reference speed u is determined by certain algorithmx, slip rate Si, or by scene ABS actual road tests solution reference speed ucn+1And with reference to slip rate Scn+1.Rule one presses major and minor Threshold Model, as the wheel tire pressure p that blows outr＞ ap, balance car wheel set of blowing out The two equivalent Relative sliding rate deviation e (S of wheele) ＜ ac, (fuzzy) controller is directly allowed to export：
F′i(n)=Fi(n-1)
A in formulap、acFor threshold value.Rule two, when meeting inequality pr＜ ap、e(Se) ＞ acWhen, judgement braking enters true It blows out, inflection point of blowing out control period, then：
F3' (n)=k3F3(n)、F4' (n)=k4F4(n)
P in formularFor tire pressure, e (Se) it is that front and back axle two takes turns equivalent Relative sliding rate deviation, k1、k2、k3、k4For adjustment factor, k1、k2More than 1, k1、k2By e (Se) mathematical model f (e (Se)) determine.F′i(n) each wheel association of i wheel n-th controllers is indicated 1,2 and 3, the 4 of tune output, letter and its footnote i indicate to blow out respectively and non-tire bursting vehicle wheel set two is taken turns, by F 'i(n) system is determined The increasing of electromagnetic valve for adjusting in dynamic pressure regulating loop subtracts and packing state.
3., wheel balance brake B controllers
I, balanced system power total amount QbOr balanced system power QbVehicle under effect respectively takes turns comprehensive angular decelerationIt is comprehensive to slide Shifting rate SbDistribution and control.Its distribute mathematical model include mainly：
Qb=f (pra, μb, ux)、Qb=f (pra, e (ωe), μb)、Qb=f (pre, Mk, ux)
Qb=f (e (ωe), Mk, eωr(t))
Sb=f (pra, μb, ux)、Sb=f (pra, eωr(t), μb, ux)
Sb=f (pre, eωr(t), ux)、Sb=f (Mk, eωr(t), μb, ux)
P in formulariBlow out wheel tire pressure (including pre、pra)、ωiFor each wheel angular speed, e (ωe) and e (ωa) it is leveling wheel of blowing out The equivalent non-equivalent relative angle velocity deviation of two wheel of pair, δ are steering wheel angle, eωr(t) it is yaw rate deviation, eβ(t) For side slip angle deviation, MkFor turning power of blowing out, μbFor each wheel SimMan universal patient simulator, LtFor Ben Che and front or rear vehicle spacing, ucOpposite speed, QpFor brake braking force.Each control variableΔωb、SbVehicle integrated value being averaged by each wheel parameter Or Weighted Average Algorithm determines, while time zone can be controlled according to anticollision, using corresponding modes, model, to controlling the target of variable Controlling value is modified.Determine control variable Qb、Or SbThe mathematical model of target control value is tied using following modeling Structure.One, when Ben Che and rear car are away from LtOr time zone taIn the Collsion proof safety area being in, each mathematical model and algorithm for controlling variable In include parameter Lt、uc.Secondly, when Ben Che and rear car are away from LtOr time zone taIt is each to control in anticollision in dangerous, forbidden time zone Variable Qb、Δωb、SbFor anticollision time zone taThe subtraction function of decrement, Qb、Δωb、SbWith taIncrease and decrease and increase and decrease.Thirdly, blow out before It is phase, each to control variable Qb、Δωb、SbWith the wheel tire pressure p that blows outriReduction and increase, it is substantially unrelated with speed.It is four, true quick-fried It is each to control variable Q after the tire phaseb、Δωb、SbWith the wheel tire pressure p that blows outriReduction and reduce, with speed uxReduction and increase.Its Five, inflection point control period, pri=0, each control variable and tire pressure p determined by above-mentioned mathematical modelriIt is unrelated, and be speed increment Subtraction function.Six, anticollision controls each stage of each section and tyre burst brake control, is become by each control that its mathematical model determines Amount is steering wheel angle δ, yaw velocity deviation eωr(t), side slip angle deviation eβ(t) subtraction function of increment, it is comprehensive for each wheel Close friction coefficient μbThe increasing function of increment is equivalent relative angle velocity deviation e (ωe) subtraction function.Seven, vehicle balancing brake Power QbOr angular decelerationAngular deceleration increment Delta ωb, slip rate SbIt is usually not assigned to wheel of blowing out, is only assigned to non-blow out Wheel.Qb、Δωb、SbThe value form of looking into that digit figure can be used in the target control value of each control variable determines：According to each control The mathematical model of variable determines control variable Qb、Δωb、SbTarget control value, the value are stored in system with numerical value diagrammatic form Electronic control unit set by movement controller.During tyre burst brake control, with priOr pre、e(ωe)、δ、Lt、uc、Qp、eωr(t), eβ(t)、μbIn relevant parameter be input parameter, using looking into value method, the target control of each control variable is obtained from electronic control unit Value.
Ii, each control variable Q of brakingb、ΔωbOr SbEach wheel of target control value distributes and control
One, forward and backward axle balance car wheel set Qb、ΔωbOr SbDistribution between the wheel of target control value.It is flat based on wheel The brake force total amount that weighs Qb, each comprehensive angular deceleration of wheelOr each comprehensive slip rate S of wheelbTarget control value, controller are carried with vehicle Lotus NZ, front and back axle load NZfAnd NZr, front and back axle two take turns the ratio between equivalent opposite angular speed g (ωef) and g (ωer) it is main ginseng Number, Q is determined using nonlinear function modelbfAnd Qbr、WithSbfAnd SbrDispensing controller is with vehicle decelerationBefore, Back axle balance car wheel set left and right wheels are opposite or equivalent relative angle velocity deviation e (ωkf)、e(ωkr)、e(ωef)、e(ωer), Forward and backward axle left and right wheels effective rolling radius deviation | R1-R2|、|R3-R4| or detection tire pressure deviation | Pra1-Pra2|、|Pra3-Pra4 | absolute value, forward and backward axle load NZf、NZrFor major parameter, point that front and back axle respectively controls variable target control value is established With model；Model includes mainly：
Sbf=f (e (ωef), Sb)、Sbr=f (e (ωer), Sb)
To above-mentioned function model linear process：
Sbf=k1Sbg(ωef)、Sbr=k2Sbg(ωer)
NZf=NZf0+ΔNZf、NZr=NZr0+ΔNZr、
|e(ωef)|、|e(ωer) | with | R1-R2| can mutually it replace, letter and its footnote f, r indicate forward and backward vehicle respectively in formula Axis.The modeling structure and characteristic of the model be：Front and back axle respectively controls the target control value that variable distributes | e (ωef)|、|e (ωer)|、|R1-R2| the subtraction function of increment, Δ NZfForThe increasing function of absolute value increment.Variable is controlled for front and back axle Comprehensive slip rate Sbf、SbrOr and comprehensive angular decelerationDistribution can need not determine front and back axle load NZf、NZrAnd It is shifted, or using each wheel brake force parameter value or need not be not provided with brake-pressure sensor, directly by forward and backward axle Comprehensive slip rate Sbf、SbrDistribution and control, to greatest extent utilize ground attaching coefficient, effectively prevent trailing wheel to break away, adjust system Number k1、k2Rear axle wheel lock up can be made slightly to lag behind front axle wheel, g (ωef) and g (ωer) it is taken as absolute value.
Secondly, blow out and each control variable Q of the left and right wheel of non-balance car wheel set of blowing outb、SbTarget control value Wheel between distribute, using two wheel brake force equal distribution patterns, equivalent equal distribution pattern or balanced system power allocation model.
The left and right each control variable allocation model of wheel of allocation model one, non-balance car wheel set of blowing out.The pattern is suitable for front and back Axle or diagonal line balance car wheel set set left and right wheel ground friction coefficient μi, load NZiIt is equal, balance car wheel set or so two Take turns each control variable Qi、Si、Using equal distribution pattern, i.e.,：
Qb1=Qb2、Sb1=Sb2、
The left and right each control variable allocation model of wheel of allocation model two, balance car wheel set of blowing out, including one He of equivalent mode Two.
Equivalent allocation model one：It is primarily adapted for use in front and back axle or cornerwise balance car wheel set of blowing out, wheel pair two is taken turns With Qb、Or SbVariable in order to control loads N with two wheelsZi, friction coefficient μiFor parameter, the wherein left and right wheel point of front axle The equivalent model matched includes mainly：
Sb1=f (μ1, Sbf)、Sb2=f (μ2, Sbf)
Q in formulabf、Or SbfRespectively the brake force of front axle distribution, alphabetical footmark 1,2 indicate left and right respectively Two wheels, work as Qb1With Qb2 WithSb1With Sb2For NZi、μiEquivalent relative parameter when, the suffered ground of left and right two wheel is longitudinally made Firmly FxiIt is equal or equivalent equal.Similarly, back axle is identical as the distribution model of the distribution of front axle.The equivalent distribution or use The compensation way of parameter introduces control variable Qi、Si、Penalty coefficient λqi(λq1、λq2)、λsi(λs1、λs2)、λωi (λω1、λω2)；Front axle blow out balance car wheel set it is left and right two wheel distribution model be：
Qb1=λq1Qbf、Qb2=λq2Qbf、
Sb1=λsiSbf、Sb2=λs2Sbf
λqi=f (NZi、μi)、λsi=f (μi) or λsi=f (μi, Pra)、λωi=f (μi) or f (μi, Pra)
Alphabetical footnote 1 and 2, f and r indicate left and right wheel, front and rear axle, detection tire pressure P respectively in formularaIt can be vertical with wheel To rigidity GziIt exchanges.Similarly, back axle and the wheel of diagonal line balance car wheel set two are identical as the distribution model of front axle.Really blow out Later each control period, balance car wheel set two of blowing out wheel or not partition equilibrium brake force, non-blow out wheel or distribution and rolling of blowing out The brake force that resistance balances each other.When wheel of blowing out carries out stable state A controls, in the loop cycle of control for brake, A controls each control variableSiTarget control valueSkiOr parameterSiLogic threshold model set threshold value cSi、Step by step, Non- equivalent is successively decreased, brake force QiIt synchronizes and successively decreases.To realize the equilibrium assignmen of balance car wheel set left and right wheels brake force, to balance of blowing out Non- wheel of blowing out in wheel pair is allocated to the non-equilibrium brake force of differential braking or synchronization reduces its parameter Q step by stepi、Si's Controlled quentity controlled variable.
Equivalent allocation model two：In the left and right wheel balanced system power Q of balance car wheel set of blowing outiUnder effect, leveling wheel of blowing out Two wheel control variable slip rate S of pairi, angular decelerationDistribution use equivalent model and parameter backoff algorithm.Controller is with cunning Shifting rate Si, angular decelerationOne of variable in order to control, be based on tire model, wheel longitudinal tire force equation and momental equation：
Fxi=f (Si, Nzi, μi, Ri, Gzi), Fx1=Fx2、
Foundation is blown out two wheel slip rate S of balance car wheel setiOr angular decelerationDistribution, Controlling model；F in formulaxiFor longitudinal wheel Tire power, LiIt is left and right wheels to crossing the distance of vehicle centroid longitudinal axis, RiFor radius of wheel, μiFor the wheel of balance car wheel set two of blowing out Friction coefficient μi、NZiFor two wheel loads, GziWheel longitudinal rigidity.According to vehicle multifreedom motion equation or kinetic model, It can determine left and right wheel load NZiTransfer amount and wheel to vehicle centroid longitudinal axis distance liVariation have complementarity. The left and right equal or unequal brake force Q of wheel of vehicleiUnder effect, using NZi、μi、RiCorrection factor λ1、λ2It is longitudinal to wheel of blowing out Tire force Fx2It compensates, makes Fx1With Fx2、Fx1L1With Fx2L2Equivalent equal, the left and right wheel of balance car wheel set of blowing out is obtained to vehicle The yaw moment of barycenter balance, i.e.,Before the blowing out of (or back axle) balance car wheel set of blowing out, non-wheel of blowing out Angular decelerationOr slip rate Sb1、Sb2Distribution can be determined by following equivalent model and algorithm.It blows out early period：Front axle Balance car wheel set of blowing out is blown out and non-the distributed angular deceleration of wheel of blowing outOr slip rate Sb1、Sb2Equal to front axle The angular deceleration of wheel distributionSlip rate Sbf：
Sbf=Sb1=Sb2
It really blows out, inflection point of blowing out and knocking over control period：Front axle blow out balance car wheel set blow out wheel distribution angular decelerationOr slip rate Sb1The brake force Q applied for the control of wheel stable stateiAcquired angular decelerationOr slip rate Sb1；It is based on Front axle balance car wheel set of blowing out is blown out wheelOr Sb1Distribution, the non-wheel slip rate S that blows out of balance car wheel set of blowing outb2Distribution It is determined by following equivalent mathematical models：
Sb2=f (Sb1, μ1, μ2, Nz1, Nz2, R1, R2, Gz1, Gz2) or
Sb2=f (Sb1, Gz1, Gz2, λ1, λ2)
λ1=f (Nz1, Nz2, μ1, μ2)、λ2=f (R1, R2)
λ in above formula1And λ2For the non-wheel longitudinal tire force F that blows outxb2Penalty coefficient, NZ1And NZ2To blow out, non-wheel load of blowing out, R1And R2To blow out, it is non-blow out wheel effective rolling radius, Gz1And Gz2To blow out, it is non-blow out wheel longitudinal rigidity, other each parameters Meaning is the same.Slip rate S based on the wheel distribution of balance car wheel set two of blowing outb1、Sb2, wheel slip and angular deceleration can be passed through Between relational model, determine its angular decelerationDistribution.Similarly, back axle is blown out the left and right of balance car wheel set WheelOr Sb1、Sb2Distribution it is identical as front axle.
Equivalent allocation model three：Simultaneous Equations are constituted by vehicle movement equation, tire model, vehicle wheel rotation equation：
Fxb=f (Si, Nzi, μi, Ri)、
Based on equation group, determine that wheel is blown out, non-balance of blowing out secondary left and right two takes turns brake force Qi(orSiOne of parameter) Distribution, the above various middle m,M、Ji、Fxi、Ri、Qi、Si、Nzi、μi、liRespectively complete vehicle quality, vehicle deceleration, each The sum of tire force confrontation mental and physical efforts square, vehicle wheel rotation inertia, wheel angular deceleration, longitudinal tire force, wheel effective rolling radius, vehicle The brake force of the wheel distribution of wheel set two, the distance of slip rate, each wheel load, friction coefficient, each wheel to vehicle (crossing barycenter) longitudinal axis. Wheel balance brakes the distribution model of each wheel control variable determined by B controls, should pass through live tire burst test or in-site modeling Tire burst test is verified, and is modified according to parameter and model structure used by the peering model of field test, with determination The model is to the equivalence of field test results, validity and consistency.In B controls, balance car wheel set two takes turns each control variable Qi、Si、Distribution, substantially meet in theory vehicle balance braking requirement：
Wheel pair two takes turns tire force FxbiTorque to vehicle centroid (or cross barycenter longitudinal axis) and be 0 in theory, l in formulaiFor Wheel to cross barycenter longitudinal axis distance.
4., vehicle stable state brake (C) controller.
I, mechanics parameter Control Cooling.The type is based on vehicle-mounted braking anti-lock/antiskid system (ABS/ASR), controller The sideway trimming moment M that blows out is generated using each wheel differential brakinguWith the yaw moment M that blows outωIt balances each other, i.e. Mu=-Mω.Determine vehicle Blow out yaw moment Mω' use component and total amount both of which, Mω'=Mω1′+Mω2', Mω1' it is rolling resistance of blowing out Sideway moment (referred to as blow out and roll sideway moment), the M of square generationω2' the yaw moment that vehicle is generated for lateral force of blowing out (lateral yaw moment of referred to as blowing out).Rolling resistance blow out away from Mω1' true using following models or PID, optimal, fuzzy scheduling algorithm It is fixed.Determine the yaw moment M ' that blows outωComponent modes
One determines Mω1' model and algorithm.Determine Mω1' model and algorithm one：Based on each tire model, including UniTire, Gim, Magic Formula, power exponent, Pacejke H B, HSRI, neural network model etc., foundation are slided with wheel Shifting rate Si, tire pressure pri, wheel weight NZi, friction coefficient μiFor the tire model of parameter, model includes mainly：
Fxai=f (Si, pri, NZi, μi)
The modeling structure and characteristic of model include：Rolling resistance of wheel FxaiFor Si、priThe subtraction function of increment, FxaiFor NZi、μiIncrease The increasing function of amount.P in modelriIt can be by longitudinal rigidity GxReplacement, parameter liFor wheel to the distance of (cross vehicle centroid) longitudinal axis, Blow out rolling resistance moment Mω1' be：
Determine Mω1Model and algorithm two：Using field test, reference speed u is measuredxUnder, the same low tires of four wheels series Press PriWhen state, the corresponding deceleration of vehicleSeries of values, according to vehicle movement equation：
Determine vehicle rolling resistance Fx, ground surface resistance F suffered by the low next wheel of tire pressurexiAnd yaw moment series of values：
Mω1=dziFxi,
D in formulaziHalf wheelspan of axle, Fx0For ground surface resistance suffered by vehicle under standard tire pressure.Determine Mω1' model and algorithm Three：Using field test, mainly with tire pressure priFor variable, speed uxParameter, the ground friction coefficient under established standards state μi, carload NZDeng determining serial reference speed uxThe test value collection (conjunction) of the identical low tire pressure of lower four-wheel, measures corresponding Vehicle decelerationValue set.It is based onWith rolling resistance FxiRelational modelDetermine that vehicle rolls under the low tire pressure of series Dynamic resistance FxiValue set determines that the rolling resistance under the corresponding low tire pressure of four-wheel is FxaiValue set, it is each to take turns rolling resistance wheel Fxai =Fxi/4.Correction factor λ is used under virtual conditioniTo FxaiIt is modified, correction factor λiBy parameter μ, NZCorrection model it is true It is fixed：
λi=f (μi, NZ)
Under certain speed, the rolling resistance of wheel F that tire pressure is nxbinFor：
Fxbin=λiFxain
Based on momental equation, under certain speed, tire pressure is the wheel rolling yaw moment M of nω1n' be：
Mω1n'=(Fxbin-Fxbi0)li
F in formulaxbi0For the rolling resistance of wheel under standard tire pressure, liFor wheel to the distance of (crossing vehicle centroid) longitudinal axis.Really Determine Mω1' model and algorithm four：One axle two of vehicle wheel is set as standard tire pressure, and the two wheels rolling resistance moment is to vehicle centroid Torque be 0.One wheel of another axle (front or rear axle) is set to standard tire pressure pr0, the serial low tire pressure of another wheel value (including 0 tire pressure) pri, two wheel rolling resistance Fxb0With FxbiBetween deviation exbi(Fxbi)：
exbi(Fxbi)=Fxb0-Fxbi
Based on longitudinal direction of car equationBlow out rolling resistance moment Mω1' by deviation exbi(Fxbi) function model determine：
Mω1'=f (exbi(Fxbi))
Based on testing inspection data and characterisitic function Mω1' and variable pri、uxBetween relational model, establish yaw moment Mω1' and tire pressure pri, speed uxCharacterisitic function.Parameter p is worked out according to characterisitic functionri、ux、λiAnd function Mω1' datagram Table, data drawing list is stored in electronic control unit, with tire pressure p in tyre burst brake controlri, speed ux, penalty coefficient λiFor input parameter, It is looked into fact when from electronic control unit and takes Mω1' value.Determine Mω1' model and algorithm four：It is determined, is controlled using FUZZY ALGORITHMS FOR CONTROL Device is with slip rate Si, tire pressure priFor input variable, with rolling resistance of wheel FxaiFor output variable, u is determinedx、priFuzzy subset S, Fuzzy subset U, the fuzzy language value of V and corresponding Linguistic Value, output quantity are adopted according to the fuzzy control rule of analysis and experience With fuzzy reasoning, fuzzy controller output F is obtainedxai.Rolling resistance of blowing out M 'ω1To vehicle generate yaw moment be：
Secondly, determine Mω2' model and algorithm
Mω2Using following blow out kinetic model or wheeled vehicle combined parameters models, PID, optimal, fuzzy, robust, sliding formwork knot Structure or neural network scheduling algorithm determine.Determine Mω2Model and algorithm one：Using combined parameters equivalent model, with speed ux, it is quick-fried Tire presses pri(or the wheel radius R that blows outi), wheel synthesis slip rate Sc, loading coefficient Kz, ground friction coefficient μ be main ginseng Number, establishes the equivalent model of its parameter：
J in formulazFor the rotary inertia of vehicle about the z axis, ScIt is determined using average or Weighted Average Algorithm by each wheel slip rate, in Mω2 Under the action of vehicle generation blow out sideway angular decelerationDetermine Mω2' model and algorithm two：According to kinetic simulation of blowing out Type ignores deflecting roller and blows out flywheel moment (referring to following related Sections herein), consideration blow out rear vehicle side hectare, side turn to just and The steering angle sigma of blowing out of deflecting rollerb', it is front or rear to take turns the side drift angle β that blows outf、βrFor：
Based on the side drift angle β that blows outf、βrAnd wheeled vehicle relevant parameter estimates each wheel lateral force Ffl、Ffr、Frl、Frr, according to forward and backward Axis wheel tyre power determines M to the momental equation of vehicle centroidω2′：
U in formulay、uxFor lateral direction of car, longitudinal velocity, ωrFor yaw rate, lg1、lg2For forward and backward axle to barycenter Distance.Determine Mω2' model and algorithm three：Ignore δ, uxInfluence, set each wheel ground friction coefficient μiIt is identical, it establishes with vehicle Fast ux, blow out wheel tire pressure pri(or the wheel radius R that blows outbi), wheel synthesis slip rate Sz, loading coefficient KzOr it blows out back with deflecting roller Torque Mb' be parameter yaw moment Mω2' equivalent model：
Mω2'=f (ux, pri, Sz, Kz, Mb′)
S in formulazBy each wheel slip rate SiIt is determined using average, weighted average scheduling algorithm, KzPass through each wheel load NZiAnd its distribution Mathematical model estimation：
Kz=f (NZ1、NZ2、NZ3、NZ4)
Ii, the yaw moment M that blows out is determinedωTotal amount pattern.
Total amount pattern one, theoretical model and algorithm：Using the combined parameters model of vehicle and tire.According to two degrees of freedom vehicle Model determines ideal yaw velocity ωr1, by vehicle multiple degrees of freedom of blowing out (including longitudinally, laterally, sideway, side hectare, four-wheel seven Degree of freedom) the practical yaw velocity ω of model determinationr2, each wheel longitudinal tire force F is calculated by tire modelxiOr and vehicle centroid Side drift angle β, wherein tire model include mainly wheel slip Si, attachment coefficientEach wheel load NziOr/and lateral rigidity Gxi Etc. parameters.
Total amount pattern two：Determine Mω' field test and algorithm.Selected setting stability contorting programming system (ESP) Vehicle, test controller is set and is placed in the long-range tire pressure bleeder of wheel, in standard ground friction coefficient μ and standard vehicle Under conditions of weight, implements vehicle nominal situation and simulation and blow out working condition tests.Nominal situation is tested：Each wheel holding standard tire pressure, Vehicle steady state ride starts vehicle stabilization control programming system ESP；Controller is mainly with speed ux, steering wheel angle δ be ginseng Number determines, ideal (standard) stable state horizontal swing of record vehicle according to the built two degrees of freedom vehicle movement differential equation and model Rate (or yaw velocity gain)：
Simulate working condition tests of blowing out：In vehicle travel process, starts vehicle stabilization and control programming system ESP, be based on scheduled system Row tire pressure decrement value continuously reduces a wheel tyre pressure step by step by long-range tire pressure bleeder, until 0 tire pressure, with speed uxAnd tire Press priFor variable, using steering wheel angle δ as parameter, be based on each measurement value sensors of ESP, calculating simulation blow out under yaw angle Speed gain value ωr/ δ estimates ideal side slip angle β by side slip angle observer1.Define nominal situation and (simulation) Deviation between the gain of operating mode of blowing out yaw velocity and side slip angle value, i.e.,
And eβ(t)=β1-β2
Controller is with deviation es(t) or and eβ(t) be parameter, using the mathematical model of its deviation, by PID or optimal, it is fuzzy, Robust or sliding moding structure relevant control algorithm determine the yaw moment M that blows outω′.Between definition theory and practical yaw velocity DeviationController is with yaw velocity deviationLongitudinal tire force FxiOr and vehicle Side slip angle β is major parameter, is blown out yaw moment M using the wheeled vehicle conjunctive model determination of its parameterωAnd with MωThe sideway trimming moment M that blows out to balance each otheru, Mu=-Mω.Sideway of blowing out trimming moment MuMathematic(al) representation be：
Mu=-Mω'=,
K in formula1、k2For runflat condition feedback variable or parameter.Based on the sideway trimming moment M that blows outu, establish with pri, or and ux、δ、eβ(t) it is input parameter, with MuFor the model of characterisitic function, establishment characterisitic function MuData drawing list, will count Value chart is stored in electronic control unit.It blows out during control, with pri, or and ux、δ、And eβ(t) it is input parameter from number It is looked into value chart and takes MuValue.In brake control process, controller is with the sideway trimming moment M that blows outuFor parameter, in conjunction with brake Relevant parameter establishes each wheel differential braking distribution model, realizes the braking force distribution of each wheel sideway control for brake (DYC).
Ii, mechanics and state parameter jointly control type
Mechanics jointly controls type with state parameter
The Control Cooling is based on vehicle braking stabilizing control system, with stabilizing control system (VSC), Study on Vehicle Dynamic Control System (VDC) or electronic stability program system (ESP) control compatibility.
The determination of one, vehicle-state
Based on vehicle stability control system (VSC), kinetic control system (VDC) or electronic stability program system (ESP), The vehicle stabilization control adoption status method of difference, side slip angle control use phase plane method, intact stability to keep by vehicle Yaw velocity describes, and track of vehicle holding is described by vehicle centroid side drift angle.Vehicle stabilization control is with two degrees of freedom The motion state of auto model is perfect condition, and two degrees of freedom auto model is：
U in formulaxIt is speed of the automobile barycenter in longitudinal coordinate system X-direction, a is the distance of barycenter to front axle, and b is barycenter to rear axle Away from distance, JzIt is vehicle around the rotary inertia of vehicle axis system Z axis, GfFor the equivalent cornering stiffness of front-wheel, GrFor the equivalent side of trailing wheel Inclined rigidity, m are automobile gross mass, ωrFor yaw rate, β is vehicle centroid side drift angle, and δ is vehicle front corner, Mu To restore the additional yaw moment of vehicle desired operation.Normally and blow out under operating mode, vehicle reality and ideal movements state (including ωrAnd β) there are deviation delta ωr, Δ β, with nominal situation to blow out operating mode transfer and process of blowing out development, parameter Δωr, Δ β reflection vehicle flat tire transport condition and effect weight increase, needed in the control of vehicle stable state additional using one Yaw moment MuRestore vehicle perfect condition.According to two degrees of freedom auto model, when vehicle stable stateObtain ideal cross Pivot angle speed omegaraWith side slip angle βa：
Condition is adhered on ground：ByIt determines
K is stability factor, k in formula1It is front and back wheel base, a for coefficient, LyIt is friction coefficient, g for vehicle side acceleration, μ For acceleration of gravity, m be complete vehicle quality, a and b it is respectively distance of the vehicle centroid to front and back axle.Ideal yaw velocity ωra Or it is configured and using the estimation of certain algorithm by the different of vehicle sensors.ωraOne of evaluation method：Antero posterior axis setting is lateral to be added Velocity sensor is estimated using the measured value of adaptive Kalman filter or Long Beige viewers.ωraThe two of evaluation method： (it is suitable for weak braking according to the surveyed wheel speed signal of four-wheel wheel speed sensors, the movement relation estimation based on interior foreign steamer differential signal With weak driving).ωraThe three of evaluation method：Four-wheel wheel speed sensors and (at barycenter) lateral acceleration sensor are set, according to non- Driving wheel wheel speed and side acceleration are weighted estimation by vehicle running state.Side drift angle β (ideal and practical barycenter lateral deviations Angle betaa、βb) estimation and assay method it is relatively broad, pass through vehicle sensors configuration and algorithm obtain.One of β evaluation methods：β Observer, using the estimations such as GPS (GPS) or the observer based on extended Kalman filter.The estimation sides β The two of method：Signal estimation is detected by steering wheel angle and (at barycenter) lateral acceleration sensor, first according to four-wheel wheel speed Yaw velocity is estimated, in this, as the measured value of Kalman filter, to estimate side slip angle.β evaluation methods it Three：Using steering wheel angle, yaw velocity or with barycenter side acceleration as parameter, estimated by its parameter model.The calculation sides β The four of method：Pass through vehicle side acceleration ayWith yaw velocity ωrIntegral estimation, when β very littles and constant speed, β is by following formula It determines：
To improve ayPrecision, ayIt is calculated by two degrees of freedom four-wheel car model.
Secondly, the determination of optimal additional yaw moment.The mathematical model of automobile yaw moment control can be obtained by (1) formula：
Δ β, Δ ω in formularDeviation respectively between the side slip angle of automobile ideal and virtual condition, yaw velocity, Mu To restore the additional yaw moment that differential braking generates needed for vehicle ideal movements state.In view of yaw velocity ωrAnd barycenter There are lotus root conjunction property by side drift angle β, it is difficult to realize or reach ideal yaw velocity ω simultaneouslyrWith side slip angle β, using the modern times The control algolithm of control theory is established with yaw velocity, side slip angle deviationeβ(t) it is the mathematics of basic parameter Model, can the optimal additional yaw moment of decision.One of optimal additional sideway power algorithm：According to LQR Theoretical Design Infinite Times State observer, system performance index J：
Q is positive semidefinite matrix, R in formulakIt it is the time for positive definite matrix, t.Design optimal control solution u*(t), ensure that J obtains minimum Value.Solve u*(t) it is represented by：
u*(t)=- Rk -1BTPx(t)
P is constant matrices in formula, can be by Riccati equation solutions
PA+ATP-PBRk -1BTP-Q=0
Final decision goes out optimal additional yaw moment Mu, MuExpression formula include mainly：
K in formula1、k1For feedback of status variable, k1、k1Mainly by Pra、ux、δ、e(ωe)、ay、μiThe mathematical modulo of parameter Type determines that each parameter of the model is respectively：Tire pressure, speed, steering wheel angle are detected, balance car wheel set two of blowing out takes turns equivalent phase Angular velocity deviation and angle acceleration-deceleration deviation, vehicle is indulged and side acceleration, friction coefficient.
Thirdly, in view of runflat condition process on the specific function of state of motion of vehicle and its parameter and influence, use with quick-fried Tire presses Pr(including Pra、Pre) be major parameter feedback of status variable k1(Pr)、k2(Pr) equivalent mathematical model determine Mu, the equivalent expression of the model：
Or
State tire pressure P in formulareFor wheel condition parameter (including ωe、ωa、Se、SaDeng) and vehicle status parameters (includingeβ(t)、ay) function.Wherein ωe、ωa、Se、Sa、ayBalance car wheel set two of respectively blowing out takes turns equivalent, non-equivalent angle Speed, slip rate, vehicle side acceleration.Except MuOutside above-mentioned equivalent correction model and equivalent amendment type, or can be to blowing out Part particular state parameter is modified, mainly using runflat condition feedback, time lag and blow out impact correction model and its Algorithm.Runflat condition feedback model and algorithm：
λ (t)=f (e (ωea)-e(ωeb)) or
Or
K in formula1、k2For feedback of status variable, kλBe wheel condition correction function for sideway modifying factor of blowing out, λ (t), λ (t) by Wheel condition parameter is determined with the mathematical model of vehicle sections state parameter,eβ(t) it is respectively vehicle ideal and reality Border state yaw velocity, side slip angle deviation, T0For initial time of blowing out, e (ωe) andBalance car wheel set two respectively Take turns equivalent relative angle velocity deviation and angle acceleration-deceleration deviation, e (ωea) and e (ωeb) it is respectively the equivalent relative angle of front and back axle Velocity deviation, ayFor vehicle side acceleration,For yaw rate deviationCorrection value, in formulaFor：
Correction term ± kλ, λ (t) it is positive and negative by blow out wheel front or rear axle location determination.
Time lag correction model and algorithm include mainly：
Or
K in formulat(t) it is time complexity curve function, is determined by the model and control parameter variations value in lag time to feedback of status Parameter k1、k2Collective effect：
Or
Pass through correction function kt(t) to MuIt is modified, T in formulak+1、TkFor lag in the vehicle flat tire control for brake period when Between.
It blows out and impacts correction model and algorithm：
Or
To Mu3Amendment using in real time, (including phase of really blowing out, inflection point of blowing out, knocking over stage) correcting mode stage by stage, or adopt With correcting modes such as integrated values.Determine that the attack time t that blows out, t are that true blow out starts T first0To rear wheel and the vehicle of blowing out Reach the stable time, t is determined by experiment.K in formulav(t) it blows out impulse function, Grbi、Grb0To blow out, wheel under standard tire pressure Cornering stiffness.K is determined when using equivalent wayv(t) when value, kv(t) it is determined by the Weighted Average Algorithm of its parameter.Inflection point, tire Rim separation is corrected to wheel rim card：Wheel instantaneous state characteristic of blowing out after inflection point of blowing out is extremely complex, using tire model, attachment shape States model and field test determine blow out wheel vertical, horizontal acceleration-deceleration and tire force, carry out additional yaw moment MuAmendment and Compensation.
It four, establishes and determines optimal additional yaw moment MuWith each wheel control variable brake force Qi, angular decelerationAngle subtracts Speed increment Δ ωi, slip rate SiRelational model and algorithm, the model and algorithm include mainly：
Model and algorithm one, additional yaw moment MuWheel slip SiTheory of distribution model：Based on seven freedom vehicle Kinetic model, the magic formula tire model of pacejka et al. take turns balance car wheel set two and apply differential system power Qi, base In brake force QiAnd QiWheel slip S under effecti, angular decelerationIt can determine that vehicle under the Braking is obtained Additional yaw moment Mu.If the near front wheel applies brake force, the brake force that off-front wheel applies is 0, and the near front wheel is vertical, lateral tire force Fxfl、Fyfl：
F in formulazThe tire force obtained by revolver under differential braking force effect,Respectively the wheel is vertical, laterally attachment is Number.Additional yaw moment variation delta MuWith wheel slip rate variation delta SiFunctional relation be：
According to above-mentioned Δ MuWith Δ SiRelational expression, in wheel slip variation delta SiUnder the action of, determine that vehicle adds sideway power Square increment Delta Mu.Optimal additional yaw moment Mu, slip rate SiTo set in a upper controlling cycle or t0Moment its initial value Mu0、 Si0With its increment value Δ Mu、ΔSiThe sum of：
Mu=Mu0+ΔMu, Si=Si0+ΔSi
Model and algorithm two, to simplify the calculation, are based on brake efficiency factor ηi, braked wheel radius Ri, each wheel longitudinal direction Rigidity Grai, half wheelspan d of axlezi, wheel lateral force acting factor λi(αi), ground friction coefficient μi, wheel weight NziFor ginseng Number is established and adds yaw moment MuWith each control variable brake force Qi(including pressure of wheel cylinder Δ pi), angle acceleration-deceleration (including angle acceleration-deceleration increment Delta ωi), the S of slip ratei(include the S of slip rateiIncrement Delta Si) parameter equivalent mathematical mould Type includes mainly：
Or
ρ in formulaiFor parameter μi、NziModifying factor, s (i) is positive and negative symbol, s (i) is by the location determination of wheel, kai、kbi、 kci、kdiFor coefficient.Based on MuWith wheel Qi、The S of slip rateiRelational model (including equivalent model) and algorithm, It can determine additional yaw moment MuWheel differential brake force or wheel Δ ωi、SiEach wheel of parameter distributes.
5., vehicle braking force total amount (D) control and D controllers
D control objects are all wheels.Vehicle of the D controls based on longitudinal single-degree-of-freedom or longitudinal direction and revolution two degrees of freedom Single wheel model.Single-degree-of-freedom single-wheel auto model is：
F in formuladx、Jd、Rd、mdRespectively the wheel synthesis longitudinal tire force of single-wheel auto model, angular deceleration, rotation Inertia, the radius of gyration, longitudinal direction of car acceleration-deceleration, complete vehicle quality.Vehicle is reduced to brake force Q by the modeld, longitudinal tire force Fdx, lateral tire forcesVehicle gravity NdThe vehicle for acting on a single-wheel is used in combination vehicle single-wheel to integrate angular deceleration Angular speed negative increment Δ ωd, slip rate Sd, vehicle decelerationCharacterize state of motion of vehicle, parameterSd、By Each wheel angular decelerationAngular speed negative increment Δ ωi, slip rate SiUsing true including the models such as average and weighted average and algorithm It is fixed.The D controls of brake force total amount are with QdOrSd、Variable in order to control passes through wheel stable state A controls, balancing brake B The loop cycle control of control and the combination of vehicle stable state C control logics is realized.The brake force total amount Q of D controlsdFor A controls, B controls The braking force value Q that system, C are controlleda、Qb、QcThe sum of：
Qd=Qa+Qb+Qc
Wheel braking force QiUsually by the target control value Q of the wheel stable state or ANTI LOCK controlkiValue substitution.Based on QiWithSiRelational model, respectively take turns QiTarget control value QkiBy control parameterOr SkiDetermining QdWhat value or Threshold Model determined Threshold value cSi、It is determined using certain algorithm, the target control value Q of D controlsdMainly pass through each wheel balancing brake B The brake force total amount Q of controlbAdjusting realize, QcFor stable state C control each wheel distribution differential system power target control value it With.Brake monitor is by between the control variable target control value of D controls and the target control value of A, B, C control of each wheel distribution Deviation, determine and simultaneously adjust vehicle D controlΔωd、SdTarget control value, thus adjust vehicle brake force total amount D indirectly The target control value of control.The control variable of D controlsΔωd、SdTarget control value is by each wheel A, B, C controlΔ ωi、SiTarget control value is determined using average or weighted average scheduling algorithm.The control variable actual value of D controls is by each wheel A, B, C ControlΔωi、SiSurveyed actual value determines.It defines D and controls each control variable Qd、Δωd、Sd、Target control value and reality Deviation e between actual valueQd(t)、eωd(t)、esd(t)、Feedback by deviation and closed-loop control, adjusting control variableΔωd、SdValue realizes vehicle brake force total amount QdOr vehicle decelerationBe controlled, directly or indirectly.It needs to control vehicle DecelerationWhen, it pressesWith the wheel synthesis longitudinal tire force F of single-wheel auto modeldx, wheel integrate angular decelerationVehicle Brake force total amount QdBetween relational model, determine Qd、Or slip rate SdTarget control value, and with Qd、Or SdMesh Controlling value is marked as a reference value, determines that each wheel of A, B, C control controls variable in turnΔωiOr SiTarget control value, Pass through each wheelΔωiOr SiDistribution and adjusting, realize vehicle decelerationControl.
6., braking compatible controller
In control for brake cycle HhLogic loops in, when active brake of blowing out and brake pedal parallel work-flow, brake compatible control Device processed uses control for brake compatible processing model, and compatible processing is carried out to the output signal of blow out active brake and pedal brake, After via controller compatible processing, the brake force total amount Q of outputda, wheel integrate angular decelerationComprehensive slip rate SdaEach control Variable target control value includes mainly：
Qda=f (Qd, Δ Qd, γ, tai)
Sda=f (Sd, Δ Sw', γ, tai)
Q in formulada、SdaRespectively Δ Qd、ΔSdThe increasing function of increment, Qda、SdaRespectively γ increments subtract Function and taiThe subtraction function of decrement.Its linear process formula includes mainly：
γ is runflat condition control parameter, t in formulaaiTime zone, S are controlled for anticollisionw′、ΔSw' it is respectively brake pedal displacement (row Journey) and its variation,For a cycle H on control for brakeh-1To this cycle HhVehicle integrates angular decelerationChange value, Qd、SdRespectively brake monitor carries out the brake force total amount determined before compatible processing, wheel synthesis angular deceleration, synthesis Slip rate, each parameter are taken as absolute value.Qda、SdaThe respectively braking after compatible processing of brake monitor output The compatibility correction value of power total amount, wheel synthesis angular deceleration, comprehensive slip rate, k1、k2、k3For positive value coefficient.Qda、SdaBy The asymmetric step function model of the positive and negative stroke of gas pedal determines.Its modeling structure includes：The coefficient on the positive and negative row of gas pedal k1Value is different, positive stroke k1Value be less than the value of negative stroke, Δ Qd、ΔSw' increment is that the increment of positive stroke is taken as Just, it otherwise is taken as bearing.γ is taken as positive value and with runflat condition deteriorates to increase.When Ben Che and fore-aft vehicle are in Collsion proof safety Area's coefficient k3It is taken as 0, when vehicle enters anticollision forbidden zone k3It is taken as setting value.ΔQd、ΔSw' datum point be pedal system Data point when power is equal with initiative brake of blowing out.Parameter, Δ Sw' can be with Δ Qd、ΔωdIt exchanges.Phase is arranged in electronic control unit The braking compatible modules answered, the module is by braking compatibility mode, the model that compatible controller uses is braked, to active brake of blowing out With pedal brake control signal compatibility processing, the control hazard under its parallel work-flow is solved
7., control for brake pattern, structure and flow, referring to Fig. 7, Fig. 8
I, control for brake pattern
In one, control of blowing out, brake monitor 70 is based on wheeled vehicle kinetics equation, including vehicle (longitudinal direction) side Journey, tire model, vehicle wheel rotation equation etc.：
Fxi=f (μi、Nzi、Gxi、Si)
Deng
Establish each control variable Qi、Si、Between transformation model.In each wheel brake force QiUnder the action of, set control variable SiWith main relevant parameters αi、Nzi、μi、Gxi、RiBetween relational model include mainly：
Si(Qi, αi、Nzi, μi, Gxi, Ri)
α in formulaiFor each wheel side drift angle, GxiFor wheel longitudinal rigidity, NziFor wheel weight, μiFor friction coefficient, RiFor wheel half Diameter.
In the stability region of control for brake, linearisation and equivalent process are carried out to model, can be obtained：
Si=kaQi+kb
kb=f (Nzi, μi, Ri)
kc=kc1Nzi+kc2μi+kc3Gxi+kc4RiDeng
K in formulaaFor coefficient, kbFor Nzi、μi、RiThe compensation model of each parameter, kc(including kc1、k2、kc3、kc4) it is that relevant parameter is mended Repay model, side drift angle αiIt can be by comprehensive side drift angle αaSubstitution, αaIt can be determined by the function model f (δ) of steering wheel angle δ, f (δ) warps Linearization process exports：
αa=kiδ
The model is mainly used for usingΔωi、SiEqual parametric forms add yaw moment M to vehicle of blowing outuCarry out each wheel point Match, implements the sideway control (DYC) of vehicle.In each wheel brake force QiUnder the action of, withΔωi、SiMiddle parameter it is one or more A parameter is variable, with Nzi、μiFor parameter, wheel condition parameter is establishedΔωi、SiWith vehicle acceleration-decelerationFunction Model, model include mainly：
Or
S in formulad、Nd、μdSlip rate, comprehensive angle acceleration-deceleration are integrated for each wheel, respectively take turns total load, floor synthetic friction system Number, value are determined by each wheel parameter value using average or weighted average scheduling algorithm.This class model is mainly used for usingΔωi、 SiEqual parametric forms, carry out vehicle longitudinal control (DEB) and front-and-rear vehicle distance LtControl.
Secondly, controller using the braking of wheel stable state, respectively to take turns (differential) braking of balancing brake, vehicle stable state, brake force total Four kinds of Control Coolings such as (A, B, C, D) control are measured, with longitudinal direction of car decelerationEach wheel angle acceleration-deceleration(or angular speed is negative Increment Delta ωi) slip rate SiOne of variable in order to control, pass throughSiThe control form of parameter, indirect control are respectively taken turns Brake force Qi.By the control time zone of runflat condition, the different phase of control for brake and collision prevention of vehicle, using corresponding control logic group It closes, includingCoordinate to control with collision prevention of vehicle Deng, the coordination active brake that blow out.Before blowing out Phase, antero posterior axis balance car wheel set respectively take turns useControl logic combines；In control for brake cycle HhIn cycle, respectively take turns into The angular deceleration of row balancing brake B controls(angular speed negative increment Δ ωi) or slip rate SiTarget control value distribution, together When to each wheel angular deceleration of vehicle stable state C controlOr slip rate SiTarget control value be allocated, each wheel distribution Target control value be the sum of two class target brake control value of B and C；And when vehicle enters anticollision danger time zone or any wheel reaches When braking anti-lock threshold value, the cycle H is terminated at onceh'sControl logic recycles, and control for brake enters next Cycle Hh+1The logic loops of control.Hh+1In period, reduces or terminate the balanced system power of each wheel B controls, reach braking anti-lock The wheel of threshold value enters or automatically exits from braking anti-lock control.It really blows out the phase, balance car wheel set of blowing out uses Control logic recycles, and wheel of blowing out enters stable state A controls, the non-reality taken turns and obtained based on wheel of blowing out of blowing out for balance car wheel set of blowing out Brake force enters the balance car wheel set or vehicleControl logic recycles, and is solved when vehicle enters the forbidden time zone of anticollision Except wheel brake force of blowing out.Inflection point of blowing out control period releases the brake force for wheel of blowing out in balance car wheel set of blowing out, leveling wheel of blowing out Two wheels of secondary non-blow out wheel and non-balance car wheel set of blowing out using C controls differential braking control logic cycle.When vehicle enters The forbidden time zone of anticollision, while the brake force of blow out wheel and wheel homonymy wheel of blowing out is released, the homonymy of non-blow out wheel and non-wheel of blowing out Wheel enters the logic loops of vehicle C controls.Wheel rim detaches the phase, while releasing blow out wheel or the braking with wheel homonymy wheel of blowing out Power, it is non-to blow out wheel or/and non-wheel homonymy wheel of blowing out enters the logic loops of vehicle C control.For active steering of blowing out is arranged The vehicle of system, especially in inflection point and the wheel rim separation phase control period of blowing out, enters in each control period of respectively blowing out and blow out in vehicle Active steering can be carried out while stability control for brake and coordinates control, and it is quick-fried to apply one to deflecting roller by active front steering system Tire balances additional rotation angle θeb, realize that wheel, vehicle stabilization slow down and whole vehicle stability controls.A, the independent control of B, C, D or its The control of logical combination is based on blow out auto model, tire model, the equation of motion：
Vehicle (longitudinal direction) equation：
Vehicle wheel rotation equation：
Wherein tire model is determined by the corresponding mechanics of wheel and motion state parameters.Establish each wheel brake force QiIt is added and subtracted with wheel angle SpeedSlip rate SiRelational model between equal state parameters, determines each control variable QiWith other control variablesSiIt Between quantitative relationship, realize QiWithSiThe conversion of parameter.A, it in the control of B, C, D independent control or its logical combination, establishes Each wheel brake force QiEach control variable under effectSiWith parameter αi、Nzi、μi、Gri、RiBetween mathematical model, Realize each wheel angular decelerationSlip rate SiWheel between distribute and control.Brake monitor respectively controls variable and uses closed loop Control, definition control variable Qi、SiDeviation e between target control value and actual valueqi(t)、eΔωi(t)、esi (t), brake monitor is to control the Q of variablei、Δωi、SiParametric form, by deviation eqi(t)、eΔωi(t)、esi(t) or it is inclined Value determined by the mathematical model of difference, in the cycle in control for brake period, braking executive device is held in control, makes each wheel Qi、Δ ωi、SiActual value track its target control value always, realize each wheel brake force QiOr other parameters Δ ωi、SiDistribution and control System, wherein parameter Qi、ΔωiActual value determined by brake-pressure sensor, wheel steering angle sensor detected value, parameter Si's Actual value is by definition by speed ux, radius of wheel RiAnd angular velocity omegaiMathematical expression determine：
Ii, brake control architecture and flow
Brake monitor 70 be based on vehicle-mounted braking anti-lock, anti-skidding, Electronics stability program system (ABS), (ASR), (ESP), setting nominal situation brake monitor I 71, operating mode of blowing out brake monitor II 72.The controller 70 is from data/address bus CAN 21 obtains following all kinds of parameter signals.One, car wheel structure state parameter：Include mainly wheel speed ωi, angle acceleration-decelerationSlip rate si, each wheel brake force QiOr with tire pressure pri.Secondly, vehicle status parameters：Include mainly speed ux, vertically and horizontally plus DecelerationWithYaw velocity ωr, side slip angle β etc..Thirdly, vehicle environment state parameter：It include mainly front and back vehicle Away from Lt, opposite speed uc, or with vehicle location and road Identification parameter.Four, driver's operation interface control parameter：Main packet Include steering wheel angle δ, stroke S is stepped in brakingw, accelerator pedal stroke hi.Blow out main controller 5 or brake monitor II 72 be based on it is above-mentioned Input parameter determines runflat condition process, carries out judgement of blowing out, and output, which is blown out, when judgement of blowing out is set up controls signal I 6.Braking Controller I 71,72 isomorphisms of II share an electronic control unit, using Program transformation structure and pattern.Under nominal situation, braking control Device I71 processed is by control models, the model such as braking anti-lock, anti-skidding, vehicle stabilization control programming system (ABS), (ASR), (ESP) Data processing, output brake control signal group g are carried out with algorithma, braking executive device 73 is controlled, realizes vehicle nominal situation system Dynamic anti-lock, anti-skidding, vehicle stabilization control 74.Brake monitor II 72 using vehicle braking and anticollision, active brake of blowing out with The coordination and adaptive control scheme that pedal brake is compatible, active brake of blowing out is with the driving of driver's gas pedal, according to set The type and structure of electronic control unit, it is main be arranged input, parameter calculating, judgement of blowing out, control model conversion, anticollision, at data Manage the modules 76,77,78,79,80,81,82,83,84,85 such as (control), braking compatibility, output, monitoring, power supply.Input module 76 obtain each parameter signal from data/address bus 21, carry out signal processing, and processed signal is divided into two-way, all the way input parameter meter Module 77 is calculated, another way enters data processing module 81.It is related that parameter calculating module 77 calculates the wheeled vehicles such as speed, slip rate Parameter.Input module 76,77 output signal of parameter calculating module enter judgement of blowing out, control model conversion, data processing module 78、79、81.Determination module 79 of blowing out carries out judgement of blowing out, and judgement of blowing out, which is set up, exports the control entering signal i that blows outa.It blows out control Entering signal i processedaWhen arrival, control model conversion module 79 terminates nominal situation brake monitor I 71 and is executed to braking at once The control signal of device 73 inputs, and calls control model conversion routine, realizes normal and operating conditions and controls mould with blowing out Formula is converted.Data processing module 81 is mainly with brake force Qi, longitudinal direction of car add and (subtract) speedEach wheel angle adds and (subtracts) speed The positive and negative increment Delta ω of each wheel angular speedi, slip rate SiOne of parameter or multiple parameters variable in order to control, pass throughQi、SiParametric form, using the wheel stable state for operating mode of blowing out, balancing brake, vehicle stable state, brake force total amount (A, B, C, D) 75 control and control model, based on runflat condition and control the stage, vehicle flat tire anticollision control each time zone, braked A, the loop cycle of each logical combination of B, C, D control, by blow out control model, model and algorithm that control program uses into line number According to processing, output signal carries out braking compatible processing through braking compatible modules 82, and control signal group g is exported by output module 83z。 Signal group gzBraking executive device 73 is controlled, the distribution and adjusting of each wheel brake force are carried out, realizes that wheel stable state, vehicle stabilization subtract Speed and vehicle stabilization control.
8., electric control hydraulic braking executive device control structure and flow
I, the overall control architecture of braking executive device
Braking executive device is using braking anti-lock/anti-skidding (ABS/ASR), electronic braking force distribution (EBD), electronic stability The integrated design of program (ESP) system (including VSC, VDC), active executive device of blowing out.As a kind of manned vehicle The executive device of pedal brake and tyre burst brake, automatic driving vehicle braking and active brake of blowing out, electric control hydraulic braking execute Device is with each wheel brake force Qi, the positive and negative increment Delta ω of angular speediOr slip rate SiVariable in order to control, in the week of each control for brake Phase HhCycle in, pass through Qi、ΔωiOr/and SiThe control form of parameter, indirect control respectively take turns brake force Qi.According to wheel of blowing out Stable state brake (A), respectively wheel balancing brake (B), vehicle stable state (C) differential braking, brake force overall control logical combination, be based on Qi、ΔωiOr/and SiTarget control value, in each cycle HhComplete primary each wheel Qi、ΔωiOr/and SiThe distribution of parameter and Control.Electric control hydraulic braking executive device (the referred to as device) brakes pressure regulation pattern using circulation cycle or variable capacity, and phase is arranged Mutual independent convertible hydraulic brake circuit I, II collectively form nominal situation pedal brake, operating mode of blowing out active brake, braking Mutual indepedent or coordination the work system such as compatible, brake fade protection.Servo-actuated braking of the device setting with vacuum servo is stepped on Plate brake apparatus 300, power supply device 301, braking regulator 302 and four-wheel braking wheel cylinder (303).Brake regulator (302) control valve I304 and control valve II305 is set.Control valve I304 does not power on normal open, control valve II305 do not power on it is normally closed. I304 points through control valve of the pressure fluid of 314 forward and backward hydraulic cylinder of master cylinder output is two-way, the normal open all the way through control valve I304 Road is connected to braking regulator, normally closed road and pedal sense simulator 316 of the another way through control valve I304 link.Control Valve II305 does not power on normally closed, normally closed pipeline of the pressure fluid that power supply device 301 exports through control valve II305 and braking pressure regulation dress It sets connection, when electric-opening is a pressure limiting valve on control valve II305.Braking regulator 302 passes through control valve I304, II305 It commutates (on and off), realizes the conversion of pedal brake and active brake two hydraulic circuit I, II.Control valve I304, control valve II 305 generally use two-position three ways or 3-position-3-way electromagnetism.Pedal brake is arranged in braking executive device and active brake of blowing out is parallel The braking regulator of operation and control pattern brakes control valve II (305) set by regulator 302 or 3-position 4-way can be used Solenoid valve.Power supply device 301 is a precompressed power supply device, including pre- press pump and motor 315, and master is provided for normal and operating mode of blowing out A pressure sensor 317 is arranged in the output end of dynamic brake pressure liquid, precompressed power supply device.Brake each leveling wheel of regulator On secondary hydraulic brake circuit, the pressure regulation power supply device of setting, including motor 307, booster pump 308, low pressure are returned liquid chamber 309, are delayed Room 310 and several check valves 311 are rushed, balance car wheel set two is collectively formed and takes turns same control or the hydraulic braking of four-wheel independent control Circuit.It brakes regulator 302 and eight high-speed switch electromagnetism (bi-bit bi-pass), including four liquid feed valves 312 and four times is set Liquid valve 313 constitutes the pressure adjusting structure and mode of circulation cycle, the wherein braking in 312 control pedal brake apparatus 300 of liquid feed valve Master cylinder 314, pre- press pump 306 and motor 315, booster pump 308 input balance car wheel set or the pressure fluid of single-wheel hydraulic brake circuit, The pressure fluid that liquid valve 313 controls hydraulic brake circuit or wheel cylinder output is returned, the pressure fluid in wheel cylinder passes through back liquid valve 313, low pressure returns liquid chamber 309, reflux check valve 311, booster pump 308, surge chamber 310 and is recycled to hydraulic brake circuit liquid feed valve 312 output end, taken turns by the opening and closing of high-speed switch electromagnetic valve and each wheel or with leveling wheel pair two hydraulic brake circuit increasing, Subtract and adjusted with pressurize, realizes that the distribution and adjusting of each wheel brake force, liquid feed valve 312 and time liquid valve 313 use bi-bit bi-pass electromagnetism Valve.In control for brake, electronic control unit output signal group g set by brake monitorz(including gza、gzb、gzc、gzd、gze、gzf), into Enter braking executive device.
Ii, braking executive device classification control structure and flow
One, vehicle traction anti-sliding control (ASR).Electronic control unit output control signal, signal gza1It is needed by the energy supply of braking Ask the operation and stopping of 306 motor 315 of pre- press pump of (or storage pressure state with accumulator) control power supply device 301.Letter Number gza2Control valve I 304, II 305 are controlled, is electrically turn off in electromagnetic valve I 304, electric-opening on II 305, it is established that respectively take turns hydraulic pressure Brake circuit II.Signal gza3It is needed by the energy supply of hydraulic brake circuit I, II, controls the opening and closing of booster pump.Signal gzb By forward and backward axle balance car wheel set and the brake force Q of each wheel distributioni, angular decelerationOr slip rate SiTarget control Value processed is controlled the liquid feed valve 312 in hydraulic brake circuit and returns liquid valve 313, passed through hydraulic brake circuit with pulse width modulation mode Supercharging, decompression and pressurize carry out the distribution (EBD) of the wheel of forward and backward axle two or four-wheel pedal brake power and adjust, realize vehicle indirectly Anti-slip regulation, and deficiency when driving turns to or oversteering control.
Secondly, nominal situation pedal brake power distribution (EBD) and vehicle stabilization control (ESP) under pedal brake, control System.Electronic control unit exports each control signal, signal gza2It is 0, as powers off, control valve I 304 powers off normal open, master cylinder 314, it brakes regulator 302 and each wheel cylinder constitutes hydraulic brake circuit I.The output of 314 forward and backward hydraulic cylinder of master cylinder Pressure fluid enters each wheel cylinder 303 through braking the normal open road of 302 each control valve 304 of regulator, liquid feed valve 312, and precompressed supplies It can pipeline closing of the device 301 through control valve I 304 to braking regulator 302.Signal gza3It is needed by the energy supply of hydraulic circuit I It wants, control is set to the booster pump 308 in hydraulic brake circuit I and opens and closes, and required pressure is provided for hydraulic brake circuit I Power liquid.Control signal gzcWith brake force Qi, slip rate SiOr/and angular speed negative increment Δ ωiThe integration objective controlling value of parameter into The distribution of the forward and backward axle balance car wheel set brake force of row, control signal gzcOr press SiOr/and Δ ωiThe target control value of parameter Carry out four-wheel braking power distribution.Signal gzcWith pulse width modulation mode, controls the liquid feed valve 312 in hydraulic brake circuit and return liquid valve 313, by hydraulic brake circuit supercharging, decompression and pressurize, realize the EBD and ESP of the pedal brake power of forward and backward axle or four-wheel It distribution and adjusts, reaches that wheel braking is anti-skidding and vehicle stabilization control (including preventing vehicle whipping, deficiency or oversteering) Target.The control is the braking force distribution (EBD) of the front and back axle and split friction coefficient road surface under pedal brake state, with And under pedal brake state vehicle differential braking stability control (ESP).
Thirdly, pedal brake anti-lock control.Under nominal situation, it is based on hydraulic brake circuit I, before master cylinder (314), The pressure fluid of hydraulic cylinder output enters each system through braking the normal open road of each control valve 304 of regulator (302), liquid feed valve 312 afterwards Driving wheel cylinder (303), pipeline of the precompressed power supply device (301) through control valve I (304) to braking regulator (302) are closed, signal gza3It needs to control booster pump (308) opening and closing being set in hydraulic brake circuit I by the energy supply of hydraulic brake circuit I, Required pressure fluid is provided for hydraulic brake circuit I.When wheel reach braking anti-lock threshold value, electronic control unit terminate the wheel its It controls the output of signal, output braking anti-lock signal gzd, with Qi、Si、The pulsewidth modulation (PWM) of parametric form and signal Mode controls the liquid feed valve (312) in hydraulic brake circuit and returns liquid valve (313), passes through the supercharging of hydraulic brake circuit, decompression And pressurize, the brake force of the wheel is adjusted, realizes that its braking anti-lock controls, and brake force is taken turns by front and back axle balance car wheel set two The pattern of height choosing or low choosing is balanced braking force distribution and control to another wheel of wheel pair.
Four, the ESP controls of nominal situation vehicle electric stability program system (mainly including VSC, VDC etc.).Automatically controlled list Member exports each control signal, signal gza1Pre- press pump is controlled by the energy supply demand (or storage pressure state with accumulator) of braking 306, the operation and stopping of motor 315.Signal gza2Control valve I304, control valve II 305 are controlled, control valve I 304 is made to power on Commutation is closed, and it is all a pressure limiting valve to make electric-opening on control valve II 305, control valve II 305, the control valve II within the scope of pressure limiting 305 conductings, hydraulic brake circuit II is set up in braking executive device and respectively takes turns hydraulic brake circuit.Pre- press pump (or and store Can device) 306 output pressure liquid enter braking regulator 302 through control valve II 305.Master cylinder 314 is through control valve II 305 Fluid pressure line closing to braking regulator 302, the pipeline to pedal brake simulator 316 are connected.Braking executive device Into ESP active brake state of a controls.Signal gzeFor nominal situation vehicle electric stability program ESP system (mainly include VSC, The systems such as VDC) control signal.When pedal brake is with ESP active brake parallel work-flows, electronic control unit is to pedal brake power and ESP Initiative brake carries out compatible processing, using the logical combination of each wheel balancing brake B controls and the C controls of vehicle stable state, each wheel point The brake force target control value matched is the differential braking unbalanced system power mesh that B controls partition equilibrium brake force and C control distribution Mark the sum of controlling value.Based on hydraulic brake circuit II, signal gzeWith brake force Qi, slip rate SiOr angular speed negative increment Δ ωiGinseng Number form formula is controlled the liquid feed valve 312 in hydraulic brake circuit and returns liquid valve 313, returned by hydraulic braking by pulse width modulation mode Road supercharging, decompression and holding pressure control cycle adjust two balance car wheel sets two wheel and respectively take turns braking force distribution, balance car wheel set indirectly Two wheels use same or independent control, realize vehicle stabilization control.
Five, nominal situation blow out wheel and blow out vehicle stable state control.Electronic control unit exports each control signal, signal gza1 The operation and stopping of pre- press pump 306, motor 315 are controlled by the energy supply demand (or storage pressure state with accumulator) of braking. Signal gza2Control control valve 305 powers on commutation and opens, and control valve 305 is a pressure limiting valve, and control valve 305 is led within the scope of pressure limiting It is logical, each wheel hydraulic brake circuit II is set up in braking executive device.Pre- 315 output pressure liquid of press pump (or and accumulator) warp Control valve II 305 enters braking regulator 302, and master cylinder 314 is through control valve I 304 to the liquid of braking regulator 302 Pressure pipe road is closed.When active brake of blowing out and pedal brake parallel work-flow, the pressure fluid that master cylinder 314 exports enter pedal system The hydraulic cylinder of dynamic simulator 316, braking executive device enter active brake of blowing out control compatible with pedal brake.Signal gzf (include mainly gzf1、gzf2、gzf3) it is blow out each wheel braking force distribution of control, Regulate signal, signal of tyre burst ia、ib、icDeng arrival When, by runflat condition, control period (it is main include really blow out, inflection point, the control for brake phase such as knocking over) and anticollision control time zone, control Electronic control unit set by device processed terminates each wheel nominal situation control for brake at once, is transferred to operating mode control for brake pattern of blowing out, controller Set electronic control unit is with each wheel brake force Qi, slip rate Si, angular decelerationVariable in order to control realizes each wheel, blows out and blow out with non- Balance car wheel set, wheel pair two take turns QiDirectly distribution or Si、Indirect distribution.Control entering signal of blowing out iaWhen arrival, nothing Which kind of nominal situation state of a control wheel blows out wheel in, which terminates at once, and wheel of blowing out enters stable state A controls, According to parameter Si、Threshold Model and Controlling model, signal gzf1High-speed switch electromagnetic valve in control braking regulator, Reduce the wheel brake force Q that blows out step by stepi, the wheel is made to be in stable state brake area.When inflection point of blowing out later stage or wheel rim detach, release quick-fried Tire wheel is braked, and the wheel is madeSiTend to 0.In signal iaThis cycle H to arrivehOr next cycle Hh+1, electronic control unit is using blowing out Take turns the logical combination and controlling cycle H of stable state A controls, each wheel balancing brake B controls, the C controls of vehicle stable statehLogic loops, Export the operating mode vehicle steady state control signal g that blows outzf2, it is combined with A controls, C controls or with a folded B control logics, each wheel of progress, It blows out, non-balance car wheel set braking force distribution of blowing out.Signal gzf2With brake force Qi, slip rate SiOr angular speed negative increment Δ ωi Parametric form is controlled the liquid feed valve 312 in hydraulic brake circuit and returns liquid valve 313, passed through hydraulic braking by pulse width modulation mode Circuit supercharging, decompression and holding pressure control cycle directly or indirectly adjust two balance car wheel sets, the wheel of balance car wheel set two and each wheel system Power distributes.Pedal brake and blow out active brake parallel work-flow when, electronic control unit is by pedal brake power and blows out active brake Compatibility mode is handled, using the logical combination of each wheel balancing brake B controls and the C controls of vehicle stable state, the system of each wheel distribution Power target control value is the differential braking unbalanced system power target control of the balancing brake and C control distribution of B control distribution The sum of value.
Six, in hydraulic brake circuit I, II, one is included at least by master cylinder 314 or power supply device 301 to braking The normal open fluid pressure line of wheel cylinder, solenoid valve, hydraulic valve in the fluid pressure line are set as normal open (unlatching), i.e., when solenoid valve does not power on It opens, or is commutated by differential pressure control valve, when braking executive device is without control electric signal input, master cylinder 314 or energy supply The pressure fluid that device 301 exports can be directly entered each wheel wheel cylinder 303.
9., electric-controlled mechanical braking system is using no self energizing effort or self energizing effort device.Without self energizing effort device by electric machine built-in, Motor, feed screw nut, planetary gear train integration etc. optimize machine system.Self energizing effort structure includes mainly voussoir, lever etc.. The rotation of motor is converted to by translation using planet and worm gear mechanism.Brake pedal feel simulator and mechanical is set Brake pedal malfunction and failure protective device, the same brake pedal of two devices, two devices are configured as one.Mould is felt in pedal brake Quasi- device is made of series connection twin-stage spring, and when braking makes driver obtain " braking feel ".Electric-controlled mechanical braking system is used for nothing When people drives vehicle, brake pedal feel simulator is not set.
10., electro-hydraulic and electric-controlled mechanical brake fade judgement and control.
I, malfunction and failure judges
One, fail-ure criterion, electronic control unit fail-ure criterion module integrate angular deceleration with each wheelPedal travel Sw, system Dynamic pressure sensor detection signal PwOr automatically controlled parameter signal is input parameter signal, fail-ure criterion device is based on, by wheeled vehicle State parameter or the forward and inverse of automatically controlled parameter fail to fail-ure criterion pattern, model judgement EHB control for brake, export fail safe Signal il.Secondly, brake fade control.Fail safe signal ilWhen arrival, system enters Failure Control, signal ilIt controls automatically controlled Mechanical braking executive device or/and brake pedal auxiliary machinery, vacuum servo, hydraulic servo, braking is provided for each wheel Power realizes brake-by-wire fail safe.EMB or setting stand-by power supply, hold when system primary source failure for electric-controlled mechanical braking Luggage sets power supply.After the completion of thrashing control, when electronic control unit resets second of startup, auxiliary electric control device exports mistake immediately Effect control ring off signal.Fail safe signal ilTwo kinds of signals, the direction phase of two kinds of signals are entered and exitted including Failure Control Instead, direction refers on the contrary：The signal is positive and negative, opposite in phase, opposite to the effect of actuator.Fail-ure criterion and the parameter of control letter Number include：Each sensor signals, electronic control unit processing signal, execution unit input signal, mainly by electric current, voltage, Each electrical parameter signal such as frequency, modulation is constituted, wherein 0 and non-zero logic threshold judge using the low of logic circuit, high level or Digital signal.
The combination configuration of ii, brake monitor and braking executive device and Failure Control.Mainly configured using following combinations： One, electronic control unit+brake fluid system (HBS)+hydraulic emergency brake protection device.Normally, it blows out under operating mode, electronic control unit Export QiOrΔωi、SiEach wheel braking force distribution signal of one of parameter or multiple parameters controls hydraulic braking executive device Adjust each wheel brake force, and by before and after brake piping or diagonal line separate configurations and active brake fail back pedal braking The various patterns of the automatic switching on of fluid pressure line and wheel cylinder carry out braking system faults fail safe.Secondly, it is major and minor automatically controlled Unit+major and minor (or two independences) hydraulic braking executive device.Main electronic control unit or/and main hydraulic braking executive device, front and back vehicle When the failure of one of axis or the diagonally arranged independent brake devices of X, secondary electronic control unit is with the comprehensive angular deceleration of each wheel(or)、 Pedal travel SwOr detect signal P with brake-pressure sensorw(or other automatically controlled parameters) is input signal, and fail-ure criterion device is pressed Wheeled vehicle state parameter or the forward and inverse of automatically controlled parameter fail to fail-ure criterion pattern, model judgement EHS control for brake, secondary electricity Control unit output fail safe signal il, the secondary hydraulic braking executive device of control (or the another set of hydraulic braking that do not fail executes Device), it is commutated by the electromagnetic switch valve on solenoid valve and accumulator output pipe, by accumulator output pressure liquid, in each system The hydraulic coupling of emergency brake is established on the hydraulic circuit of driving wheel cylinder, carries out braking system faults fail safe or is controlled with ABS.Its Three, using electronic control unit+auxiliary electric control device+electric-controlled mechanical braking executive device+major-minor power configuration.It is braked in electric-controlled mechanical System (EMB) setting structure and the major and minor electronic control unit (ECU) defined is functionally strictly divided, major-minor power supply uses vehicle mounted electric Source, super capacitor or lithium battery combination etc..The electronic control unit of EMB line control systems and the control chip of auxiliary electric control device, input Output, monitoring, is arranged for electric installation, supply line, fault-tolerant processing software and hardware, auxiliary electric control device data transmission independently of each other It is relatively easy, do not have electronic control unit primary structure and control function.Blow out, it is non-blow out under each operating mode, all kinds of braking systems By brake fault fail safe, realize that vehicle stabilization slows down, stable state control and the anticollision of environmental harmony control.
Iii, electro-hydraulic, the configuration of electric-controlled mechanical braking and brake fade protective device；EHS, EMS use electronic control unit And the configuration mode of auxiliary electric control device+power supply and accessory power supply electricity (energy memory element)；Using auxiliary when electronic control unit failure Electric control gear uses accessory power supply when power failure.Power supply and accessory power supply constitute multiple and structure, accessory power supply by assembled battery Or it is made of the power storage elements such as power management module, super capacitor in electronic control unit；Electronic control unit and power supply global failure When, power management module control power storage element provide the certain time-delay time electric current, voltage, immediately trigger solenoid valve, after The electric control elements such as electric appliance, start electric-controlled hydraulic and electric-controlled mechanical conversion equipment, and control normal brake application turns with malfunction and failure control It changes.One, control solenoid valve commutation, each wheel cylinder is directly inputted by the brake force that artificial pedal is exported through master cylinder, or By hydraulic servo regulator, each wheel cylinder is made to obtain the brake force consistent with master cylinder hydraulic pressure variation；Secondly, control Pedal machines brake force is amplified through mechanical device or mechanical accumulation installation, acts on EMB calipers by electric-controlled mechanical device processed Body.
Iv, braking executive device is using front and back axle or diagonal line wheel is independently arranged and two electronic control unit independent control sides Formula, wherein another set of when a set of brake apparatus malfunction and failure independently undertake braking function.
V, brake pedal feel simulator and brake pedal malfunction and failure protective device, two devices and system are set Dynamic pedal is configured as one；Pedal brake feels that simulator is made of series connection twin-stage spring, and when braking makes driver obtain " system Dynamic feel "；When brake-by-wire fails, pedal force is transferred to by mechanically or hydraulically brake fault fail safe by power conversion device Device；Mechanically pedal malfunction and failure protective device uses lever augmented, and the pedal force of boosting lever output is via tension wire Braking clamp body is seized by what brake force passed to engine shaft；Hydraulic brake failure abating protection device uses pedal force hydraulic pressure Servo servo-actuated power assisting device, using spare accumulator as power source.
Vi, electro-hydraulic brake subsystem (EHS)；EHS uses electrical-control hydraulic brake fade protective device；Two-position five-way Two input terminals of solenoid directional control valve connect with the output end of master cylinder (master cylinder) and accumulator respectively, three of solenoid directional control valve Output port is connect with two input terminals of the input terminal of pedal sense simulator, hydraulic servo device respectively；EHS line traffic controls system When system normal work, solenoid directional control valve works hard in glove with the pipeline of master cylinder and pedal sense simulator, by master cylinder, accumulation of energy Two intake lines of device and hydraulic servo device are closed, and driver obtains the pedal sense of normal brake application；EHS line control systems lose EHS enters fault mode, the defeated brake fade protection signal i of electronic control unit when effectlControl solenoid valve transposition, block master cylinder with Hydraulic tube access between pedal sense simulator, by two connecting tubes of master cylinder, accumulator to hydraulic servo device Road is worked hard in glove with, and the pressure fluid of master cylinder and accumulator output enters hydraulic servo device, the pressure fluid warp of accumulator output simultaneously The servo of hydraulic servo device is adjusted, and inputs each wheel cylinder, and each wheel cylinder is obtained consistent with the variation of master cylinder and put Big brake force.
5), throttle control structure and flow.Referring to Fig. 9
Throttle controller 90 is using nominal situation and two kinds of control models of operating mode of blowing out.Under nominal situation, automatically controlled solar term Door (ETC) output signal control electronically controlled throttle valve executive device 91, realizes nominal situation throttle control.It blows out under operating mode, it is main It controls device 5 and exports signal of tyre burst I, electronic control unit is with the control entering signal i that blows out set by throttle controller 90aFor switching signal, No matter which kind of position throttle operation interface (pedal) 92 is in, and terminates the nominal situation control of electronically controlled throttle valve at once, is transferred to quick-fried Tire controls and control model.Electronic control unit is with sensor set by electronically controlled throttle valve 93 (including throttle opening, gas pedal position Set, engine speed or with the sensors such as throttle inflow pressure, flow) detection signal is input parameter signal, according to automatically controlled The type and structure of unit, main setting signal acquisition are converted with processing, data processing (MCU), driving output, control model The modules 94,95,96,97,98,99 such as (using postposition converter), power supply, monitoring.It is transferred to after blowing out control, each module presses solar term The control program or software that door controller 90 uses carry out data processing, output signal gd.Signal gdElectronically controlled throttle valve is controlled to execute Motor in device 91, motor output corner and torque input throttle body 101 through deceleration and transmission device 100, adjust solar term 102 apertures of door.When 103 turn up idling threshold value of engine, signal gd102 aperture of air throttle is controlled, into idling control System；Idle valve 104 is then adjusted for the engine in setting idle speed air admission road and idling air control valve 104, realizes that engine is idle Speed control.Air throttle uses closed-loop control, throttle controller 90 to determine operating mode throttle opening target control value of blowing out in real time, Practical controlling value is determined by the real-time detected value of engine load sensor, defines 102 aperture target control value of air throttle and reality Deviation between value, according to the feedback control of deviation, throttle valve actual value tracks its target control value always.Control of blowing out is moved back Go out signal ieWhen Deng arriving, throttle controller 90 is quick-fried by the termination air throttle of control model conversion module (postposition converter) 97 Tire controls, and electronically controlled throttle valve (ETC) is transferred to nominal situation control.
6), fuel Injection Control structure and flow.Referring to Figure 10, Figure 11.
Fuel injection control apparatus 110 is mainly made of fuel controller 111 and air inlet amount controller 112；Controller 110 Set electronic control unit obtains the signal of tyre burst I that main controller 5 exports from data/address bus 21, obtains the set biography of electronically controlled throttle valve (ETC) Sensor (including accelerator pedal position, throttle position, engine speed sensor) 113 and fuel injection system (EFI) are set Sensor 114 (including throttle inflow pressure, flow sensor etc.) detects signal, electronic control unit microcontroller (MCU) control Module with operating conditions pattern of blowing out, model and algorithm by normally data processing is carried out, by driving output module output signal gm (gm1、gm2), signal gm1It controls fuel oil and sprays executive device 115, signal gm2Control throttle valve device 116.
I, fuel controller 111.Control entering signal of blowing out iaWhen arrival, no wheel throttle operation interface (pedal) is in Which kind of position, fuel injection control apparatus 110 terminate nominal situation engine air throttle and combustion at once by postposition converter 117 Oil spurts controls.Fuel controller 111 be transferred to control of blowing out subtract oil or oil-break, dynamic, idle speed control pattern, respectively control mould Block carries out data processing, output signal g by control program and softwarem1Control is mainly by oil spout (fuel oil) pump 118, fuel pressure tune The fuel-injection device for engine 115 of the compositions such as device 119, fuel injector 120, idle speed bypass valve 121, fuel tank 122 is saved, oil spray is adjusted Operating mode fuel Injection Control of blowing out is realized in oil spout of the injection device 115 to engine 126.
Ii, air inlet amount controller 112.Under nominal situation, controller 112 is main with throttle operation interface (pedal) position Parameter establishes the mathematical model and algorithm of its parameter, determines throttle opening.Control entering signal of blowing out iaWhen arrival, air inlet Amount controller 112 subtracts oil or oil-break, dynamic, idle speed control pattern based on what fuel controller 111 used, with fuel oil controlled quentity controlled variable Qf, air-fuel ratio cfFor major parameter, the mathematical model and algorithm of its parameter are established, determines throttle opening DjTarget control value Djk, and pass through DjkDetermine air input of engine by air, DjkIt is unrelated with the actual value of accelerator pedal position.DjkAfter determination, air inflow control 112 output signal g of devicem2Control engine throttle door gear 116, adjusting engine air input.Air inflow controls process：Air Enter engine 126 through air inlet pipe, air cleaner 123, (air) flowmeter 124, air throttle 125.In connection throttle body One idling air control valve 127 is set on forward and backward bye-pass, is adjusted for engine idling and additional-air inlet amount.Fuel oil sprays Penetrate structure and type of the controller 110 according to set electronic control unit, setting signal acquisition and processing module 128, data processing (control System) module 129, monitoring module 130, driving output 131, control model conversion module 132, wherein control model conversion module adopts With postposition converter, 110 output signal of fuel injection control apparatus controls fuel oil injection executive device 115 and throttle valve device 116, Engine 126 is adjusted to export.
7), deflecting roller flywheel moment control model, structure and flow.Referring to Figure 12,13,14,15,16.
Deflecting roller turns round force controller, is based on electric boosting steering system (EPS) or Electro-Hydraulic Power Steering System (EPHS), according to the structure of electronic control unit, type, corresponding control module is set.
1., controller use basic model and algorithm
Controller is based on electric boosting steering system EPS, establishes steering wheel, steering gear, rack and pinion drive, steering Wheel, motor force aid system kinetic model, according to kinetic model determine steering response characteristic, overshoot, stabilization time, Flywheel moment exports motor power-assisted square M under nominal situation, operating mode of blowing outa, ground flywheel moment M suffered by operating mode of blowing out deflecting rollerk、 Flywheel moment of blowing out Mb′：
Under each operating mode such as normally, blow out, power steering square (or moment of resistance) MaFor nominal situation motor power-assisted square Ma1It is flat with blowing out Weigh power-assisted square Ma2The sum of：
Ma=Ma1+Ma2、Ma2=-Mb′
G in formulamFor retarder reduction ratio, kmFor motor torque coefficient, imFor armature power-assisted electric current, θm(θm1, θm2) it is electricity Machine corner, BmFor machine shaft Equivalent damping coefficient, McFor steering-wheel torque, jmIt is steering wheel for machine shaft rotary inertia, δ Corner, jcFor steering steering wheel equivalent moment of inertia, BcFor steering equivalent directions disk damped coefficient.
2., power steering controller
Power steering controller 141 works out control program or software according to power steering control model, model and algorithm, Electronic control unit is set.
I, direction determining device 142；Flywheel moment of blowing out Mb' forming process it is consistent with true process of blowing out, in Mb' shape At in the process, work as Mb' reach by steering wheel angle δ, steering-wheel torque Mc(or steering wheel angle and torque) and its direction is critical Determined by point when a critical condition (critical value), steering wheel (or deflecting roller) corner δ, torque M can be passed throughcDirection and its sentence Determine logic decision Mb' direction, direction determining device 142 are based on the flywheel moment M that blows out made by the resolution principle, decision logicb' Direction determining has uniqueness.
Power steering controller provides：With steering wheel angle δ and torque Mc(or steering wheel angle and torque) turns to samsara Torque Mk(including aligning torque Mj, flywheel moment of blowing out Mb', steering resisting moment etc.), steering wheel (or deflecting roller) rotation angular sensing The surveyed corner δ of device, torque sensor and torque Mc0 point be origin.It is provided based on origin：The surveyed corner of rotary angle transmitter is just Journey (corner increase) is positive (+), backhaul (corner reduction) is negative (-).Based on steering wheel angle δ (or steering wheel angle), sensing The origin (0 point) of the surveyed corner of device, by steering wheel angle, δ points are left-handed and dextrorotation (counterclockwise and clockwise)：When corner δ is the right side , it is specified that steering-wheel torque M when rotationc(or the surveyed torque of torque sensor) dextrorotation is positive (+), left-handed for negative (-).When corner δ is , it is specified that steering-wheel torque M when left-handedcIt is positive (+) that (the surveyed torque of sensor) is left-handed, dextrorotation is negative (-).That is steering wheel angle δ With 0 by origin, steering wheel or so when oppositely oriented, it is specified that steering wheel (or torque sensor is surveyed) torque positive (+), negative (-) is opposite.It provides simultaneously：Flywheel moment of blowing out M 'b, power steering square MaDirection provide with the regulation in the directions steering wheel angle δ It is identical, it is used in combination corresponding positive (+), negative (-) to indicate.
One, torque direction determinating mode.Based on above-mentioned steering wheel angle δ and torque MCOrigin regulation, steering wheel turn Angle δ rotates left and right the regulation in direction, steering-wheel torque MCDirection and MCIncrease decrement Δ MCThe regulation of positive (+) negative (-) and quick-fried Tire flywheel moment Mb' direction and power steering square MaPositive (+) negative (-) regulation in direction is established steering wheel angle δ dextrorotation and (or is turned to Wheel turn right) when the flywheel moment M ' that blows outb, power steering square MaThe decision logic in direction positive (+) negative (-), the decision logic can be by The logical diagram of following " torque direction determinating modes " is shown, according to the logical diagram of decision logic, determines flywheel moment of blowing out Mb' and power steering square MaDirection.
Torque direction determinating mode：δ dextrorotation logical diagrams
δ McRotation direction (right side) ΔMc M′b Ma
+ + + or 0 0 0
- (by+turn -) Or 0 0 0
- + Or 0 0 0
+ - + + -
+ (by+turn -) + + -
- (by+turn -) + or 0 0 0
- + + - +
Torque direction determinating mode：The left-handed logical diagrams of δ omit.
Based on steering wheel angle δ and torque MCOrigin regulation, when steering wheel angle δ left-handed (or deflecting roller left-hand rotation), turn To when positive (+) of disk torque (or the surveyed torque of sensor), negative (-) regulation and steering wheel angle δ dextrorotation (or deflecting roller right-hand rotation) Positive (+) negative (-) regulation it is just the opposite.According to negative (-) regulation of positive (+) of steering wheel angle δ when left-handed, steering wheel can be established and turned Angle δ blows out flywheel moment M ' when left-handedb, power steering square MaWalking direction logic, except above-mentioned steering wheel angle δ rotation directions difference Except positive (+) negative (-) the regulation difference used, walking direction logic and the ginseng of logical diagram use when steering wheel angle δ is left-handed Number, structure, determination flow and mode with above-mentioned steering wheel angle δ dextrorotation (deflecting roller right-hand rotation) when used parameter, structure, Determination flow is identical with mode.
Secondly, outer corner difference direction determining pattern.Based on above-mentioned steering wheel angle δ torque MsCOrigin regulation, steering wheel turn The absolute corner δ that two sensors measure set by angle δ left-right rotaries (or deflecting roller left/right rotation) regulation, steering system torque arm both ends is (right Nonrotational reference system) positive (+) negative (-) regulation, the regulation of corner difference positive (+) negative (-) and the flywheel moment M that blows outb' Direction and power steering square MaPositive (+) in direction, negative (-) regulation determines that positive (+) of the surveyed corner difference DELTA δ of two sensors is negative Positive (+) negative (-) of (-), corner difference DELTA δ essentially indicates steering-wheel torque MCPositive (+) of direction of rotation is negative (-), establishes The flywheel moment M ' that blows out when steering wheel angle δ dextrorotation (or deflecting roller right-hand rotation)b, power steering square MaDirection positive (+) negative (-) Decision logic, which can be shown by the logical diagram of following " outer corner difference direction determining patterns ", be judged according to the direction The logical diagram of logic determines the flywheel moment M that blows outb' and power steering square MaDirection.
Outer corner difference direction determining pattern：Difference DELTA δ is positive steering wheel dextrorotation logical diagram
δ Δδ ΔMc M′b Ma
+ + + or 0 0 0
- (by+turn -) Or 0 0 0
- + Or 0 0 0
+ - + + -
+ (by+turn -) + + -
- (by+turn -) + 0 0
- + + - +
Outer corner difference direction determining pattern：Difference DELTA δ is that the negative left-handed logical diagram of steering wheel omits
Based on steering wheel angle δ and torque MCOrigin regulation, when steering wheel angle δ left-handed (or deflecting roller left-hand rotation), turn When bearing (-) regulation and steering wheel angle δ dextrorotation (or deflecting roller right-hand rotation) to positive (+) of disk torque (the surveyed torque of sensor) just (+), negative (-) regulation was just the opposite.According to positive (+) negative (-) regulations of its δ when left-handed, can establish steering wheel angle δ it is left-handed when Flywheel moment of blowing out M 'b, power steering square MaWalking direction logic, positive (+) used except above-mentioned steering wheel angle δ rotation direction differences Except negative (-) regulation is different, walking direction logic and the parameter of logical diagram use, structure, judgement when steering wheel angle δ is left-handed Flow and mode with above-mentioned steering wheel angle δ dextrorotation (or deflecting roller right-hand rotation) when used parameter, structure, determination flow and Mode is identical.
Blow out flywheel moment M ' in above-mentioned each tablebNominal situation is indicated for 0, is not blown out.Pass through the flywheel moment M ' that blows outb's Positive (+) or negative (-) can be determined whether that wheel is blown out.Flywheel moment of blowing out M 'bM ' is indicated for positive (+)bIt is directed toward steering wheel and turns in direction The direction of angle δ traces, power steering square MaDirection be directed toward 0 of δ.Flywheel moment of blowing out M 'bM ' is indicated for negative (-)bDirection refers to To the direction of steering wheel angle δ backhauls, power steering square MaDirection be directed toward δ trace direction.Wherein Δ McShow ground for 0 Face acts on the turning power M of deflecting rollerkIt is in dynamic balance state, and M with steering-wheel torquekChange rate be 0.
Thirdly, according to blow out wheel position and field test judgement Mb' direction：Front axle wheel is blown out, flywheel moment of blowing out Mb' direction be directed toward blow out wheel position same direction side (left or right).Similarly, it blows out for rear axle wheel, according to blowing out Position, steering wheel angle direction and field test are taken turns, can determine that the flywheel moment M that blows out suffered by deflecting rollerb' direction.
Four, Vehicular yaw determinating mode.After vehicle flat tire, the understeer of left turning vehicle and excessively turning for right-turning vehicles To showing that off-front wheel blows out, the oversteering of right-turning vehicles understeer and left turning vehicle shows that the near front wheel is blown out.According to steering The deficiency or oversteering of the disk directions corner δ and vehicle equally can determine that deflecting roller is blown out flywheel moment caused by trailing wheel is blown out Mb' direction.
Ii, power steering square controller
The controller 141 includes E controller 143 and G controllers 144.Steering-wheel torque sensor detection parameters signal Mc2 E controller 143 is inputted through phase compensator 146.E controller 143 is with steering-wheel torque McFor variable, with speed uxFor parameter, On the positive and negative stroke of steering wheel angle δ, variable M is establishedcWith parameter uxNominal situation power steering square Ma1Characterisitic function 156：
Ma1=f (Mc, ux)
On the positive and negative stroke of steering wheel angle, Ma1Characterisitic function is two not exactly the same or different functions, " different Function " is expressed as：On the positive and negative stroke of steering wheel angle, any point on two function curves, parameter McAnd uxValue phase Function M togethera1Value and curve near tangent slope it is different, the curve of characterisitic function uses broken line form Figure 15.Based on characteristic Function calculates parameter uxUnder the conditions of each value, variable McAnd function Ma1Between respective value, formulate parameter ux, variable Mc's Function respective value Ma1Numerical value chart, which is stored in electronic control unit.It normally and blows out under operating mode, journey is controlled by power-assisted steering Sequence, controller is with steering-wheel torque Mc, speed uxNominal situation power steering is called from electronic control unit using look-up table for parameter The target control value M of squarea1。
It blows out under operating mode, E controller 143 mainly determines the flywheel moment M that blows out using following both of whichb′。
Pattern one：Mb' reach by steering wheel angle δ, steering-wheel torque McDetermining critical point, and the turning power M that blows outb' square Direction is it has been determined that Mb' value can be by steering-wheel torque Mc, steering wheel angle δ, aligning torque Mj, steering wheel (or deflecting roller) revolution Torque increment Delta McIt is determined for the mathematical model and steering mechanical equation of parameter.It is controlled using this flywheel moment in each parameter Coordinate system, under origin and the rated condition in direction, the kinetics equation of electric boosting steering system (EPS) determines when blowing out Flywheel moment M in ground suffered by deflecting rollerk：
When the equation does not include motor mechanical system, system dynamics equation is：
M in formulakIncluding aligning torque Mj, flywheel moment of blowing out Mb', vehicle wheel rotation moment of resistance Mg, the meaning of each primary and secondary with it is above-mentioned The mechanical equation of EPS system is identical, Mk、Mc、Mj、M′bDirection determined by the actual direction of each parameter in a coordinate system.
Pattern two：Structure based on runflat condition, blow out control stage and braking system, E controller 143 is with wheel half of blowing out Diameter Ri(or vertical lateral rigidity), slip rate Si, load Nzi, friction coefficient μi, tire pressure pri, or with deflecting roller balance car wheel set two take turns Equivalent opposite angular velocity omegae, angular decelerationSteering wheel angle δ, speed ux, vehicle side accelerationYaw velocity shape State deviationFor main input parameter signal 155, the turning power M ' that blows out of its parameter is establishedbEquivalent Calculation Model, use The respective algorithms of the modern scientists reason wheel such as PID, sliding formwork control, fuzzy, sliding formwork control determine M with tire burst testb' value, passes through One additional power steering square Ma2With the flywheel moment M that blows outb' balance each other：
Ma2=-M 'b==Mb
M in formulabFor realizing balanced rotation torque of blowing out.For the vehicle of vehicle stabilization control programming system (ESP) is not arranged, before blowing out It phase and really blows out the phase, mainly the following equivalent function models of use determine Mb′：
Mb' or determined by the empirical equation of tire burst test.For the vehicle of ESP is arranged, blows out and early period and really blow out the phase, adopt M is determined with following equivalent modelsb′：
Inflection point of blowing out and knocking over control period, withωe、Or anduxFor major parameter, following equivalent moulds are mainly established Type determines Mb′：
M in formulab' it is each nonlinearity in parameters function.It is calculated to simplify, mainly uses MbThe correction model of ' relevant parameter：
Mb'=f (pri, Si, Nzi, λ1)、
λ in formula1、λ2For correction factor.It blows out under operating mode, G controllers determine power steering square target control value Ma, MaFor normal work Condition power steering square target control value Ma1With the power steering square M that blows outa2The sum of 147：
Ma=Ma1+Ma2
M in formulaa2For the flywheel moment M that blows outb' trimming moment.G controllers are by torque and current of electric or voltage relationship model 148 by MaBe converted to current of electric imcOr voltage Vmc：
imc=f (Ma)、Vmc=f (Ma)
Power steering controller 141 presses power steering square target control value MaCarry out power-assisted steering control of blowing out.
Iii, power steering control electronic control unit
145 data processing of electronic control unit and control module include mainly microcontroller (MCU) and peripheral circuit, setting signal Adjusting, pressure limiting, driving submodule 149,150,151, based on power steering control model, model and the algorithm of blowing out, by control journey Sequence or software carry out data processing.Signal Regulation submodule 149 presses PID modulation systems, and through 150 pressure limiting of pressure limiting submodule, defeated Go out DC chopped-wave signal (PWM).The signal inputs the driving submodule 151 being mainly made of driver and output interface.Driving Submodule 151 is mainly by driving circuit, FET-H electric bridges, current sensor 152, electric currentBackfeed loop is constituted.Sensor 152 Detection flows through the electric current of armatureElectric currentThrough circuit feedback to the current input terminal for adjusting submodule 149.Automatically controlled list Member 145 is by the power-assisted steering current target controlling value of outputThe actual current value detected with current sensor 152It carries out Difference operation obtains deviation signal
Target currentWith actual currentClosed loop is constituted, deviation signal is based onBy Current Negative Three-Point Capacitance, electric current is realized Negative feedback closed loop controls.
Iv, power steering apparatus and control flow
145 output signal of electronic control unit, controls the assist motor in electric booster 153, and assist motor output turns to Power-assisted square normally, is blown out under operating mode through machine driving and deceleration device into steering 154, power steering apparatus 141, Realize power-assisted steering control.
3., steering wheel torque control device
I, steering wheel torque control device 160.The controller setting direction judging device 161 defines steering-wheel torque target control Value M processedc1With the real-time detected value M of steering-wheel torque sensorc2Between deviation delta Mc：
ΔMc=Mc1-Mc2
Power steering square M is determined according to positive and negative (+, -)a, assist motor electric current imAnd assist motor rotation direction.As Δ McFor just When (+), power steering square MaDirection be MaIncreased direction, MaAs a power steering square.As Δ McWhen to bear (-), turn to Power-assisted square MaDirection be MaThe direction of reduction, MaThen become a steering resisting moment.Pass through the closed loop control of steering wheel torque control device System, makes steering-wheel torque actual value (measured value) Mc2Always its target control value M is trackedc1.Steering wheel torque control device 160 wraps Include E controller and G controllers 162.E controller 162 is variable with steering angle δ 164, with speed ux165, steering wheel rotation Angular speed166 be parameter, using steering wheel torque control pattern, establishes steering-wheel torque McCharacterisitic function and function it is bent Line：
λ is in formulaPenalty coefficient, f (δ, ux) using linearly or nonlinearly form, include mainly broken line type Figure 16, according to folding Linear function determines nominal situation steering-wheel torque target control value Mc1.Numerical value chart, the figure are formulated based on each parameter calculated value Table is stored in electronic control unit.Normally, it blows out under operating mode, electronic control unit controls program by the power-assisted steering that controller uses, to turn To disk corner δ, speed ux, steering wheel rotation angular speedSteering wheel is called from electronic control unit by look-up table for major parameter The target control value M of torquec1.Define steering-wheel torque target control value Mc1With the real-time detected value M of steering-wheel torque sensorc2 Between deviation delta Mc：
ΔMc=Mc1-Mc2
Based on deviation delta Mc, establish the operating mode power steering square M that blows outaCharacterisitic function：
Ma=f (Δ Mc)
MaWhen using linear model：
Ma=k Δs Mc
K is coefficient in formula.G controllers are by torque and current of electric or voltage relationship model, by MaBe converted to current of electric imcOr Voltage Vmc：
imc=f (Ma)、Vmc=f (Ma)
Steering wheel torque control device 160 presses power steering square target control value MaCarry out power-assisted steering control of blowing out.
Ii, steering wheel torque control electronic control unit
163 data processing of electronic control unit and control module include mainly microcontroller (MCU) and peripheral circuit, setting signal Adjusting, pressure limiting, driving submodule 167,168,169, based on steering wheel torque control pattern, model and the algorithm of blowing out, by control Program or software carry out data processing.Data processing and control module are by steering-wheel torqueTarget control electric currentWith steering Disk torque sensor detects electric current in real timeDifference operation is carried out, offset current is obtained
Offset currentFor assist motor target control electric current.Offset currentPass through the PID tune of Signal Regulation submodule 167 Section obtains DC chopped-wave signal (PWM), and pwm signal is handled through sub 168 pressure limitings of pressure limiting module, input driving submodule 169.It drives Mover module 169 is mainly made of driving circuit, FET-H electric bridges, current sensor 171 and detection circuit etc., and each circuit is micro- The minimum peripheral circuit of controller (MCU).Microcontroller (MCU) uses closed-loop control, the electric current of armatureFlow through electricity Flow sensor 171, then the input terminal through circuit feedback to microcontroller (MCU), target currentWith actual currentIt constitutes Closed loop passes through armature electric currentTo its target control electric currentInto line trace, make steering wheel actual torque Mc2Always with Its target control value of track Mc1.Regulated power supply 173 uses vehicle-mounted control power supply, power-assisted steering to control signal by driving submodule 169 Output.
Iii, steering-wheel torque power assisting device and control flow
Electronic control unit drives submodule 169 to export power-assisted steering signal, in the logic loops of power-assisted steering controlling cycle, The assist motor 170 in electric booster is controlled, the power steering square that assist motor 170 exports is filled through machine driving, deceleration It sets, inputs steering 172, carry out power-assisted steering control.
4., steering wheel angle and steering-wheel torque jointly control pattern and controller
It blows out and turns in turning power control, united controller jointly controls pattern by it, with steering-wheel torque McAnd it turns to Disk corner δ variables in order to control, using steering-wheel torque McWith steering wheel angle δ and rotational angular velocityThe coordination of two-parameter coupling Control provides power steering or the moment of resistance ± M in positive and negative both direction by steering assist motor to steeringa；Simultaneously By steering wheel angle control model, the assist motor in power steering apparatus and power assisting device is controlled, steering wheel is thus controlled and turns Square Mc, corner δ and rotational angular velocityIt is two-parameter, under certain speed and ground friction coefficient, limits, adjusts steering wheel or turn Hard-over to wheel or best corner limit, adjust maximum rotation angular speed or the optimum rotation angle of steering wheel or deflecting roller Speed.
5., deflecting roller turning power control structure and flow
I, mechanical steering device 175 and electric booster 176 is arranged in electric boosting steering system 174.Mechanical steering fills Setting 175 includes mainly：(rack-and-pinion passes for steering wheel 177, steering column 178, torque arm 179, steering gear 180, mechanical driving device Motivation structure) 181, wheel 182.Electric booster 176 mainly by：Rotary angle transmitter 183, torque sensor 184, electronic control unit 185, steering assist motor 186, transmission and deceleration device (or and clutch) 187 are constituted.Deflecting roller turns round set by force controller Electronic control unit is defeated with speed, steering-wheel torque and direction, current of electric, motor speed, motor torque sensor detection signal Enter parameter signal, setting input, data processing and control, power supply, monitoring, output, postposition conversion module, wherein input module packet Input interface, sensor signal processing circuit are included, output module includes driving and protecting circuit.Based on each input parameter signal, Data processing and control module judgement deflecting roller flywheel moment, steering assist motor current direction and rotation direction, turn by blowing out The program or software worked out to Power assisted control pattern, model and algorithm carry out data and control process, control signal and by exporting Module exports.Control signal by postposition conversion module carry out control model conversion, output deflecting roller blow out flywheel moment control letter Number ga, signal gaThe steering assist motor 186 in electric booster 176 is controlled, assist motor 186 is in regulation rotation direction Power steering square is exported, power steering square inputs mechanical steering device 175 through transmission, deceleration device (or and clutch) 187, Any angular position of steering wheel provides power steering or the moment of resistance to steering, realizes normal, operating mode of blowing out to steering wheel Torque and the control of power steering square.
Ii, electric-controlled hydraulic power-assisted steering executive device.The device is based on Electro-Hydraulic Power Steering System (EPHS), by machine Tool steering and electric-controlled hydraulic force aid system are constituted.Mechanical steering system includes motor, pump, steering control valve, power cylinder, machine Tool transmission device, solenoid valve etc., using flow or hydraulic power control structure and mode：Including flow, hydraulic cylinder shunting, pressure The types such as feedback and valve characteristic.Electronic control unit output control signal gb1And gb2.Signal gb1It controls in EPHS flow-control modules Servo motor rotating speed or control hydraulic cylinder flow dividing structure in solenoid diverter valve aperture or control pressure structure in electro-hydraulic turn Parallel operation and reaction force solenoid valve adjust the flow or pressure of fluid in input hydraulic pressure power cylinder.Signal gb2Control hydraulic power Two chamber of cylinder set solenoid directional control valve in input or output pipe replaces, and realizes the input of two chamber of fluid power cylinder or output stream The switching in body direction, and by the change in fluid power cylinder inner piston rod power output direction, in any corner position of steering Set the power steering or the moment of resistance for providing that direction determines.
8), lift suspension controller and executive device
Referring to Figure 17.Lift suspension executive device be based on vehicle-mounted suspension system, according to controller, electronic control unit type and Corresponding control module is arranged in structure.
1., suspension lift control 190
Controller 190 is with tire pressure (or wheel effective rolling radius), suspension position height, liquid (gas) pressure and flow, suspension The sensors detection parameters signal such as velocity of displacement and acceleration be main input parameter signal, based on Suspension Construction Parameters (including Elastic element rigidity Gv, damping, wheel weight etc.), by field test, establish normal, operating mode of blowing out suspension lift control Molding formula, model and algorithm, determine in real time it is normal, blow out under each operating mode, it is each to take turns suspension position height target control value SvAnd reality Measured value Sv′.Input, control model conversion, suspension rate adjusting, suspension vibration damping resistance regulation, suspension is mainly arranged in controller 190 Stroke adjustment, coordination, monitoring, output module 191,192,193,194,195,196,197,198.Control entering signal of blowing out ia When arrival, control model conversion module 192 uses Program transformation control model, and calling, which is blown out, controls subprogram.Coordination module 196 Three modules 193,194,195 are adjusted to suspension rate, vibration damping resistance, suspension travel and carry out coordination control.Into control of blowing out When, the vibration damping that Coordination module 196 terminates wheel damping control module 194 of blowing out at once is adjusted, and is allowed to set for 0 or up to one Value.Suspension rate control module 193 adjusts each wheel suspension rate including wheel of blowing out.Suspension travel adjustment module 195 is wrapped It includes each wheel including blowing out wheel and enters suspension travel shaping modes of blowing out：To blow out, wheel effective rolling radius, wheel load of blowing out turn Shifting amount is major parameter, establishes the mathematical model of its parameter, determines and respectively takes turns suspension position regulated value S after blowing outv3And respectively take turns suspension Position height target control value Sv.According to suspension position height measured value Sv' and target control value SvDeviation ev(t), by inclined Poor ev(t) feedback control realizes the adjusting of each wheel suspension position height including wheel of blowing out.
2., lift suspension executive device
I, suspension position height, which is adjusted, uses air spring suspension 199.Suspension lift unit 200 is mainly by compression pump, storage Energy device, air pressure and flow regulator are constituted, and the suspension travel adjustment module 195 of suspension lift control 190 is with suspension lift Input pressure pv, flow QvFor major parameter, its parameter and suspension stroke positions height S are establishedv, load Nzi, suspension rate Gv Between relational model, based on the model carry out data processing, output module 198 export suspension lift Regulate signal, control rise Lift air bag of the power apparatus 200 into air spring inputs air mass flow, the pressure adjusted via lift unit 200, to adjust Save suspension position height.
Ii, suspension lift unit and damper constitute compound suspension frame.The compound suspension frame uses piston type dual-tube shock absorber, subtracts Daming piston and piston rod is arranged in the device inner cylinder tube that shakes, and damping (butterfly) valve, electromagnetism (or hydraulic pressure) switch valve are arranged in daming piston, living It lays power of electromagnetic valve line in stopper rod through-hole, piston rod through-hole or connect with hydraulic power source, the set piston of damper inner cylinder tube is isolated Two cylinder constitute the upper and lower cylinder of damping, under damping cylinder bottom seat setting hydraulic power source input interface and connection in outer cylinder electromagnetism throttling Electromagnetic relief valve is arranged in valve, damping upper cylinder half footstock.Entering signal of blowing out iaWhen arrival, suspension lift control 190 exports suspension Position height Regulate signal group gv1、gv2、gv3.Signal gv1The electromagnetic throttle valve of outer cylinder is closed, is subtracted in cylinder connection under control damping Shake upper cylinder half footstock overflow valve is opened, set electromagnetic switch valve is closed in piston, and the channel of damping or more cylinder is connected in piston thus It closes, cylinder is a lift cylinder under damping, and damping upper cylinder half liquid stream can enter liquid storage cylinder through overflow valve.Suspension lift unit is moved by hydraulic pressure Power source, accumulator and hydraulic servo regulating device are constituted, signal gv2The pressure fluid of hydraulic servo regulating device output is controlled through work Plug cylinder pedestal input port enters cylinder under damping, passes through the mobile adjusting suspension position height of daming piston and piston rod.Damping is lived It fills in circular cylinder and secondary tension sealing ring is set, when suspension lift of blowing out is adjusted, dashpot piston bar endoporus input pressure liquid, in liquid The lower secondary tension sealing ring of pressure effect is further expanded, and realizes the secondary tight seal of daming piston movement.
Iii, automatically controlled air lift device and air spring, damper forming composite structure, the interior setting of air-spring bellows Lift air bag and air-spring bellows double-air sac structure, and it is compound with hydraulic damper.
Iv, electric-controlled mechanical lift unit and air spring, hydraulic damper forming composite structure, wherein electric-controlled mechanical lift Device is mainly made of motor, the devices such as increasing square, rack-and-pinion or planetary gear that slow down.Electronic control unit output signal gl1、gl2、 gl3It controls each device and realizes suspension rate, damping damping and the adjusting of position height.
9), embodiment.The embodiment that this method uses includes mainly following I and II two types
Embodiment I.Referring to Figure 18.This method is based on vehicle-mounted braking, engine air throttle and automatically controlled servo steering system, adopts With state tire pressure or turn to mechanical state determinating mode of blowing out, with balance car wheel set two take turns equivalent, non-equivalent Relative sliding rate, Yaw velocity deviation, power steering square deviation or with steering wheel angle deviation be major parameter recognition mode of blowing out, model, Carry out judgement of blowing out.By vehicle-mounted CAN data/address bus or direct physical routing, the data of this control and onboard system control are realized Transmission.This method use communication protocol control translative mode, by the active for control of blowing out, coordinate enter and exit pattern, Model, setting braking, engine air throttle, steering-wheel torque torque controller.Based on controller, the type of electronic control unit, knot Corresponding control module is arranged in structure.Control flow is：Onboard system and 210 detection parameters of sensor set by controller of blowing out are believed Number by 5 input brake controller of main controller, engine air throttle, steering wheel torque control device, controller carries out data processing, Output signal controls electric control hydraulic braking arrangement, engine throttle door gear and automatically controlled servo steering system, realizes vehicle flat tire Indirect control.
1., blow out master control and brake monitor
Main controller of blowing out uses integrated design (abbreviation brake monitor) with brake monitor, and brake monitor is blown out The control for brake that control for brake distributes EBD systems with vehicle-mounted braking anti-lock/antiskid system (ABS/ASR), electronic braking force is simultaneous Hold, the main arrange parameter calculating of brake monitor, judgement of blowing out, control model is converted, collision prevention of vehicle is adaptively coordinated, control of blowing out System actively, coordinate to enter and exit controller, exit, adaptively exit and control of blowing out returns to control with artificial control of blowing out is set Device, vehicle respectively take turns braking force distribution and controller, active compatible controller.Judging device adoption status tire pressure of blowing out blow out pattern knowledge Judgement of blowing out is not carried out.Control model converter uses the control model conversion regime of communication protocol.According to really blowing out, blow out Inflection point, wheel rim separation, control singular point, control conversion critical point set up early period of blowing out, true blow out phase, inflection point of blowing out and wheel rim The separation phase.By blowing out, control period and anticollision control time zone, using the pattern of braking A, B, C, D control and its logical groups, model into Row is blown out and control is coordinated in anticollision.Based on electronic control unit (ECU) 211 set by set controller, input/output (figure is mainly set In do not mark), data acquisition and procession, communication, control model conversion, data processing, braking compatibility, monitoring, regulated power supply etc. Module 214,215,216,217,218,219,220.When signal of tyre burst I arrives, the progress of control model conversion module is normal, blows out Operating conditions pattern is converted, and data processing module carries out data processing by control program or software, and braking compatible modules are to braking It controls signal and carries out compatible processing, power module is all the sensors, electronic control unit and executive device provide regulated power supply.Signal Through driving output module output, control is mainly by hydraulic power supply and accumulator 221, master cylinder 222, regulator 223, system The braking executive device 225 that driving wheel cylinder 224 is constituted.Braking executive device is dynamic with automatically controlled servo steering device or with shared hydraulic pressure is set Power source and accumulator.Electronic control unit output signal is in a manner of pulsewidth modulation (PWM), the pressure adjusting structure and pattern of circulation cycle, even Continuous each high-speed switch electromagnetic valve taken turns in regulator and brake circuit of control, passes through voltage-regulating system supercharging, decompression and pressurize Regulative mode adjusts the hydraulic coupling in wheel cylinder, carries out each wheel braking force distribution and control, realization blow out wheel stable state control, Non- blow out wheel braking anti-lock, driving wheel be anti-skidding, each wheel electric control power distribution and vehicle flat tire and non-stability control of blowing out.
2., throttle controller
Throttle controller 212 is based on vehicle electronics air throttle (ETC), is arranged or shares accelerator pedal position, section with ETC The sensors such as valve opening 231.Throttle control module 226 is arranged in controller 212, and through data/address bus 21, control of blowing out enters Signal iaWhen arrival, which calls air throttle to blow out and controls subprogram, be transferred to section of blowing out Valve controls, and adjusts engine output indirectly.Controller 212 is successively decreased using air throttle, constant, dynamic, idling joint are controlled Molding formula.After blowing out control subprogram into air throttle, air throttle enters constant pattern, and closes the section in throttle body 227 Valve 228, or adjust set idling regulator valve 229, indirect control engine fuel injection or end on air throttle idle speed air admission road Only oil spout, and air throttle dynamic control pattern is converted in the secondary stroke of gas pedal, using the positive and negative stroke of gas pedal Asymmetric dynamic function mode and model, dynamic regulation throttle opening, the oil spout of indirect control fuel injection system 230 Amount, coordinate engine driving and blow out active brake when throttle control.When engine reaches idling logic threshold, it is transferred to idle Fast control model, the aperture that regulation and control air throttle idling mode determines, engine enter idle speed control.It blows out and exits signal ieIt arrives When, ETC returns to nominal situation throttle control.
3., deflecting roller turning power (square) controller
Deflecting roller turns round force controller 213 and is based on vehicle mounted electric power-assisted or Electro-Hydraulic Power Steering System, using steering Disk torque control model, model and algorithm.213 setting direction judging device 240 of steering wheel torque control device and controller 241.
I, direction determining device
Direction determining device 240, using steering-wheel torque determinating mode, directly judgement turns to and helps square power MaDirection, definition Steering-wheel torque target control value Mc1With the real-time detected value M of steering-wheel torque sensorc2Between deviation delta Mc：ΔMc=Mc1- Mc2.According to deviation delta McPositive and negative (+, -), determine power steering square Ma, assist motor electric current imAnd assist motor rotation direction. As Δ McFor timing, power steering square MaDirection be power-assisted square MaIncreased direction, as Δ McWhen being negative, power steering square Ma's Direction is power steering square MaThe direction of reduction, i.e. moment of resistance MaIncreased direction.
Ii, controller；Controller 241 is blown out control model, model and characterisitic function using steering-wheel torque, and E and G is arranged Controller 242,243 sets steering wheel torque control cycle Hn, E controller 242 using steering wheel angle δ as variable, with speed ux、 Steering wheel rotation angular speedFor main parameter, steering-wheel torque M is establishedcModel, characterisitic function：Mc=f (δ, ux) orAnd function curve diagram, function curve include straight line, broken line or curve three types.E controller 242 According to characterisitic function model, nominal situation steering-wheel torque target control value M is determinedc1, numerical value figure is formulated based on each parameter calculated value Table, the chart are stored in electronic control unit.Normally, it blows out under operating mode, electronic control unit presses the control program that controller uses, to turn to Disk corner δ, speed ux, steering wheel rotation angular speedSteering-wheel torque is called from electronic control unit by look-up table for parameter Target control value Mc1.Determine Mc1With the real-time detected value M of steering-wheel torque sensorc2Between deviation delta Mc, pass through deviation delta Mc Function model, determine normal and operating mode steering wheel power-assisted (or resistance) the square M that blows outa：Ma=f (Δ Mc), G controllers 243, which are pressed, to be turned Square MaWith the electric current i of motormOr voltage VMRelational model, by MaBe converted to the control of power assisting device (including mainly motor) 244 Electric current imaOr voltage Vma.Electronic control unit uses closed-loop control, and microcontroller (MCU) is with imaOr VmaFor primary parameter signal, pass through Submodule is adjusted to motor target control electric currentAnd row PID modulation, DC chopped-wave signal (PWM) is obtained, pwm signal is through pressure limiting Submodule inputs driver, and driving submodule output signal controls assist motor in electric boosting steering system 245, assist motor The torque of output provides the power steering or resistance that direction determines through mechanical driving device and steering 245, to steering 245 Torque realizes deflecting roller turning power control of blowing out.This method is controlled by braking, air throttle or with deflecting roller turning power, is realized Vehicle stabilization of blowing out slows down and stability control.
Embodiment II.Referring to Figure 19.The control of this method be based on vehicle-mounted braking, engine fuel injection, steering-by-wire or And suspension system, onboard system and sensor detection signal 250 set by controller of blowing out are transmission of data bus 21.It blows out controller Using the determinating mode of blowing out of detection tire, equivalent, non-equivalent opposite angular speed, sideway are taken turns to detect tire pressure and balance car wheel set two Angular speed deviation is major parameter, and the detection tire pressure of foundation is blown out pattern-recognition, the judgement of blowing out of progress.Pass through vehicle-mounted CAN number According to bus or direct physical routing, the data transmission of this method control and onboard system control is realized.By program or external conversion The control model conversion regime of device is blown out, non-blow out control model conversion and the conversion of each control model of control period of blowing out. This method using blow out control active, coordinate enter and exit pattern, model, setting brake, engine braking, Engine fuel injection, steering-by-wire or with the independence of suspension, tuning controller.Control model of blowing out based on controller, mould Type and algorithm program or software, and by the type of electronic control unit, structure, corresponding control module is arranged.Control flow is：It is quick-fried The set sensor detection parameters signal of tire control inputs engine braking, artificial or active by data/address bus or physical routing Braking, engine fuel injection, steering-by-wire and suspension controller, controller carry out data processing, and output signal control is automatically controlled Hydraulic braking or line traffic control mechanical brake device, fuel-injection device for engine, steering-by-wire or with suspension executive device, realize quick-fried The wheel stable state of tire vehicle, vehicle stabilization deceleration (or acceleration), intact stability control.
1., main controller of blowing out
5 arrange parameter of main controller of blowing out calculating, the estimation of state tire pressure, judgement of blowing out, control model conversion, information of vehicles are mutual Tuning controller is handed over, it is same to set manual control, adaptively exit and return to and coordinate sub-controller.According to set electronic control unit Corresponding control module is arranged in structure and type, control model, model and the algorithm used by master controller program it is acute or Software.
2., engine brake controller
Its controller 251 is based on 256 air throttle of engine, fuel injection equipment (FIE), automatic transmission 257, total by data Line 21 obtains blowing out for engine speed, air throttle, each sensor detection signal of fuel injection system and the output of main controller 5 Signal I.Entering signal of blowing out iaWhen arrival, no matter which kind of position gas pedal or air throttle are in, and the termination of controller 251 is started The fuel Injection Control of 256 nominal situation of machine is controlled by the race of engine, speed-changing braking control model into engine braking. Engine brake controller is with the gear ratio k of automatic transmission 257gIn order to control variable, with throttle opening DjFor parameter, lead to Overregulate gear ratio kgOr with throttle opening Dj, engine brake force is controlled, and limit engine peak speed.It is sent out when meeting When exit criteria as defined in motivation braking, i.e. engine braking respectively exit signal arrival, engine braking exits.
3., brake monitor
Controller 252 is based on vehicle-mounted braking anti-lock/anti-skidding (ABS/ASR) system, electronic braking force distributes (EBD) system System, stabilizing control system (VSC), Study on Vehicle Dynamic Control system (VDC) or electronic stability program system (ESP), using wheel Stable state respectively takes turns the logic loops that balancing brake, vehicle stable state, brake force total amount (A, B, C, D) control 258 types and combinations thereof. According to really blowing out, the separation of inflection point of blowing out, wheel rim, control singular point, controlling conversion critical point, determines early period of blowing out, really blows out Phase, inflection point of blowing out and wheel rim detach the phase.By control period and the anticollision control time zone of blowing out, in each controlling cycle HhA, B, C, D control It makes in 258 logic loops, using the signal of fore-aft vehicle anticollision and control period of respectively blowing out as conversion signal, realizes that each control for brake is patrolled Collect the conversion of combination.Brake control logic combines：Deng, and by corresponding Control model, model and algorithm are blown out and control is coordinated in anticollision.Electronic control unit set by controller 252 is mainly arranged data and adopts Collection and processing, communication, control model conversion, data processing, monitoring, the compatible, power supply of braking, output module.Signal of tyre burst I arrives When, electronic control unit output signal controls line traffic control mechanical braking executive device；Electronic control unit output signal or control are mainly by braking The hydraulic braking that master cylinder, regulator, hydraulic power supply and accumulator, wheel cylinder 259,260,261,262 are constituted executes dress 263 are set, with pulsewidth (PWM) modulation system, the pressure adjusting structure and control model of circulation cycle or variable volume, continuous control are respectively taken turns High-speed switch electromagnetic valve in brake circuit adjusts wheel cylinder by the regulative mode of voltage-regulating system supercharging, decompression and pressurize In hydraulic coupling, carry out each wheel braking force distribution and control；Realization is blown out and ABS/ASR, EBD, VSC, VDC or ESP control are simultaneous Hold.
4., fuel injection control apparatus
Fuel injection control apparatus 253 is based on controlled vehicle-mounted electrical fuel injection system (EFI), electronic throttle system (ETC), and It is shared to realize that device resource shares therewith.Fuel controller 264 and air inlet amount controller 265 is arranged in controller 253.Distributive value Controller 265 is using fuel-injected constant, dynamic, idling and jointly controls pattern, model and algorithm, not decremented control mould Formula is directly entered constant, dynamic, idling and jointly controls.Control entering signal of blowing out iaWhen arrival, 253 controllers calling is blown out Fuel Injection Control subprogram, no matter which kind of position is gas pedal be in, and terminates nominal situation fuel Injection Control, distributive value control The fuel oil injection of device 264 processed is transferred to control model of blowing out.In gas pedal is secondary or multiple stroke, controller 253 is using oil The door asymmetric step function pattern of the positive and negative stroke of pedal, model, each control period of coordinating blow out, fore-aft vehicle anticollision are blown out Active brake and engine-driven fuel Injection Control.Distributive value, sky of the air inlet amount controller 265 based on fuel Injection Control The parameters such as combustion ratio, engine structure determine throttle opening and air input of engine by air.It blows out in control, the output of controller 253 is believed Number, it controls air throttle and is mainly sprayed by the fuel oil that fuel pump, fuel pressure regulator, fuel injector, idle speed bypass valve etc. are constituted Executive device 266 realizes normal, operating mode of blowing out fuel Injection Control.Fuel Injection Control of blowing out can be mutual with throttle control Substitution.
5., steering-by-wire controller
Manned vehicle line traffic control steering controller 254, is based on vehicle-mounted line traffic control active front steering system, and controller 254 is arranged Deflecting roller, road feel, malfunction and failure controller 270,271,272.Controller 254 presses the type and structure setting of set electronic control unit Deflecting roller module 274 and Steering wheel module 275 is arranged in corresponding control module, line traffic control active steering executive device 273
I, normal, blow out under operating mode, which is based on deflecting roller (or steering wheel) actual rotational angle θea, in vehicle stable state control The critical speed range of system, deflecting roller controller apply an additional rotation angle θ independent of driver to steeringeb, put down The vehicle flat tire that weighs generates yaw moment, compensates the deficiency or oversteering of vehicle flat tire.The control mould used based on controller 254 Formula, model and algorithm program or software, 254 each control module of controller by program or software into row coefficient according to processing, it is defeated Go out the steering motor in signal control deflecting roller module 274, steering motor output torque, corner, through machine driving and the dress that slows down It sets, controls wheel turning angle and torque.Steering wheel module 275 is detached with deflecting roller module 274, and turning power of blowing out will not be to turning Impact is generated to disk power.When carrying out active steering control using steering-by-wire controller, it is not necessary to which the control of deflecting roller turning power is set Device.
Ii, deflecting roller module (274) pass to ground steering drag, the impact force for turning power of blowing out and its mechanical state Road feel controller (271), road feel controller (271) use true road feel pattern, establish road feel feedback force model, are based on road feel control Control model, model and the algorithm that device processed uses program or software；Road feel controller (271) output signal, control turn to The steering wheel of disk module (275), driver obtain from steering wheel including the normal and travelings such as operating mode road surface, wheel, vehicle of blowing out The road feel feedback information of state.

Claims (6)

1. a kind of automotive tyre explosion safety stable control method, it is a kind of by sensor detect tire pressure, wheeled vehicle state parameter and The judgement of blowing out that control parameter of blowing out determines, it is a kind of to be related to normal and operating mode of blowing out, wheel and vehicle double unstability control of blowing out Method processed, a kind of using information unit, blow out controller and execution unit realization method for controlling tire burst, this method is based on vehicle system Dynamic, driving turns to and suspension system, for someone, nobody drive when vehicle, it is characterized in that：Vehicle flat tire involved by this method is blown out Judge and control of blowing out, be based on runflat condition process, in its state procedure, by wheel braking and driving, engine output, Deflecting roller turns to, suspension lift is adjusted, and vehicle shape is realized in speed, vehicle attitude, vehicle route tracking and the regulation and control for stablizing deceleration State overall process dynamic control；Blow out control and controller is mainly coordinated using each control of blowing out and self adaptive control mode, including Using following three kinds of Active Control Modes and controller；One, manned vehicle flat tire control model and controller；Mainly adopt With blow out manpower intervention control with active control compatibility mode, be independently arranged and with onboard system share sensor, electronic control unit The device resources such as (including structure and function module), actuator；Set judgement of blowing out, control model conversion, controller of blowing out；It is quick-fried Tire judging device：Mainly using wheel detection tire pressure, state tire pressure and steering three kinds of determinating modes of mechanical state；Control model is converted Device：It is main to be blown out control model using normal and operating conditions translative mode of blowing out, operating mode of blowing out active control and manpower intervention Conversion；Secondly, the automatic driving vehicle of setting human assistance operation interface blows out control model and controller；The controller relies on Driving, braking, course changing control operation interface to blow out control carry out assistant interventional, and with the shared vehicle-mounted system of automatic driving vehicle Judgement of blowing out and blow out, control model conversion is arranged in sensor, machine vision, communication, navigation, positioning, artificial intelligence controller With controller of blowing out；It is real by environment sensing, navigator fix, path planning, full-vehicle control decision (including control decision of blowing out) The unmanned control of existing vehicle, including vehicle flat tire anticollision, blow out path trace and gesture stability of blowing out；It blows out judging device：It is main It to use wheel detection tire pressure, state tire pressure and turn to three kinds of determinating modes of mechanical state；Control model converter：It is main to use The unmanned control of the nominal situation and unmanned control of manpower intervention, the unmanned control of nominal situation and operating mode of blowing out are actively Control model is converted；It blows out controller：The main automatic driving vehicle using setting human assistance operation interface controls or nobody Drive vehicle control, the automatic driving vehicle control and active control compatibility mode of blowing out of manpower intervention or prosthetic intervention；Its Three, automatic driving vehicle is blown out control and controller；The controller and the shared vehicle-mounted system sensor of automatic driving vehicle, machine Vision, communication, positioning, navigation, artificial intelligence controller；Judgement of blowing out, control model conversion and controller of blowing out are set；In vehicle Under conditions of networking network has organized structure, as online vehicles, artificial intelligence director of networking is set, by environment sensing, positions, lead Boat, path planning, full-vehicle control decision, including control decision of blowing out realize the unmanned control of vehicle, including vehicle flat tire Anticollision, path trace and control of blowing out；Judging device of blowing out mainly uses：Wheel detection tire pressure, state tire pressure and steering mechanics shape Three kinds of determinating modes of state；Control model converter mainly uses：The unmanned operating mode active control that controls and blow out of nominal situation, The unmanned control of nominal situation and the control model for operating mode active control of blowing out are converted；Above-mentioned control model conversion is by control of blowing out The switching that system coordinates signal is realized；Based on above-mentioned each control model, controller of blowing out passes through vehicle actively anti-skidding driving, engine Braking, brake stablize braking, engine electric-controlled air throttle and fuel oil injection, and steering power-assisted steering or automatically controlled (line traffic control) turn To passive, partly active or the coordination of main suspension control, realization is blown out, and vehicle stabilization slows down, vehicle stable state controls；This method is set Information unit mainly the sensor set by vehicle control syetem, blow out each related sensor of control or with signal acquisition process electricity Road is constituted；Based on vehicle flat tire control structure and flow, tyre explosion safety stability contorting pattern, model and algorithm, control of blowing out is worked out Processing procedure sequence or software determine electronic control unit or type and structure with central computer, and control hardware and software of blowing out is using non- Module or modularization group structure；It blows out during control, controller obtains each of information unit output directly or by data/address bus Sensor detection signal or with car networking and global positioning satellite navigation signal, mobile communication signal, pass through it is set center calculate Mechanical, electrical control unit carries out data and control process, corresponding adjuster and executive device in output signal control execution unit, real The now control of each controlled plant；This method introduces the concept of vehicle flat tire unstability：Two kinds after this concept definition vehicle flat tire Unstability caused by the control of vehicle nominal situation under unstability, including vehicle flat tire unstability and runflat condition；It is non-that this method introduces wheel Of equal value and of equal value, non-equivalent and equivalent relative parameter and its deviation concept, be achieved in normally, each wheel shape under the operating modes such as blow out The equivalence of state parameter and non-equivalence or equivalent and non-equivalent comparison；This method introduces state tire pressure concept, and one by wheeled vehicle The broad sense tire pressure concept that configuration state parameter, the mathematical model of control parameter and algorithm determine, not using detection tire pressure as Judge the unique technical feature blown out；At one include tire pressure, angular speed of wheel, angle acceleration-deceleration, slip rate, attachment coefficient and The scope of the wheels such as yaw rate and vehicle status parameters defines runflat condition concept, blow out characteristic parameter and ginseng Numerical value concept, quantification determine runflat condition process and make runflat condition process and the integration of control process, make its state with Control function be all in time, spatial domain it is related, can continuity function；Thxe present method defines judgement concepts of blowing out, using one Kind blurring, generalities and the judgement of blowing out of conditioning, as long as wheeled vehicle enters a specific state and can be judged to blowing out, And without judging whether vehicle really blows out, enter control of blowing out immediately；This method establishes the entrance for control of blowing out, exits machine System and mode make vehicle flat tire control be able to enter in real time or exit in the state of not occurring really blowing out；This method is set The artificial control models such as exit are exited and carried out when actively entering by the control of blowing out of wheel and vehicle-state, is automatic in fact； Be arranged manual controller, complete manual control and active control docking, realize to it is probabilistic blow out be determined it is quick-fried Tire controls；This method establishes runflat condition parameter, the critical point of control parameter of blowing out and control, the presence of inflection point, singular point, base In these points, using models such as condition, thresholdings, control of blowing out is divided into early period of blowing out, true blow out phase, inflection point phase, wheel rim The separation phase blow out control and control of blowing out such as exits at different phases or the time zone；Mould is controlled using zonal cooling or Discontinuous Function Formula, make to blow out control with blow out and runflat condition is adapted；This method is using program, the translative mode and knot of agreement or converter Structure actively realizes the normally conversion with blow out operating conditions and control model using signal of tyre burst as conversion signal；This method is based on The driving of someone or automatic driving vehicle, braking, engine, steering, suspension system are blown out master control, each subsystem using system Coordinate and mode, pattern, model and the algorithm of independent control, realization engine braking, engine output, turn brake To wheel turning power, active steering and car body balance (anti-inclination) mutually coordinated control, group structure control knot of more completely blowing out Structure；This method controls the transition period in stage, car wheel structure and movement shape in points such as critical point, inflection point, the singular points blown out or respectively State parameter change dramatically section, it is steady by reducing blow out wheel stable state control brake force, each wheel balanced system power of reduction, increasing vehicle Surely each wheel differential system power controlled, by changing the controls such as the wheel angle acceleration-deceleration of equal value or equivalent with brake force, slip rate Parameter processed more successfully solves vehicle by changing vehicle traction, braking, deflecting roller turning power, steering wheel angle control model Wheeled vehicle momentary status drastically change under the conditions of, wheeled vehicle control dual unstability；This method set normally with operating mode of blowing out Wheel and vehicle-state control are integrated, and permission is normally overlapped with operating conditions of blowing out, are more successfully solved normal With conflicting for operating conditions of blowing out；The blowing out of this method, blow out judgement and control of blowing out, based on tyre explosion safety stability contorting side Controller is arranged in method, pattern, model and algorithm, and controller includes mainly vehicle flat tire control structure and flow, blowing out controls journey It sequence or software and it is written controls the electronic control unit (ECU) of program or software；Electronic control unit setting set by controller is corresponding Control structure of blowing out and function module；Electronic control unit set by controller (ECU) includes mainly microcontroller (Micro Controller Unit) (MCU), electronic component, peripheral circuit, special chip, regulated power supply etc.；The control that this method uses Structure, control flow are：Under runflat condition, information unit output signal is directly or through In vehicle network bus input controller, control Control mode of blowing out, pattern, model and the algorithm that electronic control unit set by device processed is used by controller carry out data processing, and output is quick-fried Tire control signal, control system, subsystem execution unit, realization blow out vehicle traction, braking, direction, driving path, posture and Suspension lift controls；
It is blown out control structure, mode and flow based on someone, automatic driving vehicle, the following steps that this method uses
1), information communication and data transmission,
The control of blowing out of this method is using In-vehicle networking (LAN) data/address bus (abbreviation network-bus or data/address bus) and directly The data transfer mode of physical routing is connect, data, address and controlling bus and CPU, office is arranged in vehicle-mounted data network-bus Domain, system, communication bus；When someone, the system of automatic driving vehicle, subsystem design for non-integral, using vehicle local The topological structure of network-bus (including CAN (Controller Area Network) bus etc.), CAN is bus type；For vehicle The digital communications systems such as interior distribution electric-control system, intelligence sensor, actuator, using LIN (Local Interconnect Network) bus；For interior control system, including the injection of tyre burst brake, air throttle, fuel oil, automatically controlled power-assisted steering, active It turns to, suspension subsystem, electronic control unit or execution unit structure set for integration set by information unit, controller, the controller Timing realizes information and data transmission, vehicle control syetem in each unit, between unit and controller using physical communication wiring With control system of blowing out, system and subsystem, system, subsystem and onboard system are carried out data transmission by vehicle bus, respectively The interface that data exchange and transmission are carried out with vehicle bus is arranged in subsystem of blowing out；1., based on CAN bus specification, agreement, to reality When operation, software, communication and Network Management System make definitions, and set this system, subsystem and existing onboard system control Device hardware and the independent physics line traffic control application interface of bus system hardware；Controller is arranged in CAN bus, and CAN controller is main It is made of CAN controls chip, programmable circuit, data link layer and physical layer architecture is determined in CAN network hierarchical structure, it is right The outer physical line interface for providing microcontroller, computer, with the combination of programmable circuit, realization includes what procotol determined Various functions；By programming, its working method is arranged in CPU, controls its working condition, carries out data exchange；CAN bus setting is driven Dynamic device, driver include CAN drive control chips etc., and CAN drivers provide the interface between CAN controller and physical bus, The differential function of sending and receiving to bus is provided；Design that CAN bus system is non intelligent or intelligence node hardware and software, if CAN bus system bridge hardware and software is counted, bridge hardware is mainly by bridge microcontroller (processing) device and CAN controller interface structure At；(transmission) agreement, vehicle-mounted existing control system, electronic control unit, sensor set by controller of blowing out are communicated based on the network information Signal, data transmission and exchange are carried out by CAN bus, and the control to each executive device is realized by controlling bus；
2., according to method for controlling tire burst structure and type, the In vehicle network bus of this method is using fault, safe and novel Conventional mechanical system is transformed into fault-tolerant total via high speed by X-by-wire dedicated bus, including steering, braking, air throttle bus Electric-control system under the high-performance CPU management of line connection, by Steer-by-wire (steering-by-wire), Brake-by-wire (electricity Control or brake-by-wire), Throttle by-wire (air throttle Flying by wire) etc. be configured to it is a set of be suitable for it is normal, blow out etc. it is each The control system of operating conditions；Information unit, controller, execution unit used in this method (including each adjuster, executive device and Controlled plant) by the physical routing of In vehicle network bus, car networking network and system integration design, carry out data, control Signal transmission；
2) master information of, blowing out acquires and processing
Master information includes wheel and state of motion of vehicle parameter information, engine driving, vehicle braking, Vehicular turn and spacing Sensor detection parameters information, or with automatic driving vehicle environment sensing, positioning, navigation sensor detection parameters information, sensing Each parameter signal of device is by master information cell processing；The master information unit that this method uses is independently arranged, master information unit Or use integrated building mode with brake subsystem information unit；Main control computer, electronic control unit are independently set set by this method It sets, each subsystem electronic control unit is independently arranged or uses integrated design, electronic control unit and executive device to use with executive device It can realize that data, information are transmitted and exchanged when integrated by physical routing；The control of this method by data/address bus (including CAN bus etc.) it carries out data, information transmission and exchanges, it is shared to realize that each system data of vehicle and signal share；
1., wheel tyre pressure sensing and detection, using direct or indirect mode；Indirect mode：Based on wheel, vehicle status parameters and Control parameter determines state tire pressure or and steering mechanics state recognition pattern；Direct mode：Using be set to wheel it is active, Non-contacting tyre pressure sensor (TPMS) measures；TPMS is mainly by being set to the transmitter (30) of wheel and being set to vehicle body Receiver (31) constitute, using one-way or bi-directional communication between transmitter (30) and receiver (31), wherein two-way communication master To include unidirectional RF communication or bi-directional RF LF communication；Transmitter (30) hardware includes micro-control unit (MCU), special core Piece, peripheral circuit, battery, antenna, setting sensing module (32), micro-control module (microcontroller) (33), wake-up module (34), power management module (35), transmitting module (36), monitoring modular (37) and antenna (38), using battery power and power generation Drive two types；
I, battery-driven；Transmitter (30) is mainly made of micro-control unit (MCU), chip, peripheral circuit, battery, antenna, Using highly integrated chip, set sensing module, wake-up chip, microcontroller (MCU), radio-frequency transmissions chip and circuit are one Body, wherein sensing module include pressure, temperature, acceleration, voltage sensor, and two modes are run using sleep；One, sensing mould Block (32)；Sensing chip is set, including pressure, temperature, acceleration or with voltage sensor, the sensor is integrated using microcrystal silicon High-accuracy semiconductor strain circuit is arranged in capacitance or silicon piezoresistance type, wherein piezoresistive silicon sensor, exports wheel tyre pressure P in real timera、 Angle acceleration-decelerationOr with temperature TaElectric signal；Secondly, wake-up module (34)；Wake-up module setting wakes up chip and wakes up journey Sequence wakes up and uses both of which；Pattern one, wheel accelerationIt wakes up, using logic threshold model, sets the wake-up period time Ha1, in Ha1Time in wheel accelerationFor parameter, n is acquired by the setting unit intervaliA acceleration-deceleration, based on average or Weighted average scheduling algorithm calculates characteristic accelerationCharacteristic accelerationUp to setting threshold value aωWhen export wake-up pulse, emit Device is entered by sleep pattern to be run and is always maintained at the pattern；Only work as characteristic accelerationIf in cycle Ha2It is inside 0 to retract To sleep pattern；Pattern two, external low frequency wake up；Receiver is placed in vehicle body and is installed close to transmitter, and MCU is from data/address bus (CAN) the vehicle movement parameters information such as speed are obtained；Low frequency R-T unit is arranged in receiver, by Threshold Model, as speed uxIt is super Cross setting threshold value au, by low frequency R-T unit by two-way communication, by setting cycle HbContinuously or discontinuously to transmitter MCU Send out wake-up signal iw1, as speed uxLess than setting threshold value auIt then sends out wake-up and exits (sleep) signal iw2；Transmitter MCU Low frequency interface setting receive iw1、iw2Two coupling circuits of different frequency signals receive signal i by two-way communicationw1、iw2；It is low Frequency interface uses energy saving and standby two modes, and two modes are by signal iw1、iw2It controls, low frequency interface is closed and is allowed under energy saver mode Low frequency interface is by setting cycle H under quiet energy consumption state, standby modecTime opening and closing；Transmitter micro-control unit (MCU) signal i is receivedw1、iw2Enter operation afterwards or is retracted into sleep pattern；Thirdly, data processing module (33)；Module master It to be made of microcontroller, carry out data processing by setup program, determine acceleration wake-up period Ha, two-way communication cycle Hb, it is low Frequency interface communication cycle Hc, collecting sensor signal cycle Hd；HdFor setting value or dynamic value, the H of dynamic valuedTo detect tire pressure pra, tire pressure negative increment-Δ praOr with wheel speed ωiFor parameter, determined using PID, optimal, fuzzy scheduling algorithm；Dynamic value HdOr by The model of following mathematics determines：
Hd=f (pra,-Δ pra, ωi)+c
C is constant, and H in formuladFor praThe increasing function of increment is Δ praDecrement or and ωiThe subtraction function of increment；Transmitter is logical Cross dynamic detection cycle HdAdjusting, increase blow out operating mode tire pressure detection number, reduce nominal situation tire pressure detect number；Temperature Sensor then presses setting time cycle Hd1Carry out a temperature detection, HD1=k1·Hd, k in formula1For the positive integer more than 1；Control Module carries out data processing by setup program, coordinates sleep, operational mode and its pattern conversion；Transmitter MCU under operational mode Respective pins are by setting tire pressure detection cycle time HdTire pressure detection pulse signal is sent out, pressure sensor is in each cycle time HdIt is interior to carry out a tire pressure detection；Four, transmitting module (36)；Setting integrates transmitting chip, setting signal transmit cycle He, He For setting value or dynamic value；HeFor setting value when, value be the collecting sensor signal period multiple：
He=k2Hd
K in formula2For the positive integer more than 1；HeTo be determined by multi-signal emission mode when dynamic value；Emission mode and program one, Sensor is measured into tire pressure pra, temperature value TaCompared with the setting value for being pre-stored within transmitter micro-control unit (MCU), obtain Go out its deviation ep(t)、eT(t), by Threshold Model, when deviation reaches setting threshold value ae、aTWhen, transmitting module output detection value, Grant transmitting, otherwise not emits；Emission mode and program two, into after operational mode, in setting cycle He1It is interior, tire pressure deviation ep(t) and temperature deviation eT(t) setting threshold value a is not reachede、aT, grant transmitting module and send tire pressure, a temperature detection Signal；He1=k3He, k in formula3For the positive integer more than 1, by cycle He1Setting value emit a tire pressure detection signal, be convenient for Driver's timing understands tyre pressure sensor working condition and tire pressure state；Transmitting module uses radio signal transmission, module setting Radio frequency transmitter circuitry or with the reception chip of two-way communication, antenna etc., is emitted by antenna after signal encoded modulation, emits mould For block when tire pressure, the temperature detection signal of no control module input, RF transmitter is in static power consumption power save mode；Its Five, monitoring modular (37)；The module by monitoring program to sensor, transmitter, microcontroller (MCU), hyperfrequency transmitting chip, Circuit and each parameter signal realize dynamic monitoring, using booting monitoring, timing and dynamic monitoring pattern；MCU presses the monitoring pattern Setting time sends out detection pulse, every time as found failure in detection, by transmitting module launching failure signal；Six, power supply pipe Manage module (35)；High-energy battery, microcontroller and electric power management circuit is arranged in the module；Module by sleep, operational mode and Control program, to the crystal oscillator of MCU, low frequency oscillator, low frequency interface, analog circuit, sensor, MCU respective pins (including SPI, DAR etc.), wake up and reset pulse allotter circuit, RF transmitter etc. region of interest are powered on or powered off and is managed, And the supply voltage of MCU and sensor is calibrated, the energy consumption of each component of control transmitter；Transmitter by be arranged sleep and wake up, The technologies such as signal detection cycle is adjustable, signal emitting times limit, the automatic adjustment of signal transmit cycle, meet blow out to greatest extent Early period, really blow out, each control stage such as inflection point of blowing out blows out control system to the requirement of tire pressure detection performance, extend battery-powered And service life；High-energy battery includes lithium battery, graphene battery and its battery combination, and insulated enclosure is arranged on hub for vehicle wheel Positioning device (including lasso), charging wire, external charging built in device are got an electric shock or are switched；
Ii, the driving tyre pressure sensor (TPMS) of power generation；One-way communication, setting master are used between sensor transmitter and receiver Generate electricity storage, wake-up, sensing, monitoring, data processing, transmitting, power management module；One, power generation memory module, using electricity Magnetic induction or photovoltaic generation two types；Type one, electromagnetic induction electricity generation module, the module include being set to the electromagnetism of transmitter Sensing device and the permanent magnet or electromagnet apparatus for being set to the non-rotating position such as axle or brake apparatus, two devices form electromagnetism Induction power generation electromagnetic coupling closes secondary；Electromagnetic induction device is with vehicle wheel rotation, when by the magnetic field of permanent magnet or electromagnet, electromagnetism sense It answers closed circuit magnetic flux change in device, generates induced potential, induced current is rectified and charging process device is to transmitter Accumulator charges；Type two, photovoltaic generating module, which is mainly made of photovoltaic cell, accumulator, controller, using light Volt power generation and Combined storage battery structure；Photovoltaic power generation plate is set in wheel rim, receives extraneous light irradiation, and electronics is sent out from photovoltaic Battery plate imports accumulator；Low photovoltaic material isolux in constitutes the photovoltaic cell group of two class Independent Power Generations, wherein non-crystalline silicon Spectral response and scattering spectrum matching it is preferable, the necessary operating voltage of load can be set up under low-light (level)；Accumulator uses Li-Ion rechargeable battery, ultracapacitor constitute energy-storage system by a combination thereof, realize that photovoltaic generation and stored energy capacitance optimization are matched It sets；Electricity generating controller hardware use micro-control unit MCU and peripheral circuit, mainly include master control, detection, charge-discharge circuit or and DC/DC converters, and control, protection module are set；(including volt-ampere is special according to the output characteristics of selected photovoltaic cell for control module Property etc.) determine maximum power point, using including charging modes such as constant pressure, constant current, pulse (PWM) and combinations thereof, design sampling and Charging circuit, charging control circuit or with DC/DC converters；Overcharge, overdischarge, short-circuit protection is arranged in protection module, Set each overcharge of a battery threshold value cvkAnd the overdischarge multilevel voltage of the more a workloads of tyre pressure sensor TPMS is incremented by Threshold value set cv1、cv2、cv3、cv4......cvn, the load voltage of battery tension or output is decremented to any door from height When limiting threshold value, overdischarge protector terminates the power supply to tyre pressure sensor (TPMS) corresponding module, thus by battery tension All-the-time stable is in certain section；When accumulator or load voltage are less than cv4When, overdischarge protector will be terminated and be passed to tire pressure The power supply of the modules such as sensor radio-frequency transmissions, load voltage are less than cv3When then terminate power supply to modules such as data processings, work as load Voltage is less than cv2Shi Ze is only to power supplies, wherein c such as the modules such as wake-upv1It is then that battery overdischarge protects thresholding；Secondly, wake up Module；Setting wakes up chip；Electromagnetic induction power generation type TPMS, using generation frequency faSignal awakening mode, vehicle are when driving, electric Magnetic-inductive device output electromagnetic induction signal, the signal obtain the electromagnetic induction frequency consistent with wheel speed through processing such as circuit shapings Rate faSignal, using Threshold Model, electromagnetic induction frequency signal faOr faFunction f (fa) up to setting threshold value when, wake-up module Wake-up signal is sent out, transmitter enters operational mode by sleep pattern；The TPMS of photovoltaic generation type, using wheel acceleration Signal awakening mode, setting wake up chip and wake up procedure, awakening mode, principle and process and aforementioned battery-driven phase Together；Thirdly, sensing module；For electromagnetic induction power generation type TPMS, after the TPMS enters operational mode, MCU is with frequency fa, tire Press praAnd its change rateTyre pressure sensor signal acquisition periods are determined using the function model and algorithm of its parameter for parameter Hd：
In its cycle HdIt is interior to complete a tire pressure detection；Work as faH when being 0dTend to be infinitely great；For photovoltaic generation type TPMS, at this After TPMS enters operational mode, collecting sensor signal cycle HdDetermination it is identical as above-mentioned battery-driven TPMS；Tire pressure is examined Survey cycle time HdFor setting value or it is dynamic value, cycle dynamics HdTo detect tire pressure praValue, tire pressure negative increment-Δ praOr and Wheel speed ωiFor parameter, determined using PID, optimal, fuzzy scheduling algorithm；Dynamic value HdOr the model by mathematics：
Hd=f (pra,-Δ pra, ωi)+c
For the TPMS of electromagnetic induction power generation type, setting pressure, temperature, voltage sensor；For the TPMS of photovoltaic generation type, if Set pressure, acceleration, temperature, voltage sensor；Sensor uses the capacitance or pressure resistance type that microcrystal silicon integrates, wherein silicon piezoresistance type High-accuracy semiconductor strain circuit is arranged in sensor, and signal exports wheel tyre pressure, angle acceleration-deceleration in real time through processing of circuit Voltage or with temperature TaElectric signal；Four, data processing module；The module is mainly made of microcontroller, by setup program into Sleep, operational mode and its pattern conversion are coordinated in row data processing, setting, and transmitter MCU respective pins are by setting under operational mode Determine tire pressure sample period time HdTire pressure detection pulse signal is sent out, pressure, temperature sensor are in cycle time Hd、Hd1Interior progress Sample detecting；Five, transmitting module；Setting integrates transmitting chip；Using two launching procedures；Emission mode and program one, Sensor is measured into tire pressure pra, temperature value TaCompared with the setting value for being pre-stored within transmitter micro-control unit (MCU), obtain Go out its deviation ep(t)、eT(t), by Threshold Model, when deviation reaches setting threshold value ae、aTWhen, transmitting module output detection value, Grant transmitting, otherwise not emits；Emission mode and program two, into after operational mode, in setting cycle He1It is interior, tire pressure deviation ep(t) and temperature deviation eT(t) setting threshold value a is not reachede、aT, grant transmitting module and send tire pressure, a temperature detection Signal, wherein：
He1=k3He
K in formula3For the positive integer more than 1, which understands tyre pressure sensor working condition and tire pressure convenient for driver's timing State；Transmitting module uses radio signal transmission, module that radio frequency transmitter circuitry or reception chip, antenna with two-way communication is arranged Deng being emitted by antenna after signal encoded modulation, transmitting module is inputted in the tire pressure of no control module, temperature detection signal When, RF transmitter is in static power consumption power save mode；Six, monitoring modular；The module is by monitoring program to sensor, hair Emitter, microcontroller (MCU), hyperfrequency transmitting chip, entire circuit and each parameter signal realize dynamic monitoring, are supervised using booting Survey, timing and dynamic monitoring isotype；MCU sends out pulse by its monitoring pattern setting time, and event is such as found in each detecting/monitoring Barrier is by transmitting module launching failure signal；Seven, power management module；The structure of the module and function and above-mentioned battery-driven (TPMS) identical；Sleep and wake-up, signal detection cycle is adjustable, signal emitting times limit, signal is sent out by being arranged for transmitter Penetrate the technologies such as period automatic adjustment, meet to greatest extent early period of blowing out, really blow out, inflection point of blowing out etc. respectively controls stage system pair The requirement of tire pressure detection performance, and extend battery-powered and service life；
Iii, tyre pressure sensor (TPMS) transmitter (30) structure and control flow；One, transmitter (30) are using sleep, operation Control model；Under sleep pattern, wake-up module (34) is waken up by wheel acceleration or by transmitter (30) and receiver (31) Between two-way communication signals wake up, after wake-up enter operational mode；Under operational mode, sensing module (32) detects signal by micro- Control module MCU (33) processing, MCU exports tire pressure and temperature signal after processing；Tire pressure and temperature signal input transmitting module (collection At transmitting chip) (36), through peripheral circuit (including filter circuit etc.), finally by antenna (38) emit；Monitoring modular (37) is right Monitoring is carried out in the operation of each module；Power management module (35) to the powering on of cell voltage and each module, power off and be managed；Hair Emitter hardware (42) includes mainly microcrystal silicon integrated sensor (43), microcontroller (MCU) (44), wakes up chip (45), transmitting Chip (46), battery (47), antenna filter circuit (48), signal processing circuit (49)；Secondly, tyre pressure sensor (TPMS) receive The structure and control flow of device (31)；Receiver (31) is a highly integrated module, mainly by matching antenna (38), input interface (39), control module (FSK and MCU) (40), output interface (41) are constituted；Input interface (39) is received by antenna (38) to be emitted The signal that device (30) is sent out receives signal and demodulates the coding of FSK modulation by control module, and carries out data processing by MCU, handles Signal afterwards enters system data bus (21) or and alarm display apparatus through output interface (41)；
2., someone, automatic driving vehicle spacing detection and Context awareness
I, spacing detects, one, radar (including mainly electromagnetic radar, laser radar), the detection of ultrasonic wave spacing；Detection side Formula：Transmitting, reflection based on physical wave and state characteristic, founding mathematical models, determine front-and-rear vehicle distance Lti, opposite speed ucWith it is anti- Hit time zone tai, parameter Lti、uc、taiAs vehicle braking, the input parameter of driving anticollision control；Type one, radar truck are away from prison It surveys；Radar monitoring device mainly by radar sensor, DTR radar controls module, signal-data processing module, antenna and transmitting/ Receiving unit (module), acoustic-optic alarm and electric power generating composition；Electromagnetic radar uses (including millimeter) wave beam, by transmitting module Emit through antenna, reflection echo, received module input microprocessor (the data mould of echo that antenna receives are received with by antenna Block), front-and-rear vehicle distance L is determined according to beat and frequency difference signal, this vehicle speed signal through mixing and enhanced processingtiWith opposite speed uc, and calculate anticollision time zone tai：
Type two, the detection of ultrasonic wave spacing；Ultrasonic wave spacing detection device is mainly by ultrasonic wave and temperature sensor, microprocessor Device, peripheral circuit, data input/output interface, device composition of warning of blowing out；Detection device is using ultrasonic ranging and front and back vehicle Adaptive blow out coordinates control model：Ultrasonic distance-measuring sensor detecting distance is set, this vehicle is not limited except detecting distance With the braking distance of rear car and opposite speed, vehicle of blowing out by rear car driver takes aim at model and in advance before and after spacing Controlling model carries out The spacing of vehicle controls；When rear vehicle enters in ultrasonic wave spacing monitoring distance range, this vehicle ultrasonic wave spacing monitoring device enters Effective working condition, determines beam pointing-angle, is triggered using the combination of multiple ultrasonic sensors and specific ultrasonic wave, by connecing It receives program acquisition distance measuring signal and front-and-rear vehicle distance L is determined by the data processing of each sensor detection signaltWith opposite speed uc, Calculate danger time zone tai, by taiIt carries out fore-aft vehicle anticollision and coordinates control；Secondly, machine vision spacing monitoring, be mainly arranged general Logical or infrared machine vision spacing monitoring system, using monocular (or more mesh) vision, coloured image and stereoscopic vision detection pattern； Monitoring system is mainly made of imaging system, computing system, including video camera, computer, using the camera shooting and survey of simulation human eye Away from pattern, model and algorithm, based on coloured image gray processing, image binaryzation, edge detection, image smoothing, morphological operation Passed through using shadow character and vehicle detecting system (Adoboost) with the Digital Image Processing of the OpenCV of region growing Calculation machine visual token model and the visual token of video camera (OpenCV) calibration carry out range determination；Computer vision spacing monitoring Video input, data processing, display, storage, the modules such as power supply are arranged in device, using taken the photograph image rapid extraction characteristic signal, Vision information processing is completed using certain algorithm, determines this vehicle (video camera photosensitive element) in real time to the spacing of fore-aft vehicle, and According to this vehicle speed, acceleration-deceleration and opposite spacing LtChange value determine opposite speed uc；Thirdly, information of vehicles interconnection type (vehicle Away from) monitor (VICW, vehicles information commutation way) and monitoring system (VICS)；VICS is mainly wrapped Include microcontroller and peripheral circuit, setting input and output, radio transceiver communication, satellite positioning navigation, data processing and control System, regulated power supply, sound-light alarm and display module, each module include location navigation, communication, all kinds of special chips of data processing, Sending and receiving for data is realized by radio frequency transceiving module, and obtaining the earth longitude and latitude using multimode compatible positioning chip sits Mark；VICS is by GPS (mainly include GPS, Big Dipper chip), using radio-frequency discriminating (RFID) technology, by GPS positioning, and obtain satellite to vehicle reception device distance, by 3 or more satellite-signals, using in three-dimensional coordinate Range formula, constitutive equation solve the position coordinates (X, Y, Z three-dimensional coordinate) of vehicle；Pair warp and weft degree information is fixed into row format Justice measures the longitude and latitude of this vehicle by ranging model, obtains this vehicle longitude and latitude positional information demarcated with geodetic coordinates；Pass through Space Coupling, inductance or the electromagnetic coupling and signal reflex transmission characteristic of RFID radiofrequency signals, to being identified leading for object Dynamic identification, the various informations such as the accurate position of this vehicle are sent to surrounding vehicles, and are received the positioning of surrounding vehicles position and its changed Status information, realize vehicle between be in communication with each other；Data processing and control module：Surrounding vehicles mutual communication is obtained based on VICS Breath is handled the real-time longitude and latitude position data of Ben Che and surrounding vehicles into Mobile state using corresponding modes and model and algorithm, Carving copy vehicle and the location information of surrounding when obtaining each are computed and obtain satellite positioning chip vehicle in longitude and latitude scan period T Displacement distance, to obtain speed, Ben Che at a distance from forward and backward vehicle and opposite speed；It is same with fore-aft vehicle based on Ben Che To with reversed travel direction decision model, determine in the same direction and reversed two kinds of travel directions vehicle location longitude and latitude variable quantity, By the latitude and longitude information matrix at vehicle multiple moment, its travel direction is judged, and obtain the opposing rows of surrounding automobile and this vehicle Sail the orientation of direction and surrounding automobile after this Chinese herbaceous peony；According to the longitude and latitude and its change value of forward and backward vehicle in the same direction, by ranging Test the speed the distance between model and algorithm two vehicles of calculating LtiAnd opposite speed u in the same directionci；Display module real-time display spacing detects Information realizes sound-light alarm by buzzer and LED, and by electronic control unit output port, exports this vehicle and forward and backward vehicle in real time Distance LtAnd opposite speed ucSignal；By Threshold Model, the spacing L of Ben Che and forward and backward vehicletiOr anticollision time zone tai, work as tai When up to setting threshold value, control module exports anticollision signal ih, ihIt is divided into two-way via output module, enters acousto-optic report all the way Alarm device, another way input data bus of vehicle CAN；System master device, braking, drive control module are obtained from data/address bus CAN Take Lti、uc、tai、ihEtc. parameters real time detection signal；
Ii, Context awareness；Context awareness is used for automatic driving vehicle, including road traffic, object position, position location is distributed, Orientation distance identifies, mainly sets following identification methods；One, radar, laser radar or ultrasonic ranging；Secondly, machine regards Feel, positioning and ranging；Ordinary optical, infrared machine vision spacing monitoring system are set, using monocular, multi-vision visual and cromogram Picture and stereoscopic vision detection pattern；Monitoring system is mainly made of video input, data processing, display, storage, power module, And using image, video frequency processing chip；Using taken the photograph image rapid extraction characteristic signal, regarded by certain model and algorithm completion Feel, image, video information process determine positions and its distributions such as road and traffic, vehicle and barrier, realize that vehicle is fixed Position, navigation, target identification, path trace；Positioning with navigation usually by global position system, inertial navigation, electronic map match, in real time Map structuring and matching, dead reckoning and vehicle body state aware；
Iii, car networking network；Group structure road traffic intelligence car networking network (abbreviation car networking network) is based on its network information system knot Car networking network controller is arranged in structure, and online vehicles are same to set director of networking；Intelligent car networking network and online vehicles are each other by control Wireless digital transmission and data processing module set by device processed are transmitted into row information and data exchange；The director of networking of online vehicles It is set in vehicle main control device or central master, mainly by input/output interface, microcontroller (MCU), all kinds of special cores Piece, regulated power supply and minimum peripheral circuit are constituted；Director of networking includes mainly the transmission of onboard wireless number and data processing Controller sets together digital received and emitter, machine vision positioning and range unit, mobile communication terminal, global satellite are led Boat system location navigation, wireless digital transmission and processing, environment and transport data processing submodule, each submodule use car networking Digital communication, data processing, location navigation, mobile communication, all kinds of special chips of image procossing；Normally, it blows out under operating mode, networks Vehicle realizes road by way of nearby vehicle wireless digital transmission and information exchange by intelligent car networking network；It is one, unmanned Vehicle entreats main controller can be by intelligent car networking network and global positioning system, with sides such as geodetic coordinates, view coordinate, positioning figures Formula determines that orientation, this vehicle travelling state and path trace situation, this vehicle of line, lane line and Ben Che are defined in practical track in real time With the distance between vehicle and barrier, Ben Che and the opposite speed of fore-aft vehicle, this bassinet structure and transport condition, including speed, It blows out and non-runflat condition, state of a control of blowing out, path trace and driving posture information；Secondly, for online vehicles, networking control Digital transmission module, this vehicle correlation knot is extracted from manned vehicle main control device, automatic driving vehicle central controller set by device processed Structure data and transport condition, including process control state of blowing out and blow out, are handled by data processing module, through data transmission mould Digital information is transmitted to the data transmission module of Intelligent road transportation network, through car networking by block by Mobile Communication Chip The processing of network data processing module, then by car networking network data transmission module, issued to road by way of periphery online vehicles；Its Three, for online vehicles, Digital Transmission module set by director of networking passes through the traffic letter that car networking network reception channel road passes through Breath, traffic information (including traffic lights, direction board etc.), the position of periphery online vehicles, transport condition, state of a control information, packet Include vehicle flat tire and control of blowing out, vehicle running state relevant information of blowing out, it is each detection and controlling cycle in relevant parameter and The change value of data；Four, wireless digital transmission module set by car networking network controller, be subjected to online vehicles information inquiry and Navigation requests, which is handled through car networking network data processing module, then Query Information is fed back to the networking vehicle for sending out request ；Five, for online vehicles, data transmission module can pass through the wireless digital transmission mould of car networking network set by director of networking Block, publication and inquiry roads realize that road is wireless between each vehicle in periphery by way of each online vehicles relevant information in periphery The relevant informations such as Digital Transmission and information exchange, including running environment, road traffic, vehicle running state；
3., the mode of warning of blowing out and device；
This method, which is blown out, warns using various ways, signal of tyre burst ia, fore-aft vehicle anticollision signal ih, blow out control actively restart Signal igWhen arrival, signal ia、ih、igStart be set to driver's cabin acoustic-optic alarm, be set to the taillight of vehicle tail with And special acousto-optic warning device carry out sound of blowing out, light alarm；Audible alarm includes audio, audio alert of blowing out；Light warn including Light and light image alarm；Light warning the periodic quantity of dynamic blinking light or is adopted using static light or dynamic blinking light With the opposite speed u of Ben Che and rear carci, distance LtiOr anticollision time zone taiIt is determined for the model and algorithm of parameter：
Hcta=f (tai)
H in formulactaFor flicker cycle, the cycle H of each flickerctaIt is interior luminous equal or different with the black out period；It blows out to warn and adopt Use various ways；
I, light is warned；Setting light is warned device, control entering signal of blowing out (including ia、ih、igDeng) arrive when, light is warned device Electronic commutator control light for vehicle, special warning light of blowing out light or flicker；Signal i is exited in control of blowing oute, artificial key It controls control of blowing out and exits signal ifWhen arrival, light for vehicle or it is transferred to non-work condition state of blowing out with special warning light；
Ii, optical imagery are warned；Setting optical imagery is warned device, the device mainly by laser light source occur module, interference or Diffraction module, optical system, projection positioning device, control module are constituted；Red band using laser light source or other colors The frequency of the visible coherent light of wave band, light is identical with direction of vibration, by the interference of light or diffraction grating, forms grating list and stitches, is more Seam interference, diffraction image, image is through optical system, grenade instrumentation, and road surface determines that position forms to blow out and shows between Ben Che and rear car Alert image；Interference, diffraction warn image or using just, handstand triangle, diamond shape etc., the boundary of optical imagery or light source image by Optical system field of view diaphragm defines, prism or and projection of the direction (optical axis or image orientation) that light is propagated by optical system The size of positioning device adjusting projectional angle determination, optical imagery or light source image and the positioning on road surface are by optical system knot Structure, structural parameters and optical system determine the projectional angle on ground；Optical system use structural parameters include focal length, object distance, It is the size of diaphragm, outer by setting optical system focal length, object distance, image distance as square, field stop, aperture diaphragm, projectional angle etc. Shape, projectional angle etc. make the size shape of light source image or image of warning be adapted with the positioning on road surface, and wherein projectional angle refers to Angle between system optical axis and ground；Projection positioning device includes telltale shell, projectional angle regulating device etc.；Light source or Warn the brightness degree of image, color by Ben Che and rear car opposite speed uc, spacing LtOr the and parameters such as characteristic value X of blowing out Mathematics model and algorithm determines；Device of warning be separately provided or with taillight warn device constitute composite structure；
The control structure and flow that iii, light source image are warned；The light that laser light source is sent out forms light and shade striped through set grating (Moire fringe)；Moire fringe forms optical imagery by optical system, through diaphragm shaping, optical element processing, is projeced into this Road surface after vehicle vehicle, the wherein optical system mainly by spherical mirror, field stop or and change radiation direction prism constitute, optics The projectional angle of image is determined by the adjustable positioning device of a corner；Grating uses the combination of monolithic or two blocks of gratings, and is positioned at Fixing device is set in the positioning device of rotation, translation, passes through the directed movement of the mobile generation interference fringe of grating；If Thus the width and spacing for determining grating are adjusted by changing width, spacing or its ratio, the displacement of grating, the velocity of displacement of grating Section interference, the width of diffraction fringe, spacing and striped movement speed；
3) it, blows out master control and main controller of blowing out
Main controller of blowing out is arranged in manned vehicle, and central master is arranged in automatic driving vehicle；Main controller or central master Joined to acceleration-deceleration, brake pressure, fore-aft vehicle motion state with wheel speed, steering wheel angle, yaw rate, longitudinal side Number is basic input parameters, by master control architecture of blowing out, master mode and flow, control model, model and algorithm setting：Parameter meter Calculate, state tire pressure and turn to mechanical state blow out identification, blow out judgement and divided stages of blowing out, control model conversion, manually grasp Make, each control is coordinated, environmental harmony or with car networking controller, establishment vehicle is normal and blow out operating mode primary control program or software； Electronic control unit set by main controller or central primary control computer carry out data processing and control process, output by primary control program or software Signal is controlled, which sends out master control of blowing out, each controller through output circuit, to vehicle control syetem, control subsystem of blowing out Coordinate control instruction；For online vehicles, the wireless digital transmission and data processing mould of the director of networking set by online vehicles Block is sent by mobile communication submodule (including mainly radio-frequency transmissions chip, radiating circuit and antenna) to intelligent car networking network This vehicle blows out, blow out control and vehicle running state digital information of blowing out；The judgement of main controller or central master is blown out establishment Afterwards, main electronic control unit or the output of central primary control computer blow out and control entering signal ia, coordinate control model by blowing out, first eventually Only vehicle nominal situation drive control, no matter at this time vehicle which kind of state of a control be in；Blow out early period or enter engine braking Control, while entering blow out active brake, engine air throttle and fuel oil injection, deflecting roller turning power, suspension and active of blowing out It turns to and coordinates control；Control that control of blowing out is a kind of wheel and vehicle stable state is slowed down, a kind of direction of traffic, vehicle attitude, track Holding, path trace, the anti-stability control for hitting car body balance；
1., this method use blow out, judgement of blowing out, control parameter of blowing out and related definition；Runflat condition, blow out judgement and it is quick-fried Tire control is main to be used：Tire construction mechanics parameter, wheeled vehicle motion state parameters, the injection of engine air throttle fuel oil and fortune Dynamic state parameter, steering structure mechanical state parameter, suspension frame structure mechanics and motion state parameters, the parameter are basic parameter； Based on basic parameter, the definition by parameter and model derive corresponding derived parameter, in runflat condition, judgement and control, base This parameter and derived parameter can be used as control parameter；
I, car wheel structure, mechanics and motion state parameters (abbreviation wheel parameter) include mainly：Each wheel effective rolling radius Ri, vehicle Wheel rotation inertia Ji, tire pressure pri, wheel speed ωi, wheel angle acceleration-decelerationSlip rate Si, braking (or driving) power Qi, each wheel load Lotus Ni, ground longitudinal force M suffered by wheelk, steering wheel angle θe；
Ii, vehicle (movement) state parameter (abbreviation vehicle parameter) include mainly：Speed ux, vehicle indulge side acceleration(ax) And ay, steering wheel angle δ, vehicle turn radius Rw, yaw velocity ωr, side slip angle β, vehicle yaw moment Mu；
Iii, mechanics state parameter (abbreviation turn around parameters) is turned to, includes mainly：Steering wheel angle δ and torque Mc, steering wheel angle θeWith flywheel moment M in ground suffered by torque, deflecting rollerk(include mainly aligning torque Mj, flywheel moment of blowing out Mb'), power steering Square Ma；
Iv, two wheel relative parameter DbDefinition：The same parameters that each wheel can compare as quantification are known as relative parameter, DbMainly Including ωi、Si、QiDeng, and take turns state parameter for the balance car wheel set two that front and back axle or diagonal line are arranged；
V, the two equivalent relative parameter D of wheeleDefinition：Two wheel relative parameter DbIn setting same parameters EnValue is identical or value Under equivalent the same terms, by institute EnIdentified parameter DeFor DbEquivalent relative parameter, wherein EnInclude mainly Qi、Ji、μi、 Nzi、αi、δ、Rw(Rw1、Rw2), DeThen mainly by the equivalent opposite angular velocity omega of two wheelse, angle acceleration-decelerationSlip rate SeIt constitutes, Wherein Qi、Ji、μi、Nzi、αi, δ be respectively each wheel brake force or driving force, rotary inertia, friction coefficient, load, wheel lateral deviation Angle, steering wheel angle take turns turning radius inside and outside vehicle, blow out drive some qualifications under driving force QiBy QpIt indicates, braking Power QiBy QyIt indicates；When two wheel angle acceleration-decelerationsSet same parameters EnIt is determined as brake force Qi, the inside and outside wheel turning of vehicle half Diameter Rw(Rw1、Rw2) value it is equal or equivalent equal when, two wheel angle acceleration-decelerationsIdentified equivalent angle acceleration-decelerationFor system Power Qi, the inside and outside wheel turning radius R of vehiclew(Rw1、Rw2) equivalent relative parameter；By the particular requirement for control process of blowing out；It is right In DbIn arbitrary parameter, in set same parameters EnIn, EnIt can use wherein any one or more parameters；By equivalent opposite ginseng Several definition, wheel any state parameter cannot appear in equivalent relative parameter D simultaneouslyeWith setting same parameters EnIn；
Vi, the two non-equivalent relative parameter D of wheelkDefinition：Equivalent defined arbitrary two wheels relative parameter is not carried out, includes mainly non- Equivalent opposite tire pressure prk, wheel speed ωk, angle acceleration-decelerationSlip rate sk, each wheel brake force Qk；
The definition of vii, two non-equivalent, the equivalent relative parameter deviations of wheel is：Deviation between arbitrary two wheels relative parameter is referred to as non- Equivalent relative parameter deviation includes mainly non-equivalent opposite angular velocity omegakDeviation e (ωk), angle acceleration-decelerationDeviation Slip rate SkDeviation e (Sk)：
e(ωk)=ωk1-ωk2、e(Sk)=Sk1-Sk2
Deviation between the equivalent relative parameter of arbitrary two wheel is known as equivalent relative parameter deviation, which includes mainly equivalent opposite Angular velocity omegaeDeviation e (ωe), angle acceleration-decelerationDeviationSlip rate SeDeviation e (Se)：
E (ω e)=ωe1-ωe2、e(Se)=Se1-Se2
Alphabetical footnote 1 and 2 indicates wheel 1 and 2 in formula；
The definition of viii, two non-equivalent, the equivalent relative parameter ratios of wheel：Between non-equivalent, the equivalent relative parameter of arbitrary two wheel Than expression-form is：
It blows out in control, it is non-equivalent, equivalent relative parameter ratio that non-equivalent, equivalent relative parameter deviation, which can wait and change (or substitution), Example, large deviations e (ωk)、e(ωe) can be of equal value or it be equivalent to ratio g (ωk)、g(ωe)；
Ix, above-mentioned parameter e (ωe) and e (ωk) and its derivativeWithe(Se) and e (Sk)、g(ωk)、g(ωe) For derived parameter；
X, wheeled vehicle control parameter includes mainly：Each wheel brake force Qi, angle acceleration-decelerationSlip rate Si, two wheel it is non-equivalent Relative brake power deviation e (Qk), speed ux, steering wheel angle δ and its derivativeSteering-wheel torque Mc, power steering square MaAnd its DeviationDeflecting roller is blown out flywheel moment Mb' etc., whereinSi、Mb' it is all wheel condition, mechanics parameter；
Xi, equilibrium and non-equilibrium wheel pair concept：Two wheel braking forces, driving force take turns suffered ground force to vehicle with two Identified wheel pair is balance car wheel set on the contrary in the direction of barycenter torque, is otherwise non-equilibrium wheel pair, balance car wheel set packet Forward and backward or diagonal line balance car wheel set is included, the balance car wheel set that is known as blowing out for wheel of blowing out is contained in balance car wheel set, is otherwise non-quick-fried Tire balance car wheel set；Equilibrium and non-equilibrium is braked：No matter two wheel or balance car wheel set two take turns brake force it is whether equal, Under Braking, the braking that the suffered ground force of two wheels is zero to the sum of the torque of vehicle centroid is known as balancing brake, this Two brake force are known as balanced system power, are otherwise non-equilibrium braking and non-equilibrium brake force；
Xii, based on auto model, vehicle movement equation, tire model, vehicle wheel rotation equation etc., using transformation model, compensation mould Type, correction model and algorithm, can be by non-equivalent relative parameter DbBe converted to same parameters En(include mainly Qi、μi、Nzi、δ、Ri) Under the conditions of equivalent relative parameter De, transformation model is expressed as：
De(Db, Qi, μi, Nzi, δ, Ri)
Pass through DbMiddle ωk、SkOne of parameter and set same parameters EnIn relationship mould between any one or more parameters Type carries out DbAnd DeBetween conversion；Parameter DbWith set same parameters EnBetween functional relation be difficult to determine when, by En The compensation of middle relevant parameter, equivalent process realize DeWith DbConversion between the two；
Xiii, according to runflat condition and different control stage, selected equivalent relative parameter De(include mainly ωe、Se) different, The same parameters E of settingn(include mainly Qi、Ji、μi、Nzi、αi, δ) it is different, identified equivalent relative parameter includes ωe、 SeDeng, possessed characteristic is different in blow out control and Controlling model；
2., parameter calculate
Using modes such as experiment, detection, mathematical model and algorithms, by the needs of control process, each corresponding angle of wheel is determined in real time Acceleration-deceleration, slip rate, attachment coefficient, speed, dynamic load or with wheel effective rolling radius, vehicle acceleration-deceleration in length and breadth Equal parameter values；The physical quantity for being difficult to measure is estimated using observer；Controller and onboard system set by this method Each sensor detection data parameter of vehicle and calculating parameter are shared by physical routing or data/address bus (CAN etc.)；
3., runflat condition, set of characteristic parameters of blowing out X, blow out pattern-recognition and the variation of state feature
This method introduces runflat condition concept；Runflat condition is defined as：Runflat condition be one by tire construction mechanics parameter, turn It is determined jointly to mechanical state parameter, state of motion of vehicle parameter, wheel and vehicle control parameters, characterization driving vehicle tire subtracts The concept of the wheel, steering system, suspension and vehicle-state characteristic pressing or blow out；It blows out initial stage, the normal and vehicle blown out under operating mode Wheel, steering system, the abnormal condition feature of suspension and vehicle are overlapped；Each state and control period after really blowing out, wheel, Steering system, suspension and vehicle-state feature mainly become its state feature blown out；This method introduces the set of characteristic parameters X that blows out The concept of (referred to as blow out the characteristic parameter collection X or characteristic parameter X that blows out), this feature parameter X and its parameter value quantification characterization are quick-fried The feature of tire state, the characteristic parameter X that blows out are joined by the dependency structure mechanics parameter, wheel and state of motion of vehicle of characterization tire Number, wheeled vehicle control parameter build blow out identification model and algorithm determination；Set of characteristic parameters of blowing out X uses mathematical expression shape Formula is：X [...], bracket include several characteristic parameters of blowing out, and include mainly X [xa、xe、xv......]、xa[xak, xan, xaz......]、xe[xek, xen, xez......]、xv[xvk, xvn, xvz, xvw...], each characteristic parameter is by selected wheel, vehicle , turn to relevant parameter, selected parameter blow out identification model and specific modeling knot determines；Parameter set X can quantification determination The feature of blowing out of runflat condition, i.e. wheel, steering and vehicle meets runflat condition, blows out judgement and control of blowing out is wanted It asks；The parameter of determining identification model of blowing out is made of wheel, vehicle, steering basic parameter, derived parameter, control parameter, mainly Including：Sensor detects tire pressure praOr wheel effective rolling radius Ri, angular speed of wheel ωiAnd its derivativeSlip rate Si, system Power Qi, equivalent non-equivalent relative angle velocity deviation e (ωe) and e (ωk) and its derivativeWithSlip rate deviation e (Se) and e (Sk), yaw velocity deviationSteering wheel angle δ and torque Mc, steering wheel angle θeWith torque, deflecting roller Suffered ground flywheel moment Mk；
I, detection tire pressure is blown out pattern-recognition；Detection tire pressure blows out pattern-recognition mainly with tyre pressure sensor detection tire pressure praAnd its DerivativeOr with selected wheel, vehicle parameter be input parameter, it is established based on the parameter and determines and blow out characteristic parameter collection xa[xak、 xan、xaz] identification model of blowing out：
Deng
Its function model includes mainly：
Deng
Linearly computation model includes mainly：
E (ω in formulae) and e (ωk)、Withe(Se) and e (Sk) be respectively balance car wheel set two take turns it is equivalent, non-etc. Imitate relative angle velocity deviation and its derivative,For yaw rate deviation, k1、k2、k3For coefficient, pr0For standard tire Pressure；
Ii, state tire pressure are blown out pattern-recognition；This method introduces state tire pressure preConcept；Based on state tire pressure pre, establish and determine Blow out characteristic parameter collection X [xe] identification model general expression of blowing out：
xe=f (pre)
Blow out characteristic parameter collection xe[xek, xen, xez, xew] in each parameter blow out the functional form of identification model, include mainly：
xek=f (prek)、xen=f (pren)、xez=f (prez)、xew=f (prew)
State tire pressure preEach parameter p of collectionrek、pren、prezDeng referred to as feature tire pressure, feature tire pressure is with selected tire construction mechanics Parameter, wheel and state of motion of vehicle parameter, the function model for turning to mechanics state parameter, wheel and vehicle control parameters, are adopted It is determined with the relevant control algorithm of the modern control theories such as ratio, PID；State tire pressure set pre(abbreviation state tire pressure or state Tire pressure collection pre) concept is expressed as：State tire pressure preThe not instead of real-time tire pressure of any wheel of vehicle, based on normal, operating mode of blowing out And under all operating modes, by car wheel structure, mechanics and state parameter, vehicle status parameters, mechanics state parameter and its control are turned to Parameter determines that the normal tire pressure of characterization wheel, low tire pressure or runflat condition are built using its above-mentioned selected parameter as input parameter jointly It is vertical to calculate preModel and algorithm, the concept tire pressure for calculating and determining in real time；State tire pressure preIt is a conception of species tire pressure and practical tire The adaptable dynamic tire pressure for blowing out and controlling process of pressure；One determines state tire pressure collection preParameter include mainly：Basic ginseng Number：Angular speed of wheel ωi, slip rate Si, ground friction coefficient μi, wheel effective rolling radius Ri, wheel stiffnesses GziDeng；Wheel Derived parameter：Forward and backward axle or diagonal line balance car wheel set equivalent, the non-equivalent relative parameter of left and right wheel and equivalent, non-equivalent phase To parameter error；The front and back equivalent relative parameter deviation of axle includes mainly equivalent relative angle velocity deviation e (ωea) and e (ωeb)、 Angle acceleration-deceleration deviationWithSlide deviation e (Sea) and e (Seb)；The front and back non-equivalent relative parameter deviation master of axle To include non-equivalent relative angle velocity deviation e (ωka) and e (ωkb), angle acceleration-deceleration deviationWithSlip rate Deviation e (Ska) and e (Skb), wherein indicating equivalent and non-equivalent parameter, letter and its footnote respectively by letter and its footnote e and k A, b indicates forward and backward two axle of vehicle respectively；Vehicle parameter：Speed ux, yaw velocity deviationAnd its derivativeVehicle centroid side drift angle eβ(t) deviation and its derivativeBarycenter indulges side acceleration axAnd ay；Vehicle control parameters： Each wheel brake force Qi, angle acceleration-decelerationSlip rate Si, the two non-equivalent relative brake power deviation e (Q of wheelk), steering wheel angle δ and Its derivativePower steering square deviationSteering is blown out flywheel moment Mb' etc.；Wherein power steering square deviationWith vehicle Fast ux, steering wheel angle δ, steering-wheel torque sensor detected value Mc be parameter, using the parameter power-assisted steering model determine；Si、Mb' it is all wheel condition parameter and control parameter；Secondly, determine state tire pressure collection pre[prek, pren, prez, prew] Mathematical model；Under Vehicular turn or non-steering condition, based on the different control structures such as vehicle braking, driving, steering, controlled Journey and the different phase for control of blowing out are that input is joined with the wheel and vehicle parameter of its determination, derived parameter and control parameter Number is based on the parameter, establishes the mathematical model of different structure and type, determine state tire pressure collection pre[prek, pren, prez, prew] In feature tire pressure prek、pren、prez；In the mathematical model, using correction factor λi, pass through λiTo each wheel ground friction coefficient μi, load Nzi, steering wheel angle δ variation compensate, correction factor λiUsually by μi、Nzi, the equivalent model of δ parameters it is true It is fixed；Determine λiEquivalent model in, some specified conditions of braking, driving, steering procedure can be used, include mainly：The λ respectively taken turnsi N that is equal, respectively taking turnsziIt changes negligible, δ and is equal to 0 etc., under certain condition λiCan be considered 0 or value be 0；Determine state tire pressure preGeneric function model or mathematic(al) representation be：
λi=f (μi, Nzi, δ)
E (ω in formulae)、e(Se) it is forward and backward or equivalent opposite angular speed, slip rate are taken turns in driving, nonpowered axle balance car wheel set two Deviation, the deviation are mainly two wheels in Qi、μi、NziEquivalent relative parameter under value is identical or the equivalent the same terms of value is inclined Difference, the i.e. deviation mainly take turns brake force Q by forward and backward or driving, nonpowered axle balance car wheel set twoiValue is identical or value is equivalent It is determined under the conditions of phase is same, ωr, β be yaw rate and side slip angle,And ayVehicle indulges side acceleration,Normally and damage power steering square deviation for vehicle,It can be by steering wheel target and actual torque deviation It exchanges, QiFor each wheel brake force, λiFor equivalent correction factor；Correction model and equivalent can be used in the equivalent relative parameter deviation of wheel Correction factor λiMode, make non-equivalent relative parameter ωk、SkIn Qi、μi、Nzi, the parameter values such as δ are identical or value imitates phase With under the conditions of, equivalent relative parameter D is converted toe(ωe、Se) and its equivalent relative parameter deviation e (ωe)、e(Se)； Under specific control condition, main includes the left and right wheel μ of setting axle balance car wheel seti、NziValue is identical, ignores δ to e (ωe)、e(Se) effect, and the secondary left and right wheel of antero posterior axis wheel is in brake force QiUnder value is identical or equivalent the same terms, e(ωk)、e(Sk) each deviation can be equivalent in parameter Qi、μi、Nzi, equivalent relative parameter under the equivalent identical item of δ values Deviation e (ωe)、e(Se)；In each model, forward and backward left and right equivalent, the non-equivalent relative parameter deviation of wheel of axle is taken as Absolute value；Equivalent relative parameter deviation e (ωe)、e(Se) can be used as forward and backward axle balance car wheel set blow out wheel tire pressure Or the quantification characteristic parameter that radius of wheel reduces, characterize the state difference that forward and backward axle balance car wheel set two takes turns tire pressure or radius Not, it is used for state tire pressure preIt calculates；Blow out, it is non-blow out under working condition, yaw rate deviationAs vehicle The basic parameter of stable state control；State tire pressure collection preMiddle parameter e (ωk),It can be with e (Sk),Mutually substitution；Thirdly, To simplify preCalculating, by using specific modeling structure, Controlling model relevant parameter quantity, simplify model structure, optimization Related algorithm carries out parameter compensation and amendment, establishes equivalent model, realizes state tire pressure in blow out judgement and control of blowing out Concrete application；State tire pressure collection preWheel torsion stiffness, angular speed and yaw rate model：
e(prc)=prc0-prc
E (ω in formulae) it is the two equivalent relative angle velocity deviation of wheel of forward and backward axle balance car wheel set or so,For vehicle ideal And practical yaw velocity deviation, prc0、prcFor wheel torsion stiffness GzciStandard tire pressure, the real-time tire pressure of model determination；Wheel Tire is reduced to the ideal torsionspring with spring-loaded elastic circular ring structure in torsion stiffness model, establishes its torsionspring Model；Torsionspring model, for parameter, is passed through with angular speed of wheel, rotary inertia, torsion stiffness, equivalent viscous damping ratio etc. The kinetic model (differential equation) of its parameter exports the elastic constant of tire and the functional relation of tire pressure in running car；It adopts It with ABS wheel speed sensors detection signal waveforms, is handled by electronic control unit, determines the resonant frequency of tire, it follows that tire Elastic constant；Tire pressure is determined according to the functional relation of tire pressure and boring rate；Four, state tire pressure collection preRelevant parameter It replaces, compensate and linearizes；Determine state tire pressure collection preFunction model and linear formula, include mainly：
Or
λi=f (Ni, μi)
To take turns turning power deviation：Vehicle it is non-brake and non-driven, driving, on-position one state of a control under, turn to When disk corner δ is smaller, left and right wheel load NziChange smaller (negligible), left and right wheels ground friction coefficient μiIt is equal, λiIt can be taken as 0 Or 1；When not carrying out the stable state control of wheeled vehicle differential braking, non-equivalent state parameter e (Sk)、e(ωk)、e(Qk) it is equivalent to e (Se)、e(ωe)、e(Qe)；When controlling (on-position two) into the stable state of wheeled vehicle differential braking, model is using blowing out, is non- Balance car wheel set two of blowing out takes turns equivalent Relative sliding rate deviation e (Se) and angular speed deviation e (ωe), with non-equivalent relative brake power Deviation e (Qk) the equivalent relative brake power deviation e (Q of substitutione), steering-wheel torque deviation delta M is used in combinationcOr power steering square deviation delta MaReplace deflecting roller turning power deviationBrake force deviation e (Q are taken turns by balance car wheel set twok) blow out characteristic value compensation Yaw velocity deviationCharacteristic value appearance of blowing out " abnormal change "；K in formula0、k1、k2、k3、k4、k5For coefficient, mould Each parameter is taken as absolute value in type；State tire pressure preOr using the modern scientists such as PID, optimal, the fuzzy, sliding formwork of its parameter reason It is determined by relevant control algorithm；Five, state tire pressure collection pre[prek, pren, prez, prew] modeling structure, characteristic and algorithm；Base , driving non-brake and non-driven in vehicle, brake control process, setting is non-brake and non-driven, driving, brakes three classes state knot Structure, by two balance car wheel set of forward and backward axle and its state feature of left and right wheel, during each control select above-mentioned part or Whole wheels, steering system, vehicle status parameters and control parameter determine non-equivalent, equivalent relative parameter, select value it is identical or The equivalent identical same parameters E of valuen, establish state tire pressure collection preIn each corresponding modeling structure of feature tire pressure；Wherein vehicle Driving and non-driven, braking and it is non-brake characterized with positive and negative (+, -) logical symbol, it is automatically controlled during logical symbol (+, -) use High and low level or specific logical symbol code (including mainly number, number etc.) expression, each logical combination expression braking (+), Drive the control process such as (+), non-brake and non-driven (-, -)；State tire pressure preFor the secondary left and right wheel angular speed of antero posterior axis wheel ωiAnd angle acceleration-decelerationSlip rate SiAnd its equivalent, the non-equivalent relative parameter deviation e (ω of derivativee)、e(Se)、e(ωk)、e(Sk)、The subtraction function of absolute value increment；preFor yaw rate deviationTurn To wheel turning power deviationThe secondary left and right wheel brake force Q of antero posterior axis wheeliNon-equivalent relative deviation e (Qk) absolute value increment Subtraction function；Each parameter is taken as absolute value；(include mainly yaw velocity in control parameter after vehicle enters control of blowing out DeviationSide slip angle deviation eβ(t) or with the lateral acceleration-deceleration a of vehicley) there is " abnormal change " in the state of, can The non-equivalent relative angle velocity deviation e (ω taken turns with balance car wheel set differential braking twoka) and e (ωkb) the equivalent relative angle speed of substitution Spend deviation e (ωea)、e(ωeb)；Make state tire pressure pre、eβ(t)、ayThe vehicle flat tire feature of parameter is to wheel condition Parameter e (ωka) and e (ωkb) feature transfer of blowing out, pass through the transfer, it is ensured that blow out under control condition, determine state tire pressure preRelevant parametereβ(t)、ay、e(ωka) and e (ωkb) etc. do not lose stable feature of blowing out, compensateeβ (t) or and ayParameter blows out " abnormal change " of feature appearance；Six, state tire pressure collection pre[prek, pren, prez, prew] in it is special Modeling structure, characteristic and the algorithm of tire pressure are levied, setting is non-brake and non-driven, driving, brakes three classes status architecture；It is non-brake and Non-driven state structure (-, -)：In the state procedure, feature tire pressure prekFollowing equivalent models and algorithm can be used：
To take turns turning power deviation, λiFor μi、Nzi, δ parameters equivalent correction factor, λi=f (μi、Nzi, δ), the process system Power Qi=0, thus make non-equivalent opposite angular velocity omegakDeviation e (ωk), angle acceleration-decelerationDeviationEtc. parameters With μi、Nzi、δ、QiValue is equal or the equivalent identical equivalent relative parameter deviation e (ω of valuee)、Effect and spy Property；λ under normal conditionsi0 or 1 is can be taken as, e (ωk) can be by non-equivalent Relative sliding rate deviation e (Sk) substitution；It is carried out based on X quick-fried Tire judgement (referring to following judgement related Sections of blowing out), judges after blowing out, then the non-equivalent opposite angular speed of more forward and backward two axle Deviation e (ωk) absolute value, wherein the greater is to blow out balance car wheel set, and balance car wheel set of blowing out middle left and right two takes turns ωiIt is larger Person is wheel of blowing out；Parameter e (ω in formulak) can be with e (Sk), mutually replace；Wheel, which is in, when non-brake and driving freely rolls shape State, parameter μi、Nzi, δ is through λiAfter equivalent correcting process, equivalent and non-equivalent opposite angular speed, the angle acceleration-deceleration base of left and right wheels This is equal；Driving condition structure (+)：In the state procedure, feature tire pressure pren(pren1、pren2) mainly by nonpowered axle, driving The computation model and algorithm of axis determine：
λi=f (μi、Nzi、δ)
In left and right wheel load N in formulaziChange smaller, left and right wheels ground friction coefficient μiCondition equal, steering wheel angle δ is smaller Under, λiPenalty coefficient can be taken as 0 or 1；The left and right wheel of nonpowered axle balance car wheel set is using non-equivalent opposite angular speed e (ωk), angle Acceleration-decelerationDeviation；The left and right wheel of drive shaft is using equivalent opposite angular speed e (ωe), angle acceleration-decelerationDeviation； Left and right wheels ground friction coefficient μiUnder equivalent state, the driving moment Q of the left and right wheel of drive shaftuiIt is equal, e (ωe)、With e (ωk)、It is of equal value or equivalent, λi0 or 1 is can be taken as, in split friction coefficient μiIn the state of use λiTo prenIt compensates； Judgement of blowing out is carried out based on X (referring to following judgement related Sections of blowing out)；After judgement is blown out, then compare axle shaft left and right two Take turns equivalent opposite angular velocity omegae, non-driven axle then more non-equivalent opposite angular velocity omegak, during two axle of vehicle left and right two is taken turns ωe、ωkThe greater is wheel of blowing out, and it is balance car wheel set of blowing out to have the balance car wheel set for wheel of blowing out；It really blows out, inflection point of blowing out Phase, in the case where vehicle does not enter anticollision drive condition, vehicle traction actually has dropped out；On-position structure (+)：On-position knot Under structure one, nominal situation on-position, the left and right wheel brake force of two axle of front and rear is equal, and each wheel differential braking is not carried out Vehicle stable state controls, then shows that vehicle is in nominal situation or blows out early period, be mainly used for following equivalent models and its algorithm is true Determine feature tire pressure prez：
λi=f (μi、Nzi、δ)
Steering wheel angle δ is smaller, load NiChange smaller, left and right wheel friction coefficient μiUnder the conditions of equal or setting is equal, λi It can be taken as 0 or 1；In split ground friction coefficient μi, steering wheel angle δ is larger, load NiUnder jump condition, λiBy left and right wheel μi、Nzi, δ parameters equivalent correction model determine；The left and right wheel brake force of two axle of front and rear is equal, the left and right wheel of two axles Non-equivalent angular speed deviation e (ωk), non-equivalent angle acceleration-decelerationActually it is equivalent to brake force QiUnder the conditions of equal etc. Imitate relative angle velocity deviation e (ωe), angle acceleration-deceleration deviationBlow out judgement (referring to following judgements of blowing out based on X Related Sections)；Judge after blowing out, then more forward and backward two axles e (ωe) absolute value, wherein the greater is to blow out leveling wheel Pair, smaller are non-balance car wheel set of blowing out；In balance car wheel set of blowing out, pass through e (ωk) positive and negative determination blow out wheel, Or compare the equivalent phase degree angular velocity omega of two wheelseThe size of absolute value, wherein the greater are wheel of blowing out；On-position structure two, The state is the state that vehicle enters under each wheel differential braking stable state control condition of blowing out, under this state, using two ways Determine feature tire pressure prez；Mode one：Feature tire pressure prezState tire pressure, i.e. p are determined using or based on " on-position one "rez= pren, and judgement of blowing out is carried out with this；Mode two：For with wheel braking force Qi, angular velocity omegaiAs control variable vehicle, Using the feature tire pressure p under each wheel differential braking stable state control conditionrezIt calculates；prezAlgorithm one：Based on " on-position one " Judgement of blowing out, balance car wheel set two of blowing out wheel applies equal brake force, using following characteristics tire pressure prez1Computation model：It is quick-fried The left and right wheel of tire balance car wheel set uses equal brake force QiWhen, the E of settingnOne of middle same parameters are Qi, meet balance of blowing out Wheel pair two takes turns brake force QiValue is identical, is considered as two wheel effective rolling radius RiThe equivalent the same terms of value, e (ωk) then equivalent In e (ωe)；The non-wheel of balance car wheel set two of blowing out carries out differential braking, using following prez2Computation model：The E of settingnIn it is same One parameter is Qi、Ri, parameter e (ωe)、Meet each wheel Q simultaneouslyi、RiThe equivalent equal condition of value；prezAlgorithm two：It is quick-fried Tire, the non-wheel of balance car wheel set two of blowing out apply stable state control differential braking unbalanced system power, adopt and following use prez3Calculating Model,：The E of settingnMiddle same parameters are Ri, parameter e (ωe)、Balance car wheel set two should be met and take turns brake force Qi, effect rolling Dynamic radius RiThe equivalent equal condition of value, the model or can be used balance car wheel set two and takes turns non-equivalent brake force deviation e (Qk) take For e (Qe), pass through parameter e (Qk) compensation yaw rate deviationFeature of blowing out in control of blowing out generates " different It often changes "；
λi=f (μi、Nzi、δ)
λ in formulaiBy left and right wheel μi、Nzi, δ parameters equivalent model determine；E (ω in the above formulase) can be with e (Se) exchange；Base Judgement of blowing out is carried out in the value of X (referring to following judgement related Sections of blowing out)；Judge after blowing out, then more forward and backward two axles e (ωe) absolute value, wherein the greater is to blow out balance car wheel set, and smaller is non-balance car wheel set of blowing out；In balance of blowing out In wheel pair, pass through e (ωk) positive and negative determination blow out wheel, or compare two wheel ωeThe size of absolute value, wherein the greater For wheel of blowing out；When steering wheel angle δ is larger, ground friction coefficient μ is setiIt is equal, pass through automobile turning wheel corner δ, speed uxOr with tyre slip angle αiEtc. parameters determine vehicle turn radius, thereby determine that left and right wheels operating range deviation and angle of rotation speed Spend deviation delta ω12, according to Δ ω12Or with left and right wheels load variations amount Δ Nz12Function model, determine equivalent corrected parameter λi； For simplified λiCalculating, ignore the secondary two wheel loads transfer of front and back wheel, by field test, determine λiWith variable δ, parameter uxEtc. corresponding functional relation, work out functional relation numerical value chart, numerical value chart is stored in electronic control unit, in control for brake with δ、ux、μiIt takes Deng being looked into for parameter, call λiValue, be used for axle left and right wheels equivalent parameters and state tire pressure preDetermination；pre Computation model in parameter ωiIt can be with slip rate SiMutually substitution；Deflecting roller flywheel moment deviationDefinition be：Normally With the flywheel moment M in ground suffered by operating mode deflecting roller that blows outk1、Mk2Between deviation
Inclined absolute value of the differenceWith the true tire pressure p of wheelra, state tire pressure preReduction amount positive correlation；Normally and unusual service condition Under the conditions of, parameterIt can be with steering-wheel torque deviation delta McOr power steering square deviation delta MaIt exchanges；
Iii, mechanical state, wheeled vehicle state parameter pattern-recognition are turned to；In the flywheel moment M that blows outb' generation and forming process In, the diverted system of runflat condition is shifted to steering wheel, steering wheel angle δ, steering-wheel torque Mc(vector) size and Orientation changes Become, works as Mb' when reaching a critical condition, it can be according to δ, McVariation feature, identify Mb' generation and runflat condition, and determination it is quick-fried Tire flywheel moment Mb′；M′bCritical condition can be by steering wheel angle δ, steering-wheel torque McA critical point determine；δ、McFace Boundary's point is expressed as：During blowing out, steering wheel angle δ, torque McSize and Orientation changes, δ, McVariation, which reaches one, to be identified " the specific point " that wheel is blown out is somebody's turn to do " specific point " and is known as δ, McCritical point；MbIt is quick-fried by establishing after ' generation and formation Tire flywheel moment Mb' logic of judgement and its walking direction is formed, blow out identification and runflat condition according to decision logic It determines；Mechanics stateful pattern recognition is turned to based on the determining characteristic parameter x that blows outvIdentification model of blowing out；The model is to blow out back Turn power Mb', wheeled vehicle motion state parameters, include mainly equivalent non-equivalent opposite angular speed and its derivative deviation e (ωe) and e (ωk)、WithSlip rate deviation e (Se) and e (Sk), yaw velocity deviationOr with vehicle centroid lateral deviation The inclined e in angleβ(t) poor, it is main input parameter, establishes and determine the characteristic parameter collection x that blows outv[xvk、xvn、xvz、xvw] blow out identification mould Type；Wherein xvwFor identification parameter of blowing out qualitatively, xvwRecognition methods by turning to mechanical state determines：With deflecting roller (institute By ground) flywheel moment Mk(mainly include back positive force Mj, turning power of blowing out Mb'), steering wheel angle δ and torque McFor parameter, base In deflecting roller flywheel moment MkAnd its direction, the characteristic transmitted to steering wheel by steering, according to δ, McSize, direction and It changes, and judges the turning power M that blows outb' formation size and direction, and can be according to Mb' value and Mb' direction, determine by xvwWhether the runflat condition of characterization is true；xvwAfter determining runflat condition occurs, by xv[xvk1、xvn1、xvz1] blow out identification mould Type carries out pattern-recognition of blowing out：
xvn1=f (e (ωe))、
X is not being pressedvwUnder conditions of determining runflat condition, using following characteristic parameter collection x that blow outv[xvk2、xvn2、xvz2] blow out Identification model：
xvn2=f (M 'b, e (ωe))、
Carry out pattern-recognition of blowing out；In formulaWithWith e (Se) and e (Sk) can mutually replace；In the difference of control of blowing out Stage can be by e (ωk) substitution e (ωe)、e(Sk) substitution e (Se)；And by identification model of blowing out, driving and control for brake type and Its characteristic is blown out each control stage, determines the characteristic parameter collection x that blows outvParameter xvk、xvn、xvzModeling structure；xvk、xvn、xvz's In identification model of blowing out, M 'b、e(ωe)、Etc. parameters have different weights；When with the characteristic parameter x that blows outvIt is each to blowing out When control period is divided, x is being determinedvk、xvn、xvzIdentification model of blowing out in, each parameter M 'b、e(ωe)、 With different priority logical relations (referring to the division of following control periods of blowing out (stage))；Turning power of blowing out Mb' under State mathematical model determination：
Mb'=f (Mc, Mj, Mk, Δ Mc)
Wherein deflecting roller (suffered ground) turning power MkIt is determined by steering system (system) mechanical equation：
Positive force M is returned in formulajFor the function of steering wheel angle δ, MkFor deflecting roller flywheel moment, GmFor retarder reduction ratio, imTo help Power apparatus driving current, θmFor power assisting device (motor) corner, BmFor steering Equivalent damping coefficient, McFor steering-wheel torque, jmFor power assisting device equivalent moment of inertia, jcFor steering equivalent moment of inertia；By the definition of runflat condition, based on blowing out, just The abnormal condition and the characteristic parameter X that blows out that wheeled vehicle travels under normal operating mode, realize pattern-recognition of blowing out；
The variation and its amendment of iv, runflat condition feature；The variation of the state feature includes mainly two classes；Classification one, " normal change It is dynamic "：Runflat condition feature corresponding actual change with the development for the process of blowing out, the variation include mainly wheel and vehicle parameter, Control parameter, the blow out variation of characteristic parameter X and the increase and decrease of parameter value；Classification two, " abnormal to change "：During blowing out especially Into after control of blowing out, due to controlling to the role and influence of runflat condition, characterize wheel and vehicle state parameter, control parameter, Characteristic parameter X and parameter value blow out not exclusively with reflecting the state feature of itself of blowing out, the parameter value pair of X with blowing out real process Runflat condition generates the deviation of quantification；To protect validity, the accuracy of positive runflat condition pattern-recognition, in control of blowing out and blow out During system, reply determine blow out, runflat condition, state tire pressure preAnd the wheel for judgement of blowing out, steering system, vehicle correlation ginseng Number, press runflat condition, control field, control period and its process, using including equivalent parameters, parameter selection, parameter model replacement, The different mode of parameter compensation, parameter attribute and characteristic value transfer, blow out pattern-recognition and conversion, determines the characteristic parameter X that blows out Corresponding modeling structure makes blow out feature and characteristic value, the recurrence of wheeled vehicle parameter, the characteristic parameter X that blows out " abnormal to change " To or be equivalent to, the wheeled vehicle parameter under the conditions of " normal variation ", blow out feature and the characteristic value of the characteristic parameter X that blows out；Its One, equivalent parameters pattern：Definition based on equivalent, non-equivalent relative parameter and its deviation, by equivalent or non-equivalent relative parameter The equivalent mode of deviation, by taking turns angular speed deviation e (ω to balance car wheel set twoe) and e (ωk), angle acceleration-deceleration deviationWithSlip rate deviation e (Se) and e (Sk), brake force deviation e (Qe) and e (Qk) deviation progress equivalent process, make quick-fried " abnormal to change " of relevant parameter is equal to or is equivalent to " normal variation " in tire state parameter, thus makes characteristic parameter collection of blowing out The runflat condition feature of X is converted to " normal variation " by " abnormal to change ", and wherein runflat condition parameter includes：Wheel, steering system System and vehicle parameter；Secondly, parameter selection mode：It blows out in control, in wheeled vehicle state parameter field, by including mainly e(Se) ore(Se) or e (Sk)、Or ayThe selection of each parameter keeps runflat condition related in the characteristic parameter X that blows out The runflat condition feature of parameter by " abnormal to change " by being changed into " normal variation "；Thirdly, parameter or its parameter model replace mould Formula：It blows out in control, original parameter or its model is replaced using relevant parameter in runflat condition parameter or its parameter model, made quick-fried The runflat condition feature of relevant parameter is equivalent to and is converted to by " abnormal to change " and is " normal in tire state, the characteristic parameter collection X that blows out It changes "；Different parameters range and under the conditions of, including use steering-wheel torque deviationIt replaces (or substitution) and turns to samsara Torque deviationOr deflecting roller is blown out flywheel moment Mb′；Four, parameter is replaced and parameter attribute value shifts united mode： It blows out in control, mainly with yaw velocity deviationSide slip angle deviation eβ(t) it is control variable of blowing out, by preceding Back axle balance car wheel set two takes turns differential braking, realizes the control of vehicle stable state；In the state of each wheel differential braking, determination is blown out In identification model, non-equivalent relative angle velocity deviation e (ω are taken turns by antero posterior axis balance car wheel set twoka) and e (ωkb) replace or Replace equivalent relative angle velocity deviation e (ωea)、e(Seb) mode, make vehicle status parameters (eβ(t) shape of blowing out State feature is to wheel condition parameter e (ωka)、e(ωkb) runflat condition feature transfer, pass through its feature transfer and characteristic value Compensation, makes parametereβ(t) the runflat condition feature in brake control process is equivalent to and is converted by " abnormal to change " For " normal variation "；Five, parameter compensation model：Using wheel, steering, the penalty coefficient of vehicle related parameters, compensation Model and algorithm directly compensate corresponding runflat condition and the characteristic parameter X that blows out, and make the runflat condition feature of its parameter It is equivalent to and is converted to " normal variation " by " abnormal to change "；It six, blows out the conversion of recognition mode, model：It blows out and controlled Cheng Zhong, by runflat condition and control field, control interval and its process, using different recognition modes of blowing out, model, including head Recognition mode, the model of first adoption status tire pressure enter certain control process after blowing out the control of deflecting roller turning power in vehicle, It is transferred to and turns to mechanics state recognition pattern and model using blowing out, make runflat condition and the runflat condition for the characteristic parameter X that blows out is special Sign is equivalent to and is converted to " normal variation " by " abnormal to change "；
4., judgement of blowing out；
I, it blows out definition：No matter whether wheel really blows out, as long as car wheel structure, mechanics and motion state parameters, vehicle traveling State parameter turns to that mechanics state parameter, control parameter of blowing out be qualitative and the wheeled vehicle " abnormal condition " of quantification characterization Occur, it is qualitative and fixed by the decision model based on the decision model of blowing out of blow out identification parameter and pattern-recognition foundation of blowing out Quantization determines that runflat condition feature reaches setting condition, then is judged to blowing out, wherein it equally includes qualitative and quantitative to impose a condition Condition；According to the definition blown out, runflat condition feature described in this method is improper normally and under operating mode of blowing out with wheeled vehicle State feature is consistent, while consistent with the state feature that rear wheel of really blowing out, steering, vehicle generate, and so-called " state is special Levy consistent " refer to：The two is essentially identical or equivalent；Judgement blow out mainly using detection tire pressure pra, state tire pressure pre, turn to Three kinds of mechanical state is blown out determinating mode or the combination of its pattern；
Ii, determinating mode of blowing out；According to runflat condition process, the particular requirement of control period of blowing out, control process of blowing out, select quick-fried Tire identification parameter establishes blow out recognition mode and identification model of blowing out, in the item occurred with the non-abnormal condition blown out of blowing out Under part, blown out surely characteristic parameter collection X [x based on identification model of blowing outa、xe、xv] decision model of blowing out is established, judgement mould of blowing out Type uses qualitative and condition criterion of quantitatively blowing out, and judgement of quantitatively blowing out sets door mainly using logic threshold model form of blowing out Threshold value is limited, decision logic is established, judgement of blowing out is carried out according to decision logic, by definition of blowing out, the value of decision model of blowing out determination Reach setting threshold value, be then judged to blowing out, judgement of otherwise blowing out is invalid and exits its judgement and blows out；Logic threshold model Include mainly：One-parameter, multi-parameter or its combined parameters Threshold Model, set threshold value include mainly：One-parameter, multi-parameter And combined parameters threshold value；Judgement for the Threshold Model of multi-parameter simple gate limit, can set in characteristic parameter collection X and accordingly join Several weights；The judgement of the Threshold Model of multi-parameter multi-threshold can set the weight and parameter of relevant parameter in characteristic parameter collection X Priority logic sequence；To decision logic assignment of blowing out, indicated whether with positive and negative "+", the "-" of mathematic sign (logical symbol) quick-fried Tire, it is automatically controlled during the high and low level of logical symbol (+, -) or specific logical symbol code (main includes number, number Deng) indicate；One, detection tire pressure determinating mode：Based on the characteristic parameter collection x that blows outa]xak、xan、xaz] identification model one of blowing out As form：
Blow out characteristic parameter collection xaIn the functional form of each parameter include mainly：
Parameter set xaModeling structure：xaTo detect tire pressure praThe increasing function of decrement is yaw rate deviationWith Balance car wheel set two takes turns equivalent relative angle velocity deviation e (ωe) absolute value increment increasing function；Determine xaModel in, pra's Weight is more thanWeight,Weight be more than e (ωe) weight；Work as praP when being 0raWeight value be 1, and And xakObtain maximum value；When decision model of blowing out uses Threshold Model, x is setaThreshold value, determine decision logic, work as xa When up to setting threshold value, it is judged to blowing out；For using xaCollection parameter combines decision model of blowing out, and sets xak、xanDoor Threshold value is limited, decision logic is determined, works as xak、xanSet major and minor threshold value is respectively reached, is judged to blowing out, judgement of otherwise blowing out It is invalid or and go out judgement of blowing out；Secondly, state tire pressure determinating mode：Based on the characteristic parameter collection x that blows outeBlow out identification mould Type, xeThe general type of parameter model and linearisation：
xe=f (pre)、xe=kpre
Blow out characteristic parameter collection xeIn each parameter xek, xen, xezModel use functional form, include mainly：
xek=f (prek)、xen=f (pren)、xez=f (prez)
Wherein feature tire pressure prek、pren、prezIt is determined using following methods：Under Vehicular turn or non-steering condition, with wheel, Vehicle, turn around parameters and control parameter are input parameter, the different controls such as, driving non-brake and non-driven according to vehicle, braking Process and the special of control period of blowing out require, and select prek、pren、prezThe parameter of use establishes mathematical model and the modeling of the parameter Structure；prek、pren、prezEach mathematical model in, using correction factor λi, pass through λiTo each wheel ground friction coefficient μi, load Nzi, steering wheel angle δ variation compensate, correction factor λiUsually by μi、Nzi, δ parameters equivalent model determine；Blow out spy Levy parameter xek, xen, xezDecision model of blowing out use logic threshold model form, set dynamic threshold threshold value, foundation is blown out and sentenced Determine logic, works as xek, xen, xezWhen up to setting threshold value, then it is judged to blowing out, otherwise blowing out, judgement is invalid or to exit its quick-fried Tire judges；Thirdly, turn to mechanical state, wheeled vehicle parameter decision pattern：Using the characteristic parameter collection x that blows outv[xvk、xvn、xvz、 xvw] combine identification model of blowing out；xvwTo qualitatively judge condition：Establish parameter Mk、δ、Mc、Mb' and steering wheel (or deflecting roller) Rotation direction preferred coordinates system, flywheel moment of blowing out Mb' reach steering wheel angle δ, torque McThe critical point of size and Orientation variation, M is determined by mechanical state identification model of blowing out is turned tobThe decision logic in ' direction (controls related referring to following deflecting roller turning powers Chapters and sections), by the decision logic, determine Mb' direction；Mb' direction determining establishment then show Mb' formed, xvwSetting is reached to sentence Fixed condition；xvk、xvn、xvzTo quantitatively judge condition：In qualitative condition xvwUp to after setting decision condition, with xvk1、xvn1、xvz1For ginseng Number establishes the decision model of blowing out of its parameter, which mainly uses the form of logic threshold model, sets threshold value and sentences Determine logic, works as xvk1、xvn1、xvz1One of when reaching set threshold value, then be judged to blowing out, judgement of otherwise blowing out is invalid simultaneously Its judgement is exited to blow out；Do not using xvwQualitative judgement under the conditions of, with xvk2、xvn2、xvz2Blowing out for its parameter is established for parameter Decision model, the model equally use the form of logic threshold model, set threshold value, work as xvk2、xvn2、xvz2One of reach When setting threshold value, then it is judged to blowing out, judgement of otherwise blowing out is invalid and exits judgement of blowing out；Based on the definition blown out, Originally it blows out and is determined as a kind of blurring, overlappingization, generalities, the judgement of mobilism；Blurring is expressed as with the characteristic of ization： Not necessarily true generation of blowing out through the judgement, but very possible true generation, and show as：Under certain condition, vehicle is being just Often, the wheel condition for operating mode of blowing out, steering state, vehicle-state are overlapped, wherein being mainly included in split friction coefficient road Face, braking driving turn to wheel under the conditions of sliding etc., steering, vehicle-state and wheel, steering and vehicle under the conditions of blowing out State is overlapped；The feature of generalities is expressed as：Judgement of blowing out through the judgement is not necessarily true to be occurred, only a kind of normal The judgement of operating mode and low tire pressure or relevant wheel of really blowing out, steering and vehicle abnormal condition feature；The feature of mobilism It is expressed as：This be determined as it is a kind of normally with wheel during runflat condition, the judgement of steering and vehicle abnormal condition process；This Judgement defines the corresponding technical characteristic of control of blowing out, i.e., enters back into control of blowing out after need not making true judgement of blowing out, quick-fried Tire controls process and is adapted with runflat condition process；
5., the division of runflat condition and control period of blowing out (stage)
The division is based on specific point of blowing out, using characteristic parameter and its united control period (stage) the delimitation mode of blowing out, respectively Main controller output corresponding each phase controls signal after control period (stage) delimited；In each control period of blowing out, control of blowing out uses Identical or different blow out control model and model；
I, the control period for specific point of blowing out delimit mode；One, determine the starting point of control of blowing out and blow out, wheel condition and State parameter drastically changes a little, the fixed main transition point including zero tire pressure, wheel rim burble point, wheel speed, wheel angle acceleration-deceleration； Secondly, the inflection point of blow out control and control parameter, which mainly includes transition point, the singular point of wheel angle acceleration-deceleration, in braking It is expressed as the transition point of brake force；Above-mentioned specific time and state point based on runflat condition and control of blowing out, determine blow out and Control period of blowing out (stage), control period include mainly：It blows out early period, true blow out states and the controls such as phase, inflection point of blowing out, knocking over Phase；It blows out early period：It blows out and controls starting point to the period between starting point of really blowing out；Really blow out the phase：True starting of blowing out Point to the period between inflection point of blowing out, starting point of really blowing out by detection tire pressure and its change rate, state tire pressure and its change rate, The mathematical model for turning to mechanics characteristic condition parameter determines；Inflection point of the blowing out phase：Inflection point of blowing out to the period between tire rim burble point, Inflection point of blowing out is determined by detection tire pressure or state tire pressure and its change rate, wheeled vehicle parameter and its mathematical model；It blows out inflection point Tire pressure and its change rate are the change of 0, wheel and vehicle status parameters close to a critical point in phase；Knocking over control period：Wheel tire State and control period after rim separation, detection tire pressure and change rate are 0 in the phase, and wheel attachment coefficient drastically changes, the control Phase can be determined by the parameters such as vehicle side acceleration and tyre slip angle and its mathematical model；
The control period delimitation mode of ii, characteristic parameter of blowing out；It is selected to blow out based on runflat condition, control structure of blowing out and type Relevant parameter in characteristic parameter collection X, sets the numerical value point of several series of the parameter, and each point is set as runflat condition and blows out The division points of control period (stage) constitute blow out each state phase and control period of blowing out (stage) between each point, blow out in each phase Runflat condition it is substantially consistent or equivalent identical with the true runflat condition process of the phase；
The united control period of iii, specific point of blowing out, characteristic parameter of blowing out delimit mode；It is drawn using the grading system of upper and lower two-stage The mode of dividing；Higher level's control period：Before blowing out by specific point determination of blowing out, really blow out, inflection point of blowing out, each control period (rank of knocking over Section)；Subordinate's control period：Higher level determine blow out before, really blow out, in inflection point of blowing out, each control period of knocking over, by feature of blowing out Parameter value sets the numerical point of several series, is each control period of next stage (stage) between each numerical point；
Iv, it blows out and control period of blowing out；One is blown out early period：Entering signal of blowing out iaBefore system enters control of blowing out when arrival Phase, the control period typically occur in the low-medium speed rate decompression state of wheel tyre pressure, according to the real process, vehicle or into really It blows out and phase control or exits control of blowing out；Secondly, really blow out the phase：With tire pressure pr(including pra、pre) and tire decompression rate Tire pressure change value Δ is determined by the function model and pid algorithm of its parameter within the sampling period of tire pressure detection for parameter pr：
P in formular0For standard tire pressure, t1To t2For the time in the sampling period of tire pressure detection；By Threshold Model, tire pressure change value Δ prUp to setting threshold value aP1When be determined as the phase of really blowing out, electronic control unit output is really blown out control signal ib, controller of blowing out Into the control stage for phase of really blowing out；Thirdly, inflection point of the blowing out phase：Using a variety of decision procedures；Decision procedure one, to be arranged tire The system of pressure sensor, detection tire pressure value praIt is 0, and balance car wheel set two of blowing out takes turns equivalent (or non-equivalent) with respect to angular speed e (ωe), angle acceleration-decelerationSlip rate e (se) one of deviation or multiple parameters functional value up to setting threshold value aP2, that is, sentence It is set to inflection point of blowing out；Decision procedure two, tire pressure detection sampling period in, be based on state tire pressure preAnd its change rate's Function model determines its change value Δ pre：
By Threshold Model, as Δ preUp to setting threshold value aP3, or with wheel condition parameter include equivalent non-equivalent relative angle speed Degree, angle acceleration-deceleration, slip rate just with minus symbol change, be determined as inflection point of blowing out；Electronic control unit exports inflection point control of blowing out Signal ic, blowing out to control enters the inflection point control stage；It four, blows out the wheel knocking over phase：Threshold value is set when wheel turning angle reaches, Or balance car wheel set two of blowing out takes turns equivalent opposite side drift angle αi, vehicle side acceleration aySetting threshold value is reached respectively, or works as it The mathematical modulo offset of parameter is up to setting threshold value, and judgement tire takes off with wheel rim detaches knocking over, and electronic control unit exports knocking over signal id, control system of blowing out enter knocking over control the stage；
6., the entrance of control of blowing out, exit and control model conversion
Under conditions of judgement of blowing out is set up, main controller is based on vehicle flat tire state, control period of blowing out, control structure of blowing out and class Type, it is selected to establish control entrance of blowing out, the parameter of the mode of secession and model；First kind parameter：Main includes characteristic parameter of blowing out Collect [xak、xan、xaz] in relevant parameter；Second class parameter：Wheel, vehicle, environmental correclation parameter include mainly：Speed ux, Spacing L between this vehicle and all around vehiclet, opposite speed ucOr anticollision time zone ta；Manual operation interface operation parameter：It turns to Disk (or deflecting roller) corner δ, brake-pedal travel Sw, accelerator pedal stroke hi, to automatic driving vehicle, the artificial operating parameter Actively accelerated by the vehicle of central computer output and control for brake parameter replaces；By selected parameter foundation blow out control enter, The mode of secession and model, the entrance, the mode of secession mainly control the environmental aspect for entering or exiting, manual intervention, vehicle by blowing out The conditions such as state determine；The blow out entrance of control, the model that exits mainly uses logic threshold model form, sets thresholding threshold Value and decision logic are determined the entrance for control of blowing out, are exited by the model and decision logic；Blow out control entrance, exit really After fixed, main controller exports control of blowing out simultaneously to be entered, exits signal ia、ie；
I, control of blowing out actively enters and exits；Determine its condition for entering or exiting, it is adjustable using multi-parameter threshold value Dynamic threshold model；Controller is mainly with the characteristic value X that blows out, speed ux, spacing L between Ben Che and forward and backward vehiclet, opposite speed uc Or anticollision time zone ta, accelerator pedal stroke ± hi, brake-pedal travel ± Sw(or the vehicle of automatic driving vehicle main controller output Actively acceleration and control for brake parameter) it is input parameter, it is blown out based on judgement setting of blowing out and controls entrance and exit criteria, established The major-minor Threshold Model for characteristic parameter X and the speed of blowing out；Under conditions of judgement of blowing out is set up, according to setting condition and thresholding mould Type determines that the entrance for control of blowing out is exited；Wherein set control of blowing out enters and exit criteria includes mainly：Whether anticollision is set Control condition and control zone, whether artificial interference；Control of blowing out enters and the mode of secession, model are by as described below；One, vehicle Blow out control active enter and the mode of secession, model；Main controller is with selected parameter, speed u in the characteristic parameter collection X that blows outxFor Major and minor Threshold Model is arranged in input parameter, as the characteristic parameter collection X [x that blow outa、xe、xv] selected by parameter value reach main threshold value ax1(include mainly axa1、axe1、axv1), speed reach secondary threshold value au1When, vehicle, which enters, blows out control, electric set by main controller Control unit output, which is blown out, controls entering signal ia；Control entering signal of blowing out iaWhen arrival, each controller actively enters wheel, vehicle Control of blowing out；Setting, which is blown out, controls threshold value ax2(include mainly axa2、axe2、axv2) and au2, wherein ax1With ax2、au1 With au2Equal or different, blow out characteristic parameter X or speed u when the two is equalxOne of not up to threshold value ax1、au1, control of blowing out System exits；When the two is unequal, speed uxOr one of X reaches setting threshold value au2、ax2, control of blowing out exits, main controller institute If electronic control unit output is blown out, signal i is exited in controle；au1And au2For setting value or be steering wheel angle δ or with ground friction system Number μiFunction f (δ, μi), linearization process is carried out to it, which includes mainly：
au=au0-k1δ-k2(μ0-μi)
Using proportion differential algorithm (PD)：
A in formulau0Set threshold value, a when keeping straight on for vehicleuIncluding au1And au2、μ0For set ground standard friction coefficient, k1With k2For coefficient；Secondly, blow out control active negotiation enter and exit pattern, model；By collision prevention of vehicle condition and logic threshold Model, as Ben Che and forward and backward vehicle spacing Lt, opposite speed ucOr anticollision time zone taWhen into set interval, control of blowing out reaches Exit criteria and Threshold Model set threshold value, manned vehicle electrically controlling unit or automatic driving vehicle master set by main controller Control computer-made decision tyre burst brake control is exited, and sends out the anticollision control signal i that blows outh, tyre burst brake, which controls, enters anticollision mould Formula, tyre burst brake control are actively exited or are actively returned to；Thirdly, blow out control actively enter and exit man-machine communication's pattern, Model；The human-machine operation AC mode of AC mode one, manned vehicle or automatic driving vehicle (with man machine operation interface)； Determine that condition and model are exited and returned to control of blowing out adaptively：Main controller with gas pedal (or vehicle accelerate control operation circle Face) stroke hiAnd its change rateFor parameter, based on gas pedal one, two, the division of multiple stroke and positive revesal, establish from The control logic priority of suitable solution model, control logic and restriction of having ready conditions；Controlling model includes mainly：Tyre burst brake Control is actively exited, returns to the logic threshold model controlled with engine driving automatically, and setting gate logic limits threshold value, formulates control Logic determines the sequence between tyre burst brake control and engine driving control；Control entering signal of blowing out iaWhen, such as vehicle control System is in accelerator pedal stroke one stroke, and no matter which kind of position is gas pedal be in, and engine driving terminates at once；Throttle When reaching setting threshold value in pedal two or the repeatedly positive stroke of stroke, tyre burst brake control is actively exited, into having ready conditions The drive control of restriction；Backstroke in gas pedal two or repeatedly stroke up to when setting threshold value, move back by drive control Go out, tyre burst brake control actively returns to；System introducing blows out control period driver to vehicle feed speed control wish feature ginseng Number Wi(include mainly Wai、Wbi), parameter WiWith accelerator pedal stroke hiAnd its derivativeFor parameter, by gas pedal one, two and more Its parameter h is established in the division of secondary strokei、Positive and negative stroke asymmetric step function model；Its so-called parameter (includes mainly hi、) the asymmetric step function of positive and negative stroke refer to：The parameter of the built function model use of positive and negative stroke of its parameter, modeling knot Structure is not exactly the same, and on the identical data point of its variable (parameter), its functional value it is entirely different or not exactly the same；One The positive and negative stroke model W of secondary strokea1、Wa2：
Wa1=0, Wa2=0
hiDatum point be the control entering signal i that blows outaH when arrivaliValue h0, WaiTravel position h is stepped on throttle0It is unrelated； The positive and negative stroke model W of secondary or multiple strokeb1、Wb2：
hiOrigin be 0；In gas pedal two or repeatedly stroke, in variable hiArbitrary data point on, positive stroke Wb1Functional value Less than the functional value W of revesalb2；Accelerator pedal stroke hiPositive and negative (±) indicate driver to the meanings of vehicle acceleration, deceleration respectively It is willing to；Tyre burst brake control under accelerator pedal operation interface is adaptively exited and is entered：It uses with WbiFor the logic threshold of parameter Model sets the logic threshold threshold value set c of each secondary pedal travelhbi；Two kinds are used in gas pedal is secondary and multiple stroke Threshold Model, model one, WbiCharacteristic value determined by following function model：
Work as Wb1Up to threshold value chb1When, tyre burst brake control is actively exited, and W is worked asb2Up to threshold value chb2When actively to return to its quick-fried Tire controls；Model two, WbiCharacteristic value respectively by parameter hi、Major and minor function model determine：
Wbi1=f (± hi)、
Work as Wb11、Wb12Up to major and minor threshold value chb11、chb12When, tyre burst brake control is actively exited；Work as Wb21、Wb22Up to major and minor Threshold value chb21、chb22When, tyre burst brake control actively returns to its control of blowing out；In first and second and multiple row of gas pedal In the control of blowing out of journey, engine air throttle or fuel Injection Control are using successively decreasing, close or oil-break, constant, dynamic and idling Etc. different control model and model, coordinate blow out active brake and the engine driving self adaptive control of realizing man-machine communication； When the tyre burst brake control that accelerator pedal operation interface actively carries out is exited or returned to, electronic control unit exports (man-machine communication) braking Signal i is exited in controlkOr tyre burst brake control returns to signal ia；Gas pedal first and second and the repeatedly definition of stroke：Automatically controlled list Member presses programmed decision：Entering signal of blowing out iaWhen arrival, gas pedal (or throttle opening) be in arbitrary distance of run position or by The positive revesal that zero-bit starts is known as one stroke, and the positive revesal restarted again behind one stroke zero position is known as secondary row Journey, the stroke of gas pedal is referred to as multiple stroke after secondary stroke；Control blow out into after being exited with man-machine communication's pattern Automatic Restart Signal is ia, control entering signal of blowing out ia, exit signal ieFor signal independent of each other, ia、ieIt can be by blowing out The low and high level of signal or specific logical symbol code (including mainly number, number etc.) indicate；Blow out control entrance and The mechanism for being determined that control of blowing out is exited at any time with the change of runflat condition is exited, for the weight of nominal situation and operating conditions of blowing out It is folded to provide reality and the basis with operability；
Ii, control model of blowing out turn and the setting of conversion signal；Main controller delimit condition, setting according to control period of blowing out (stage) The corresponding two-step evolution phase up and down；Higher level's control period, mainly by before blowing out, really blow out, inflection point of blowing out, knocking over respectively control turn Change signal ia、ib、ic、id, realize control model conversion；Next stage control period, passes through ia(ia1、ia2、ia3......)、ib(ib1、 ib2、ib3......)、ic(ic1、ic2、ic3......)、id(id1、id2、id3...) control conversion signal of blowing out, realize subordinate The control model of each control period is converted；iaFor control entering signal of blowing out, ia1、ia2、ia3... it is each for the early period Inner subordinates of blowing out The control model conversion signal of control period；It blows out and blows out the different times of control, controller is used to be adapted with runflat condition Control model of blowing out, model and algorithm；
7., manual operation control and controller (RCC)
Manually control key is arranged in RCC；The control key is using the continuous keying number of setting in multikey position or/and some cycles Key mapping setting means determines hand keying key mapping type with this；Control key includes mainly：Knob key, pressing key；Control key is arranged " standby " and " closing " two key mappings；To the logic state U of two key mappingsg、UfAssignment uses low and high level or digital as mark；It is quick-fried Electronic control unit set by tire central master or main controller identifies logic state and its change of two key mapping open and close by data/address bus Change, and the variation of recognition logic state, the key mapping of " standby ", " closing " exports the logic state signal after its variation when changing ig、if；When vehicle control system powers on, system is blown out the logic state U of controller clear 0, RCC control key mappingg、UfBy control key The key mapping for setting " standby " or " closing " determines that, when key mapping is placed in "Off" state, display lamp is bright set by key mapping background opens, until Manual operation knob or pressing key are allowed to be transferred to " standby " key mapping, and background display lamp extinguishes；In vehicle traveling, RCC control keys It should be placed in " standby " key mapping always, the mutual transfer of two key mappings constitutes blow out active control and the hand keying behaviour of system controller Work controls compatible, and the control logic of hand keying operation is preferential and covers the active control of blowing out of system controller and patrols Volume；
I, knob key；It is spun on the logic state U of " standby " key mapping in knobgUnder, after vehicle flat tire, control of blowing out enters and moves back Go out each signal ia、ieWhen arrival, vehicle actively enters or exits control of blowing out；When driver need to close control of blowing out by its wish When, knob is gone into "close" key position, RCC enters the logic state U of closingf, and export control of blowing out and exit signal if, blow out The control of blowing out of control system and controller terminates at once, until knob key is replaced in " standby " key mapping by driver, passes through The artificial logic loops for exiting and restarting for active control of blowing out are realized in RCC " standby " and the conversion of "close" key position；
Ii, RCC press key；Two key mappings of the standby of control and closing of blowing out are arranged in RCC；Pressing once one independent pulse of output Signal, continuous pressing export a dipulse (time interval of two pulses is smaller) twice, and controller is to independent single arteries and veins Punching and dipulse carry out logical assignment；When vehicle control syetem and controller power on, RCC should be placed in " standby " key mapping, and RCC does not locate When " standby " key mapping, the display lamp of pressing key background is bright to be opened, and needs driver that continuously by control key is pressed twice, RCC is pressed Key is placed in " standby " key mapping, and RCC is then at standby logic state Ug；In vehicle travel process, control system of blowing out and control Device processed enters and exits each signal i by control of blowing outa、ieWhen arrival, vehicle actively enters or exits control of blowing out；Work as driver It need to be closed by its wish when blowing out control, driver's Manual press RCC buttons are primary, and signal i is exited in RCC outputs control of blowing outf, Control system of blowing out and controller exit control of blowing out, and RCC enters the logic state U of closingf；Driver passes through RCC " standby " And the manually conversion of "close" key position, realize the artificial logic loops for exiting and restarting for active control of blowing out；When RCC by Manually when " standby " is converted to "close" key position, control of blowing out is exited, and logic U is exited in hand keying control of blowing outePreferentially simultaneously Cover vehicle flat tire active control logic Ua, i.e.,RCC is converted to " standby " by " closing " or is in " standby " key mapping, And only as the control entering signal i that blows outaWhen arrival, vehicle flat tire active control is restarted；
The structure and control flow of iii, manual operation controller (RCC)；Manual operation controller RCC devices (50) can be independently arranged Or be vehicle main control device or the component part of central master, mainly turned by manual control keys (51), input interface (52), signal Parallel operation (53), output interface (54), regulated power supply (55) are constituted, and signal adapter (53) includes mainly electronic commutator, turns Change circuit or and microprocessor；Main controller of blowing out passes through control circuit identification RCC " standby ", the logic state of "close" key position Ug、UfAnd Ug、UfStatus signal ig、if；In UgUnder logic state, the control entering signal i that blows out of main controller of blowing out outputa When arrival, each controller of system enters control of blowing out；When RCC manipulated keies are placed in "close" key position, RCC is in "close" key position Logic state Uf, the control of blowing out that signal adapter (53) exports manual keying exits signal if；Main controller of blowing out calls quick-fried manually Subprogram is exited in tire control, and each controller of system exits control of blowing out；Until manual operation RCC control keys, make it into and " wait for Machine " key mapping and UgLogic state, converter (53) restart output " standby " logic state control signal ig, main controller of blowing out entrance The cycle of new period control；
8., coordinate control and controller
By different control periods (stage) of blowing out, it is quick-fried to carry out vehicle using the control signal I that blows out as input signal for tuning controller of blowing out Tire braking driving, turns to, anticollision coordination control, and the parallel or independent of each subsystem coordinates control, man-machine communication's coordination control； Coordination control is realized based on control model conversion of blowing out by vehicle speed, steering and Suspension control；Signal of tyre burst I is main Including normally with control model conversion signal of blowing out, main includes the control entering signal i that blows outa, the true control signal i that blows outb、 Turn point control signal ic, knocking over control signal id, control of blowing out exit signal ie, hand keying control of blowing out exit signal if, people Work keying, which is blown out, controls Restart Signal ig, anticollision control signal ih, man-machine communication's control for brake exit signal ik, vehicle accelerate control Signal i processedr, blow out control active Restart Signal iy, coordinate control signal iu, brake fade signal il；
I, Context awareness and braking anticollision control；The control be based on range unit, information mutually hand over system, computer vision system and The anti-Controlling model that knocks into the back of driver, it is quick-fried using vehicle according to each stages such as early period of blowing out, true phase of blowing out, inflection point of blowing out controls Tire is braked and fore-aft vehicle coadaptation, adaptive anticollision control model, model and algorithm；When being controlled into anticollision, system master Electronic control unit output anticollision control signal i set by deviceh；One, braking and anticollision control；The wheel for establishing vehicle braking of blowing out is steady The pattern and model that state (A), balancing brake (B), vehicle stable state (C) and brake force total amount (D) control, setting A, B, C, D are braked Control logic combines, and under the shaping modes of collision prevention of vehicle control, is converted by the combination of each control logic, pattern and its control is patrolled Collect the cycle H of combinationhCycle achievees the purpose that collision prevention of vehicle and blow out vehicle stabilization deceleration, stability control for brake, realizes vehicle Coadaptation, adaptive appropriateness slow down and coordinate control, prevent front and back side collision；Secondly, driving with anticollision control coordinate；Start Vehicle traction controls, and controls vehicle acceleration, prevents front and back side collision；Thirdly, turn to anticollision control coordinate；Pass through deflecting roller Corner controls, and realizes that vehicle route tracking, track are kept, prevents side collision；
Ii, engine braking and pedal brake are coordinated to control；Brake monitor by uneven (differential) brake force (square) of wheel, The unbalanced system power (square) that engine braking generates after blowing out to drive shaft wheel provides compensation, can start first early period of blowing out Engine braking, two wheels obtain the equal engine brake force of torque under the effect of drive shaft differential mechanism；As one of driving wheel is It blows out wheel, the wheel effective rolling radius R that blows out occursiReduce etc., two driving wheel tire forces are unequal to the torque of vehicle centroid, this When can start control for brake；It is added first, the differential braking taken turns by drive shaft two applies the coaxial another wheel of wheel of blowing out Brake force (square) Qi, brake force QiRadius R is taken turns by drive shaft two1、R2Or tire pressure pr1、pr2It is determined for the function model of parameter, it is main Including：
Qi=f (pr1, pr2)
Secondly, the differential braking taken turns by nonpowered axle two generate what an additional yaw moment balanced engine brake force generated Uneven yaw moment；
Control is coordinated in iii, pedal brake and engine air throttle or fuel oil injection；When tyre burst brake control starts or coordinate to control Signal iuWhen arrival, while starting engine air throttle or fuel Injection Control, is successively decreased using air throttle or fuel oil injection, moved The control models such as state, constant, idling；Wherein constant pattern includes closing air throttle or terminating fuel oil injection, opens and adjusts and sets Control (idling) valve, the adjusting engine being placed on engine idling channel export, and coordinate the braking control of tyre burst brake controller System；Signal i is exited in control of blowing oute、ifWhen Deng arriving, the control of brake monitor tyre burst brake, air throttle or fuel oil injection control are terminated Device processed returns to nominal situation control model；It blows out in control, the throttle opening adjusting of throttle controller can be sprayed with fuel oil Fuel injection amount control mutually substitution, the two of controller take one；
Iv, setting deflecting roller turning power control entry condition：Control entering signal of blowing out iaIt arrives, into after control of blowing out, blows out Any time point between early period and true phase of blowing out, or secondary Threshold Model is controlled by door deflecting roller turning power of blowing out, it blows out Characteristic parameter X (including xa、xe、xv) value up to setting threshold value, realizing balanced rotation power of blowing out MbOr steering-wheel torque target control value Mc1With steering-wheel torque detected value Mc2Between deviation delta McUp to setting threshold value, start the control of deflecting roller turning power；
V, lift Suspension control entry condition is set：Control entering signal of blowing out iaIt arrives, it is outstanding by lift into after control of blowing out Frame controls the models such as secondary thresholding, blows out and takes turns tire pressure or effective rolling radius less than setting threshold value, vehicle side acceleration ay Up to setting threshold value, start lift suspension controller, adjusting, which is blown out, takes turns suspension lift, balances the inclination of vehicle body, compensates production of blowing out Raw each wheel load variation adjusts brake monitor imbalance braking force distribution caused by each wheel load variation；
Vi, deflecting roller turning power and active steering are coordinated to control；Deflecting roller turns round force controller by controlled vehicle-mounted electrical force aid system, One additional flywheel moment is applied to steering, balances flywheel moment of blowing out, reduces flywheel moment of blowing out and steering is rushed It hits；Active steering controller or steering-by-wire controller use an additional rotational angle thetaebCompensate deficiency or mistake that vehicle flat tire generates Spend steering angle θeb′；Deflecting roller turning power same can set with active steering controller or mutually replace；
The coordination of vii, hand keying and vehicle active control determine the coordination logic of hand keying and vehicle active control, people When work keying conflicts with vehicle active control, hand keying is preferential；
The tyre burst brake control that viii, man machine operation interface control adaptively is exited, returns to and sprayed with engine air throttle, fuel oil Coordinate control；After system enters control of blowing out, in gas pedal one, two or repeatedly stroke, electronic control unit set by main controller is pressed Tyre burst brake controls adaptive the mode of secession judgement, and when needing to exit control for brake, the control for brake for exporting man-machine communication exits Signal ik, signal ikThe active brake control of blowing out of brake monitor is terminated, throttle opening and fuel Injection Control are coordinated, is adjusted Save engine output；When needs, which are restarted, blows out active control, output, which is blown out, controls active Restart Signal iy, start control of blowing out It reenters；Establish the coordination control model of manual operation Interface Control and vehicle active control (referred to as two control), model and Coordinate control logic；One, gas pedal engine driving and blow out active brake control hazard when, by accelerator pedal stroke two Restrictive condition is arranged in the division of secondary, multiple and positive revesal, establishes gas pedal engine driving and active brake control of blowing out The priority of logic；Gas pedal controls in positive and negative stroke, asymmetric by Threshold Model, threshold value and positive and negative stroke Model, the limited intervention condition of setting engine driving, engine driving exit criteria, setting blow out what active control was restarted again Control logic；Realize that the control logic of above-mentioned two control is had ready conditions mutual covering；Secondly, hand keying operation control of blowing out exits When, the keying control logic covering that control is exited of blowing out is blown out active control logic；
In ix, control of blowing out, the control and data of main controller or central master between braking, driving, each controller of steering Exchange is coordinated, and coordinates the setting of communication interface, the foundation of communication mode and the formulation of communication protocol between each controller；
9., vehicle control scheme conversion and converter
I, manned vehicle control scheme conversion and converter；Electronic control unit set by controller of blowing out is independently arranged, or and vehicle Existing system controller electronic control unit isomorphism is carried to share, according to electronic control unit difference setting situation, controller with signal of tyre burst I or With each control subsystem corresponding signal be switching signal, using program, three kinds of different switching patterns of agreement and external converter and Structure realizes conversion of the vehicle normally with operating mode of blowing out, blow out each control stage control pattern, model；One, Program transformation Device：With corresponding onboard system using the same electronic control unit, electronic control unit is electronic control unit set by controller with signal of tyre burst I Switching signal, calls control model conversion routine, automatic to realize that control of blowing out enters and exits, blows out and blow out, blow out with non- The control in each stage and control model conversion；Secondly, protocol converter：Electronic control unit set by controller of blowing out is each with onboard system Electronic control unit is arranged independently of each other, mutually sets communication interface, establishes communication protocol, and electronic control unit presses communication protocol, with signal of tyre burst I, each subsystem controller coherent signal is switching signal, by the control to each system electric-controlled unit output state, is realized quick-fried Tire control entrance, exit and it is above-mentioned it is each control and control model conversion；Thirdly, external converter；It blows out the electricity of controller Electronic control unit set by unit and onboard system referred to as two electronic control unit, two electronic control unit are controlled to be independently arranged, do not set up communication therebetween Agreement, two electronic control unit by external converter, including preposition or postposition converter, realize the entrance for control of blowing out, exit and Above-mentioned each control model conversion；Preposition converter is set before two electronic control unit, and each sensor surveys signal through preposition converter Electronic control unit and onboard system electronic control unit are inputted, the logical of signal of tyre burst I is set between preposition converter and system electric-controlled unit Believe interface and circuit, when signal of tyre burst I arrives, preposition converter is using signal of tyre burst I as switching signal, by vehicle-mounted control system The control of system power supply or each electronic control unit signal input state changes each electronic control unit signal output state, realizes control of blowing out Entrance, exit and it is above-mentioned it is each control and control model conversion；Blow out controller and onboard system two electronic control unit after set Postpone converter, with onboard system electronic control unit output signal through postposition converter, enter back into corresponding vehicle-mounted control system Unite executive device, when signal of tyre burst I arrives, by the control to two electronic control unit output states, realize control of blowing out entrance, Exit and it is above-mentioned it is each control and control model conversion；Wherein electronic control unit signal input state refers to：Electronic control unit with or without The state of signal input, the input state for changing signal are that will have signal input to be converted to the state of no signal input or by nothing Signal input is converted to the state of signal input；Similarly, electronic control unit signal output state refers to electronic control unit with or without letter Number output state, the output state for changing signal be will have signal output be converted to no signal output state or will be without letter Number output be converted to signal output state；The front or rear hardware setting for setting conversion equipment include signal input output interface, Electronic commutator, logic gates, signal change circuit, relay or and microprocessor；One, program converter；It blows out control Device processed is shared with vehicle-mounted corresponding controller electronic control unit isomorphism, the conversion module of electronic control unit set by controller, with letter of blowing out Number I and each subsystem coherent signal are switching signal, and the control being stored in electronic control unit and control model is called to convert sub- journey Sequence, switching system, the normal and control model of blowing out of subsystem and each control module of onboard system, regulates and controls corresponding control signal It outputs and inputs, realizes the entrance for control of blowing out, exits and the conversion of each control model；Secondly, protocol converter；It blows out control Device electronic control unit is arranged independently of one another with vehicle-mounted corresponding controller, and communication protocol is established between two electronic control unit；Two automatically controlled lists First input port is connect directly or by CAN bus with each sensor, two electronic control unit output ports with controller of blowing out, vehicle-mounted Each device input interface of the corresponding execution unit of controller connects；Control entering signal of blowing out iaWhen arrival, two electronic control unit are pressed Communication protocol, Vehicle Controller electronic control unit terminate the output for controlling each device of execution unit signal, and controller of blowing out is automatically controlled Unit controls corresponding each device of execution unit, realization vehicle by control program or the software progress data processing of blowing out, output signal Control of blowing out；Signal i is exited in the control of blowing out of master controller of blowing out outpute、if、ikOr ihWhen Deng arriving, main control of blowing out Electronic control unit set by device, controller terminates the output for control signal of blowing out, and the recovery of Vehicle Controller electronic control unit is respectively held to vehicle-mounted The control output that luggage is set, vehicle restore nominal situation control；Thirdly, external converter；It blows out controller electronic control unit and vehicle It carries electronic control unit set by corresponding controllers to be independently of one another arranged, two electronic control unit do not set up communication protocol, and external conversion is arranged Device；One, postposition converter；Postposition converter is set after two electronic control unit, and two electronic control unit output signals turn through postposition Parallel operation inputs corresponding vehicle-mounted each executive device again；The input port of postposition converter is connect with controller output port of blowing out； Under nominal situation, the converted device of onboard system electronic control unit output signal controls corresponding each executive device；It blows out control Entering signal iaWhen arrival, postposition converter is with the entering signal i that blows outaFor the control of two electronic control unit of switching signal pair output Signal switches over, that is, disconnects output of the vehicle-mounted each controller electronic control unit to corresponding executive device, be also turned on control of blowing out Control of blowing out is realized in output of the electronic control unit set by device to corresponding executive device；It blows out and exits signal ie、if、ikOr ihUntil When coming, postposition converter disconnects output of the controller to each executive device of postposition of blowing out, is also turned on vehicle using it as switching signal Output of the set controller to corresponding executive device, vehicle restore nominal situation control；Secondly, preposition converter；It blows out controller Preposition converter is set before electronic control unit and vehicle-mounted two electronic control unit of corresponding controller, and sensor surveys signal, master control of blowing out The signal of tyre burst I of device output inputs two electronic control unit again by preposition converter；The output port and vehicle of two electronic control unit Loading system executive device input interface and company；Preposition converter is using signal of tyre burst I as switching signal, by being set to electronic control unit Zero, the modes such as reset, termination, change two electronic control unit output states；Control entering signal of blowing out iaWhen arrival, vehicle-mounted control The output (output is 0) of device electronic control unit termination control signal, electronic control unit output set by controller of blowing out, which is blown out, controls signal, Vehicle-mounted corresponding executive device is controlled, realizes vehicle flat tire control；It blows out and exits signal ie、if、ikOr ihIt is preposition when Deng arriving Converter is with signal ie、if、ikOr and ihDeng for switching signal, make the output state reversion of two electronic control unit, execution unit Each device restores nominal situation control；
Ii, automatic driving vehicle blow out control model conversion and converter；The judgement of automatic driving vehicle central master is blown out into It is vertical, main control computer output signal of tyre burst I set by main controller；Central master mainly using vehicle artificial intelligence blow out with it is non-quick-fried Tire operating mode active drive, steering, braking, track holding, path trace, anticollision, Path selection, parking respectively control Program transformation Structure and pattern, setting, which is blown out, controls conversion module, and when signal of tyre burst I arrives, main control computer calls control model conversion Program, it is automatic to realize that control of blowing out enters and exits, blows out and non-blow out control model conversion, the control and control in each stage of blowing out Molding formula is converted；
10., automatic driving vehicle blows out master control and main controller；
Automatic driving vehicle central master mainly include environment sensing (identification), location navigation, path planning, normally and blow out Control decision sub-controller, the vehicle stabilization that is related to blowing out slows down, stability control, anticollision of blowing out, path trace, parking addressing and Each field of parking path planning；Control entering signal of blowing out iaWhen arrival, vehicle is transferred to control model of blowing out：Central master institute If main control computer, based on each sensor, machine vision, global positioning satellite, mobile communication, navigation, artificial intelligence control system System or and intelligent car networking network director of networking, by runflat condition process, each control period of blowing out, and according to the system for control of blowing out Control model, model and the algorithm that dynamic, driving, direction of traffic, deflecting roller turning power, active steering and suspension controller use, Pass through vehicle environmental perception, positioning, navigation, path planning, full-vehicle control decision, unified planning wheeled vehicle stable state, vehicle appearance State and vehicle, which are stablized, slows down or accelerates control, is uniformly coordinated a track of blowing out and keeps, is with vehicle all around and barrier anti- Control is hit, unified decision Vehicle Speed, path planning and path trace determine parking addressing, planning traveling to parking Path, and mainly use the combination of following control models and its pattern, realize the parking control for vehicle of blowing out；
I, vehicle lane of blowing out is kept and direction controller；One, environment sensing, location navigation sub-controller；The controller is logical Cross the sensors such as GPS, trailer-mounted radar, NI Vision Builder for Automated Inspection (includes mainly optical electron camera shooting and computer Processing system), mobile communication or with car networking network system, obtain road traffic, road mark, road vehicle and barrier etc. Information carries out the positioning of this vehicle, traveling navigation, determines this vehicle and the distance between vehicle all around, lane line, barrier, preceding Rear vehicle makes the integral layout that Ben Che is planned with nearby vehicle positioning, running environment state, traveling with respect to speed etc.；Secondly, Path ruleization controller；The controller is based on environment sensing, location navigation and vehicle stabilization control, using normal, work of blowing out Condition wheel, vehicle and steering control mode and algorithm determine the vehicle speed u that blows outx, Vehicular turn angle θlr, wheel steering angle θe；Control Molding formula and algorithm include：Controller is with Ben Che and left and right track distance Ls, left and right vehicle distances Lg, fore-aft vehicle distance Lt, vehicle Orientation angle θ of the road (including lane line) in coordinatew, the turning half of track or vehicle driving trace is through Rs(or curvature) turns to Wheel slip rate SiOr with ground friction coefficient μiVehicle is formulated using the mathematics model and algorithm of its parameter for main input parameter Position coordinates and become cardon, planning vehicle traveling figure, determine vehicle running path, is changed according to vehicle location coordinate and coordinate Figure, traveling figure and driving path；Thirdly, control decision sub-controller；Under nominal situation and runflat condition, the sub-controller according to Control model is coordinated in wheel and vehicle stable state control, braking and anticollision, passes through Context awareness, vehicle, track and barrier positioning, vehicle Navigation, path planning, Vehicular turn angle, steering wheel angle, wheel and vehicle stable state control, determine speed ux, turn to rotation Angle θe, carry out the normal and vehicle lane holding under operating mode of blowing out, path trace, vehicle posture and collision prevention of vehicle and coordinate control； Vehicle (ideal) steering angle θlrAnd steering wheel angle θeIt is determined by the mathematical model and algorithm of above-mentioned parameter, includes mainly：
θlr(Lt, lg, θw, ux, Rs, Si, μi)、θlr(γ, ux, Rs, Si, μi)
θe(Lt, lg, θw, ux, Rs, Si, μi)、θe(γ, ux, Rs, Si, μi)
The modeling structure of model includes：θlrAnd θeFor parameter Rs、μiThe subtraction function of increment, θlrAnd θeFor vehicle slip rate SiIncrement Increasing function, pass through lg、Lt、θw、Rs、uxEtc. parameters determine track (line), nearby vehicle, barrier and this vehicle coordinate position, Determine steering wheel angle θeOr with Vehicular turn angle θlrIdeal controlling value θeDirection and size；Define θeOr and θlrIdeal value With actual value θe′、θlr' between deviation eθn(t)、eθr(t)：
eθn(t)=θe-θe′、eθr(t)=θlr-θlr′
Wherein θeActual value θe' determined by steering wheel angle sensor；θe、θlrPlan and keep for automatic driving vehicle track, The main control parameters of path trace；
Path planning, path trace and the safe parking of the parking of ii, vehicle of blowing out；One, setting car networking controller；Che Lian Wireless digital transmission module set by net controller, by GPS, mobile communication system, to by way of car networking Network sends out this truck position, runflat condition and traveling state of a control, and obtains this vehicle by car networking network and blow out vehicle parking position Addressing, reach the information inquiries requirement such as parking position path planning；Secondly, setting artificial intelligence view handle analyzer；Vehicle Traveling in, which carries out classification processing, typical figure by peripheral path traffic and the camera shooting sectional drawing of environment, category Sectional drawing is carried out for taking (covering) as storage and by some cycles and grade, judges the typical image that need to be stored；Based on artificial intelligence, The typical image being stored in main control computer, including highway emergency stop road, ramp exit and highway side can stop Each classification image of parking stall, summary and induction obtain typical characteristics of image and take out essential characteristic；It blows out in control, blows out Controller press a vehicle parking addressing, using Machine Vision Recognition or with the networking search pattern of car networking, machine vision is real-time Taken the photograph road and its surrounding enviroment image are handled, are analyzed, and by its characteristics of image and abstract characteristics and are stored in master control calculating Parking position classification typical image in machine is compared, and by analyzing and judging, determines highway emergency stop road, ring road The home that can stop such as outlet or highway side；After parking circuit and position planning, circuit that vehicle of blowing out is planned by controller Path trace is carried out, until reaching the safe parking position for vehicle of blowing out；
Iii, collision prevention of vehicle of blowing out, braking, driving and stability control；The controller setting machine vision ranging, is communicated, is led Boat, register control and control module determine the position of this vehicle, Ben Che and all around position between vehicle and barrier in real time Coordinate is set, calculates this vehicle on this basis at a distance from vehicle all around and barrier, relative velocity, by safety, dangerous, taboo The spacing control time zone for entering, bumping against multiple grades, passes through the combination of A, B, C, D brake control logic and cycle HhCycle, braking with Drive control convert and active steering coordinate control, realization blow out vehicle with all around vehicle, the anti-of barrier hit wheel The deceleration of vehicle stable state and vehicle controls；
Iv, blow out vehicle control architecture and control flow；Blow out and nominal situation under, vehicle central main control computer or automatically controlled list Environment sensing, location navigation, path planning and the control decision that member is made by controller, output signal iaeControl engine throttle Door and fuel injection system adjust engine output control signal group, output signal iakControl brake governor, adjust it is each wheel and Vehicle brake force, output signal ianControl wire-controlled steering system is adjusted to wheel rotational angle thetaeOr with ground turning power suffered by deflecting roller Square realizes vehicle speed, active steering and path following control；When blowing out, central controller by pattern-recognition of blowing out, blow out and sentence Mould-fixed, model carry out judgement of blowing out, and judgement is set up, and output, which is blown out, controls entering signal ia, the control of vehicle nominal situation is terminated, And by path planning of blowing out, the speed of path following control decision and direction controlling, instruction blows out controller by control mould of blowing out Formula, model actively enter the coordinations such as tyre burst brake, anticollision, steering, suspension control, and signal i is exited in control of blowing outeWhen arrival, move back Go out control of blowing out；
4) it, blows out and controls program or software, computer and electronic control unit (ECU)
1., computer-controlled program or software；
By control model of blowing out, model and algorithm, control structure flows and functionality, and using programming language, programs, Data are loaded, certain algorithm is selected, into line program analysis of running performance and test, establishment vehicle flat tire control main program and system Dynamic, driving, turn to, suspension or with path planning and path trace subprogram；Using Structured Programming, pass through sequence, item Three kinds of part, cycle basic control structure constructors；Program modularity carries out structured programming, planning and designing model, defines letter Number or similar function are integrated into individual module, the entire program groups for control of blowing out with other module integrated formation after module testing It knits；Program module：Including control structure and the function module of blowing out, module is embodied in function, subprogram, process etc., has The features such as input/output, function, internal data and program code；
I, it blows out primary control program or software；By main controller control structure and flow, master mode of blowing out, model and the algorithm of blowing out, Work out blow out primary control program or software；Using Structured Programming, primary control program：Main arrange parameter calculating, pattern of blowing out Identify, judgement of blowing out, blow out and control divided stages of blowing out, control model conversion, control of respectively blowing out coordinate, braking driving and anti- It hits coordination, manual operation, man-machine docking and adaptively or with car networking controls program module；Control model conversion program module：With Main controller signal of tyre burst I, blow out control relevant parameter signal be input signal, realization blow out control enter or exit, normally with Operating conditions pattern of blowing out is converted；Manual operation controls program module：Based on manual operation interface and controller (RCC), by quick-fried Tire active control and hand keying control logic realize exiting and restarting and manually restart for active control of blowing out；It is man-machine right It is connected to suitable solution program module：By driver to vehicle traction control characteristic parameters and model, realization blow out active brake with The control of driving is coordinated；Environmental harmony and anticollision program module：According to vehicle-surroundings running environment situation, fore-aft vehicle spacing and Opposite speed realizes that vehicle flat tire active brake, driving and the coordination of anticollision control by anticollision control model model；Power supply and Management program module：Power supply is shared to independent regulated power supply set by main controller or onboard system, by its type and power mode into Row electric power distribution and management；
Ii, blow out control program or software；By blow out control structure that each controller uses and flow, control model model and Algorithm, establishment, which is blown out, controls program or software, and setting vehicle flat tire is braked, engine air throttle and fuel oil spray, turn to samsara Turn power, active steering, active steering-by-wire, suspension lift control subprogram；Each subprogram uses Structured Design, setting corresponding Each program module；
2., computer and electronic control unit (ECU)
Blow out master control electronic control unit and each controller electronic control unit (ECU), automatic driving vehicle setting is arranged in manned vehicle Central primary control computer and each controller electronic control unit (ECU), wherein central primary control computer mainly include operating system and in Central processor；Each computer and electronic control unit (ECU) are carried out data transmission using data/address bus, data bus controller, center Main control computer, master control electronic control unit, electronic control unit is respectively provided with the physics line traffic control application interface being in communication with each other set by each controller；
I, electronic control unit (ECU) is mainly by input, microcontroller (unit) (Microcontroller Unit：MCU), special core Piece, MCU miniperipherals circuit, output and power module of voltage regulation are constituted；Microcontroller mainly declines including microcontroller, insertion Machine system, dedicated IC chip (ASIC)；MCU is mainly by central processor CPU (Central Process Unit), meter Number device (Timer), asynchronous receiving-transmitting transmitter (UART), is deposited universal serial bus (USB) (including data, address, controlling bus) Reservoir (RAM, RDM) is constituted with A/D (modulus) conversion circuit；ECU resets, interruption, addressing, displacement, are deposited at initialization Each working procedures such as storage, communication, data processing (arithmetic sum logical operation)；Special chip includes mainly：Central microprocessor CPU, sensing, storage, logic, radio frequency, wake-up, power supply chip and the GPS Big Dippeves (navigator fix), intelligent car networking network data Transmission and processing chip；
Ii, electronic control unit (ECU) mainly setting input, data acquisition and signal processing, communication, data processing and control, monitoring, Driving and output control module；Module set by electronic control unit (ECU) includes mainly three types；One, mainly by electronic component, Component and circuit are constituted；Secondly, mainly by want electronic component, component, special chip and its minimize peripheral circuit constitute；It is special Chip uses large scale integrated circuit, can combine and convert, individually name, the program statement of energy complete independently certain function, if It sets input/output interface, there is program code and data structure, surface：The information communication inside and outside module is realized by interface And data transmission, internal feature：Modular program code and data structure；Thirdly, mainly by electronic component, component, special chip, Micro-control unit (MCU) and its minimum peripheral circuit, electric power generating composition；Control module is a kind of electricity with control specific function Hardware or the aggregate with its program structure are controlled, the module for control of blowing out, which has to blow out simultaneously, controls specific function；
Iii, electronic control unit (ECU) use the Redundancy Design of faults-tolerant control；Electronic control unit especially line control system (including distribution Line control system) set by electronic control unit, the central control chip dedicated for faults-tolerant control and special fault-tolerant processing software need to be added； ECU be arranged monitor, detection may cause mistake and failure signal and generate mistake detection code, and according to code at Reason, controls its failure；ECU settings control and safe two-way microprocessor (control) device, are monitored system by two-way communication； ECU uses two sets of identical microprocessors, and is run by same program, ensures system safety by redundancy running；
5), engine braking control and controller
For the vehicle of engine brake controller, signal of tyre burst i is arrangedaVehicle enters engine braking control when arrival, braking The braking (including pedal brake) of controller can enter in any time point before early period to phase of really blowing out of blowing out；Start mechanism Dynamic control information unit obtains engine speed and each sensor of vehicle-mounted air throttle, fuel injection system by data/address bus CAN Detect signal；Engine brake controller：Include mainly engine braking control structure, flow, the race of engine, speed change or row The control models such as moral stream model and algorithm control program and software, electronic control unit；According to the different type of engine structure, Determine dynamic braking controlling cycle Hf, cycle H f is for setting value or by engine speed ωb, driving wheel rotational speed omegaaEtc. parameters Mathematical model determines；Engine brake controller is blown out using the control model conversion of blow out program, agreement or external converter Control entering signal iaWhen arrival, control model conversion module terminates the fuel oil injection of engine nominal situation, initially enters hair Motivation dallies without oil spout and brakes；By logic threshold model, setting threshold value ax11, when the characteristic ginseng value X that blows out reaches setting thresholding Threshold value ax11When, engine is converted to speed change by idle running braking or/and exhaust throttle is braked；When engine braking is individually operated, with Driving wheel integrates angular deceleration(angular speed negative increment Δ ωu), slip rate SuOne of variable in order to control, with the wheel tire pressure p that blows outr、 Ground friction coefficient μiOr control time zone t with anticollisionaFor parameter, determined using the equivalent model and algorithm of its parameterOr SuTarget control value, wherein：
Su=f (pr, μa, ta)
μ in formulaaFor floor synthetic friction coefficient, taIt is taken as 0 in Collsion proof safety area；SuFor anticollision danger time zone ta、μaThe increasing function of increment is all prThe increasing function of decrement；
1., race of engine control for brake
No matter which kind of position accelerator pedal stroke, throttle opening are in manned vehicle, automatic driving vehicle no matter vehicle Whether in the fuel oil injection and air throttle regulation and control state for accelerating control, engine fuel injection is terminated first, starts engine Idle running braking；Under conditions of cylinder and its drive mechanism determine,SuInstantaneous valueΔωu' or Su' with throttle opening DjIt is determined for the equivalent mathematical model and algorithm of major parameter, wherein：
Su'=f (Dj, kg)、
Engine speed changer gear ratio k in examinationgBy starting real-time value when mechanism idle running braking to determine；Definition control variable SuDeviation between target control value and actual valueOr Su(t), in dynamic braking controlling cycle HfCycle in, pass through tune Section section valve opening Dj, control variable actual value is made to track its target control value always；
2., speed-changing braking control；Into blow out early period when, engine is converted to the speed change of automatic transmission (AT) by idle running braking Braking；Equivalent mathematical model is braked by above-mentioned idle running, determines relevant parameterΔωuOr SuTarget control value, based on control Deviation between variable target control value and actual valueOr Su(t), throttle opening D is adjustedjBecome with engine speed changer Speed ratio kg, realize the control of engine speed-changing braking；Set engine peak speed threshold value cωb, limited in speed-changing braking control Engine speed makes ωbConsistently lower than cωb；
3., exhaust brake control；Throttling set is set between engine exhaust and exhaust pipe, and throttling set is mainly by saving It flows valve or is constituted with butterfly valve, circulation latus rectum sensor and circulation bye-pass；Engine brake force orΔωu、SuActual valueΔωu' or Su' mainly by throttle opening Dj, throttle valve circulation latus rectum dtAnd engine speed changer gear ratio kgFor parameter Equivalent mathematical model, determined in real time using certain algorithm：
Su'=f (Dj, dt, kg)
Based on the deviation between control variable target control value and actual value, in available engine speed changer ratio kgState Under, by adjusting throttle opening DjAnd throttle valve circulation latus rectum dtRealize engine braking control；Based on above-mentioned control mode, Engine braking can be used idle running, speed change or jointly control pattern with solar term；United controller, engine brake force or vehicle are set The actual value of decelerationThe mathematical model and algorithm of the relevant parameter used by above-mentioned each control mode determine in real time；
4., engine braking control
In engine braking control, vehicle flat tire active brake or start simultaneously, vehicle braking force total amount be engine braking and The sum of brake force of brake；Under its two kinds of braking actions, measured as brake force using vehicle deceleration：
D in formulajFor throttle opening, kgFor engine speed changer gear ratio,Angular deceleration is integrated for wheel,By each wheel angle The average or Weighted Average Algorithm of deceleration determines；Define the ideal value of vehicle decelerationWith actual valueBetween deviationIn controlling cycle HfCycle in, pass through deviationFeedback and closed-loop control, realize vehicle decelerationTune Section；When carrying out engine braking, if driving wheel is blown out, with the reduction for wheel radius of blowing out, the tire force pair that engine braking generates The torque of vehicle centroid becomes continuous increased unbalanced moments Δ Mx', brake subsystem can be uneven (differential) by wheel Brake force (square) Δ QcCompensation is provided to engine braking unbalanced system power (square), until engine braking exits；Engine Control for brake uses following specific withdrawing modes：True signal of tyre burst ib、ibThe control process signal i that blows out laterc、id、ie、 ifIt arrives, vehicle enters anticollision danger time zone (ta), start rotational speed omegabLess than setting threshold value, yaw rate deviationMore than setting threshold value, the equivalent opposite angular speed e (ω of two wheel of drive shaft wheel paire) deviation, angular decelerationPartially Difference, slip rate e (se) deviation up to setting threshold value, meet one or more conditions of above-mentioned condition, i.e., above-mentioned parameter is one or more A parameter is exited up to setting threshold value, engine braking；
5., engine braking control program or software
By engine braking control model, model and algorithm, control structure, flow, function, establishment engine braking controls sub- journey Sequence, the subprogram use Structured Design, Setting pattern conversion, the race of engine, speed change or exhaust throttle control module；Its In, engine change gear control module：Submodule is adjusted including throttle opening and engine fluid drive；Mode conversion module： Include mainly the race of engine, speed change or exhaust throttle control model transform subblock；
6., electronic control unit
The electronic control unit is mainly made of microcontroller (MCU), peripheral circuit and regulated power supply；Main setting input, signal number According to acquisition and processing, data processing and control, monitoring, driving output module；Electronic control unit carries out data and control by its program Processing exports corresponding control signal, controls fuel oil injection, automatic transmission, air throttle or engine exhaust throttling dress respectively It sets, realizes engine braking control；
7., engine braking control structure and flow；Engine braking control is based on vehicle electronics air throttle (ETC), automatically controlled combustion Electronic fuel injection system (EFI) and automatic transmission (AT)；Engine brake controller (60) and ETC, EFI, AT controller (61) from Data/address bus (21) obtains signal of tyre burst I (6) and ETC, EFI, AT sensor (67) correlation detection signal, according to set automatically controlled list The type and structure of member, it is main that the control modules such as sensing, data processing, control model conversion, driving, power supply are set；Normal work Under condition, ETC, EFI, AT controller (61) output signal, control electronic throttle (ETC) executive device (63), electronic controlled fuel spray It penetrates system (EFI) executive device (64) and automatic transmission (AT) executive device, (65), realizes nominal situation air throttle, automatically controlled Fuel oil sprays and automatic shift control；Control entering signal of blowing out iaWhen arrival, operating mode of blowing out engine brake controller (62) Output control signal gp0, signal gp0On-board engine air throttle, fuel oil spray are terminated through control model postposition converter (66) of blowing out The nominal situation control of injection device, automatic gear-box；Engine brake controller (60) is defeated with the detection signal of each sensor Enter parameter signal, carries out data processing by the race of engine, speed change or gas exhaust inspecting pattern, model and algorithm, export control of blowing out Signal group g processedp(include mainly gp1、gp2、gp3)；Signal gpTurn through the circuits such as driving, power amplifier, isolation, output interface, input postposition Parallel operation (66) is realized and is normally converted with each control model of operating mode of blowing out；Postposition converter (66) output control signal gp1Control combustion Oil spurts executive device (64) stops oil spout or exits fuel cut-off control, signal gp2It controls automatic gear-box (65) to shift gears, signal gp3 Adjust electronic throttle ETC (63) aperture, signal gp4Engine exhaust throttling set is controlled, the control to ETC, EFI, AT is passed through System realizes engine braking；When needing to exit engine braking control, engine brake controller (60) is moved back by engine braking Go out condition and send out control of blowing out to exit signal ieDeng ieEqual signals control ETC, EFI, AT through postposition converter (66), and termination is started Mechanism is dynamic, and ETC, EFI, AT restore nominal situation control；
6), control for brake and controller
Vehicle braking under runflat condition includes mainly：Manned pedal of vehicles braking and active brake of blowing out, it is unmanned Active brake under vehicle is normal and operating mode of blowing out；Tyre burst brake controller, abbreviation brake monitor or controller, using blowing out Active brake and vehicle-mounted braking anti-lock/anti-skidding (ABS/ASR) system, electronic braking force distribution (EBD) system, stability contorting system System (VSC), kinetic control system (VDC) or electronic stability program system (ESP) control for brake compatibility mode；Electronic control unit and When hydraulic pressure execution device uses integrated design, physical routing is used therebetween, realizes information and data transmission, and total by CAN Line and main controller, controller and onboard system are into row information, data exchange；Brake monitor uses X-by-wire buses, control Device processed is designed to the connection of high speed fault-tolerant bus, high-performance CPU management, the brake-by-wire suitable for normal each operating mode such as blow out； Brake monitor and vehicle control syetem are by CAN data/address bus into row information, data exchange；Electronic control unit set by controller is only It erects and sets or with truck mounted braking systems with a shared electronic control unit is set, according to electronic control unit facilities, controller is to blow out Signal I is conversion signal, using three kinds of different structures and pattern such as program, communication protocol or external converter；It blows out master control Device and brake monitor use two integral structures, sensor detection letter set by sensor, onboard system set by information unit Number enter system CAN bus, main controller of blowing out, brake monitor obtain each sensor detection signal and phase by CAN bus Close control signal；Brake monitor：Two types are braked using electric control hydraulic braking and electric-controlled mechanical, include mainly tyre burst brake Control structure and flow, control model model and algorithm, electronic control unit, control program and software, setting Context awareness and anticollision, Corresponding control module including the software and hardwares such as wheel and vehicle stable state, braking compatibility；The control of blowing out of brake monitor, which uses, to be had People drives pedal of vehicles braking, automatic driving vehicle active brake and the manual two ways of auxiliary, ground, wheel, vehicle-state Parametric joint control, fore-aft vehicle anticollision control model and model；Controller is mainly with tire pressure pr, wheel speed ωi, brake force Qi, turn To disk corner δ, yaw velocity ωr(or horizontal swing rate), vehicle vertically and horizontally acceleration-decelerationWithFront-and-rear vehicle distance Lt, phase To speed uc, pedal travel SwOr with pedal force pdFor input parameter signal, the braking of setting wheel stable state, respectively take turns balancing brake, (abbreviation A, B, C, D the braking control of four kinds of control for brake types such as (differential) braking of vehicle stable state, brake force total amount (A, B, C, D) System), the tire model, vehicle wheel rotation equation, auto model, spacing Controlling model based on vehicle of blowing out and multiple degrees of freedom vehicle fortune The dynamic differential equation, the analytic expression used by each model, the differential equation and state equation expression formula, determine A, B, C, D control Related algorithm includes mainly logic threshold, fuzzy control and PID composite algorisms, ABS robusts, robust adaptive, sliding moding structure Algorithm determines each wheel brake force Qi, angle acceleration-decelerationThe distribution of one of slip rate Si parameters or multiple parameters and It adjusts；One, brake monitor set control for brake cycle HhAnd anticollision controlling cycle Ht, controlling cycle HhWith HtValue is identical Or it is different；Each cycle HhIt is interior to complete primary each sensor parameters coherent signal (mainly including pra、ωi、Qi、δ、ωr、Lt、ucDeng) sampling, store this cycle HhAnd preceding several cycle Hsh-nCorresponding control variable, input parameter measured value, Deviation；Calculate this cycle HhAnd upper period each parameter sampling signal, the change value for controlling signal, deviation eH(t) value is estimated in real time It calculates speed, wheel angle acceleration-deceleration, slip rate, attachment coefficient, respectively take turns dynamic load, wheel effective rolling radius, vehicle in length and breadth The related parameter values such as acceleration-deceleration；Secondly, brake monitor be based on longitudinal direction of car, sideway control (DEB and DYC), setting A, B, C, the logical combination of D control for brake, logical combination rule are as follows；Rule one, two kind of conflicting substitution logic of control are closed System, using logical symbolIt indicates,Indicating that A replaces B, the logical combination of the rule is conditional logical combination, The logic for realizing or completing control is replaced or is converted up to imposing a condition by the logical combination；The switch condition of setting includes mainly： Blow out the control stage, anticollision control time zone, wheel and vehicle status parameters conversion critical point, reach switch condition, control for brake Device sends out corresponding control model conversion signal of blowing out, and realizes the conversion or substitution of its control logic；Rule two, two kind control patrol Volume and, symbolization " U " indicate, BUC indicate two classes of B and C control is performed simultaneously, controlling value for this two classes controlling value algebraically With；Use the logical combination of the rule for unconditional logical combination, the substitution such as without other control logics will keep the logic control State processed；The control of rule three, upper and lower logical relation, symbolization " ← " indicate that the logical relation is logical groups of having ready conditions Conjunction relationship, condition are：Each cycle HhInterior A, B, C controlled quentity controlled variable can hold D controls (unless defined condition after having determined that：It is first The logical combination for first determining and executing D, execute A, B, C control again based on D thereafter), the logical combination symbol of A, B, C control (E) it indicates, the control representation form of upper and lower logical relation is D ← (E)；A, B, C Control Cooling group logical combination include：From A, taken in B, C one, two or three element and logical symbol " U ",The whole combinations being arranged to make up, and provide that remaining is not chosen The controlled quentity controlled variable of Control Cooling is 0；The logical combination form of composition： Control logic combination Controlling rule is：Controlling for left side is preferential, covers, the control on substitution right side, and executing rule is：It executes from left to right；Such asControl logic be：C controls, vehicle differential insensitivity C controls is first carried out preferentially and wheel stable state C can be covered Control；Control for brake cycle HhIt is all the cycle period of control logic combination, HhFor setting value or by piece wheel and vehicle-state The equivalent function model of parameter determines that model includes mainly：
Or
Deng
In formulaTo detect the change rate of tire pressure,e(Se) it is the equivalent relative angle acceleration-deceleration of two wheel of forward and backward wheel pair, cunning Shifting rate deviation,For the change rate of yaw rate deviation；Determine HhModeling structure be：HhFor parametere(se)、The subtraction function of absolute value increment；Based on runflat condition and control stage, vehicle flat tire anticollision control Each time zone of system, by controlling cycle HhImplement corresponding control logic combination；The H in each control for brake periodh, execute one group Control logic combines, and one group of control logic can also be converted to another group of control in repeatable cycle of each period according to conversion signal Logical combination；Thirdly, to use gradational coordination control, higher level be to coordinate grade to brake monitor, subordinate's grade in order to control, controller higher level Determine control for brake cycle period HhThe logical combination and each logical combination transformation rule of interior A, B, C, D control and conversion week Phase；Controller subordinate is in each cycle HhThe interior relevant parameter signal sampling for completing A, B, C, a D control, is controlled by A, B, C, D Type processed and its logical combination, model and algorithm complete data processing, and output control signal implements primary each wheel brake force Qi、 Each wheel angular deceleration(or Δ ωi), slip rate SiThe distribution and adjusting of one of parameter or multiple parameters；When having in control for brake When wheel enters stable state control A, controller uses two kinds of control modes：Mode one completes this cycle HhIt control model and patrols New cycle H is entered back into after collecting the control for brake of combinationh+1Control, mode two terminates this cycle H immediatelyhControl for brake, simultaneously Into a new cycle Hh+1Control for brake；In the new period, it is non-blow out wheel A controls using nominal situation wheel anti-lock control rule, Control model and model, A, B, C control can keep original control logic to combine or combined using new control logic；In the system of blowing out The different phase or control period of dynamic control, use are adapted control logic combination, pass through the cycle H of its control therewithhCycle, it is real Existing vehicle stabilization slows down and whole vehicle stability control；The four, control of A, B, C, D independent control or its logical combination is based on vehicle Each degree of freedom equation of motion, vehicle vertically and horizontally mechanical equation, vehicle yaw moment equation, vehicle wheel rotation equation and wheel The tire model of mechanics and motion state parameters：
Fxi=f (Si, Nzi, μi, Ri)、
Establish each wheel brake force QiWith wheel angle acceleration-decelerationSlip rate SiRelational model between equal state parameters determines each Control variable QiWith other control variablesSiBetween quantitative relationship, realize control variable QiWithSiConversion；In formula Fxi、L、JiRespectively ground tyre power, longitudinal acceleration of the vehicle, wheel suffered by wheel to cross vehicle centroid longitudinal axis away from From, vehicle rotary inertia；A, in the control of B, C, D independent control or its logical combination, in each wheel brake force QiUnder the action of, it builds Vertical control variable ωi、SiWith parameter αi、Nzi、μi、Gri、RiBetween relationship mathematical model, model mainly wraps It includes：
Si=f (Qi, αi, Nzi, μi, Gri, Ri) etc.
α in formulai、Nzi、μi、Gri、RiRespectively tyre slip angle, load, friction coefficient, rigidity, effective radius of gyration, other words Female meaning is the same as aforementioned；In the stability region of control for brake, linearization process is carried out to model, using equivalent or compensation model；Vehicle Take turns side drift angle αiIt can be by the comprehensive side drift angle α of each wheelaOr equivalent function model f (δ) substitutions of steering wheel angle δ, f (δ) is linearized Processing：
αa=kiδ
A, in the control of B, C, D independent control or its logical combination, in each wheel brake force QiUnder the action of, withΔω、SiIn One of parameter or multiple parameters are variable, with Nzi、μiFor parameter, wheel condition parameter is establishedΔωi、SiWith vehicle-state ParameterEquivalent function model, model includes mainly：
Or
Deng
Determine control variableOr Δ ωi, Si and vehicle acceleration-decelerationBetween characterisitic function, S in formulaa、μa、NzRespectively Each wheel synthesis slip rate, respectively takes turns total load at comprehensive angle acceleration-deceleration, ground friction coefficient, and value is by each wheel parameter value using flat Or weighted average scheduling algorithm determines, this class model is mainly used for usingΔωi、SiEqual parametric forms carry out longitudinal direction of car control Make (DEB) and front-and-rear vehicle distance LtControl；Five, brake monitor is with each wheel brake force Qi, longitudinal direction of car decelerationEach wheel angle Deceleration(or angular speed negative increment Δ ωi), slip rate SiOne of parameter or multiple parameters variable in order to control, pass through (or Δ ωi)、SiEtc. parameters control form, indirect control respectively takes turns brake force Qi；In the loop cycle of A, B, C, D control, when Controlling cycle HhWhen smaller, parameter, Δ ωiIt is equivalent to parameterBrake monitor mainly using detection tire pressure, state tire pressure or turns It to three kinds of pattern-recognitions of blowing out such as mechanical state, is blown out according to pattern-recognition judgement, based on judgement and the runflat condition of blowing out, is determined Blow out the control stage and anticollision control time zone；Establish control variable(or Δ ωi)、SiMathematical model and algorithm, by A, B, C, D Control Cooling, in controlling cycle HhLogic loops in, determine control variable(or Δ ωi)、SiTarget control Apportioning cost value (ideal value) and respectively taken turns；The brake force total amount Q of wherein D controlsdTarget control value is controlled by each wheel A, B, C and is joined Number Qi、ΔωiOr SiTarget control value determines；Six, the control for brake of brake monitor is based on electric control hydraulic braking subsystem (EHS) or line (electricity) controls mechanical braking subsystem (EMS)；When using line traffic control mechanical braking, set electronic control unit is according to controller The transformation model and algorithm of use, by brake-pedal travel SwOr with pedal force pdSensor detection signal is converted to corresponding vehicle DecelerationBrake force total amount Qd, four-wheel integrate angular decelerationSlip rate SdkEqual parametric forms, wherein EMB can be adopted directly Use SwOr and pdParametric form carries out control for brake；Under the normal, complex working conditions such as blow out, brake monitor set vehicle traction, The controls such as braking, fore-aft vehicle anticollision, posture, path trace are integrated, and realize that non-wheel anti-lock control of blowing out, wheel of blowing out are anti-skidding Coordinate control with stable state control, wheel braking force distribution control, the control of vehicle stable state and collision prevention of vehicle；
1., Context awareness anticollision control (abbreviation anticollision control) and controller
I, manned vehicle flat tire anticollision control and controller；Controller is mutual based on ultrasonic wave, radar, laser ranging, information The systems such as friendship, Computer Vision Detection mainly coordinate control model using vehicle anti-rear collision and tyre burst brake, establish vehicle of blowing out Braking and fore-aft vehicle be adaptive, coadaptation anticollision Controlling model；When being controlled into anticollision, automatically controlled list set by system master device Member output anticollision control signal ih；One, spacing detection；Mainly using radar, laser radar, ultrasonic distance-measuring sensor, lead to The Doppler frequency difference for crossing transmitting and received wave, L is determined using certain algorithmt；Fore-aft vehicle is defined with respect to speed：
Or
The absolute speed u of rear carbIt is determined by following formula：
ub=ua+uc
U in formulaaFor the absolute speed of front truck；Secondly, adaptive collision-prevention controller；In the past, rear car was away from LtWith opposite speed ucFor input Parameter, using safe class time zone tai, it is defined as：
Fore-aft vehicle anticollision Threshold Model is established, t is setaiThreshold value collection (conjunction) c that successively decreasesti, threshold set ctiIn thresholding threshold Value is setting value, by Threshold Model by fore-aft vehicle anticollision time zone taiIt is divided into safe, dangerous, forbidden, collision multiple grades (packet Include ta1、ta2、ta3、......tan), and set this vehicle and bump against decision condition t with rear caran=ctn；Foundation blow out collision prevention of vehicle with Wheel, vehicle stable state brake coordination control model, in the cycle H of braking A, B, C, D brake control logic combinationhCycle and conversion In, by changing the combination of A, B, C, D brake control logic, the preferential each wheel differential system power for ensureing the C controls of vehicle stable state and its Distribution, with taiAnd ctiSuccessively decrease step by step, gradually reduces the brake force Q that this vehicle respectively takes turns balancing brake B controlsi, angular decelerationOr Slip rate Si, or blow out with releasing and take turns the vehicle stable state C control brake force of brake force and balance car wheel set of blowing out, holding is non-to blow out The brake force of the vehicle stable state C controls of balance car wheel set；Bump against the whole brake force of time zone each wheel of releasing when vehicle enters, or and opens Dynamic drive control, makes Ben Che and the anticollision time zone t of rear caraiIt is limited to fluctuation in the zone of reasonableness between " safety and danger "；Really It protects vehicle and does not touch tai=ctnAnticollision limit time zone realize that collision prevention of vehicle and wheel, vehicle are steady by mutually handing over coordination control State brake coordination controls；Thirdly, vehicle coadaptation collision-prevention controller；The controller is not for spacing detecting system to be arranged or only sets The vehicle for setting ultrasonic wave spacing detection sensor, using mutual the fitting of blow out vehicle stable state control for brake and the anti-braking of knocking into the back of driver Answer control model；It is tested according to vehicle anti-rear collision, determines physiological driver's reactiveness, establish anti-pre- take aim at of knocking into the back of rear car driver Model, while establishing the physiological reaction lag period after rear car driver has found front truck signal of tyre burst, control for brake reaction phase, braking The brake coordination model of retention period, above-mentioned two model are referred to as preventing rear-end collisions from tire burst control for brake model；In early period of blowing out, true quick-fried Tire phase etc. controls the stage, and vehicle of blowing out (front truck) brake monitor is braked with reference to " the anti-control for brake model that knocks into the back ", realized Moderately braking and the coordination of anti-car rear-end control vehicle of blowing out, the anti-braking physiological reaction lag that knocks into the back of compensation rear car driver Thus the time delay that phase and brake response phase bring avoids rear-end impact critical days of the rear car to front truck；Vehicle of blowing out is (preceding Vehicle) inflection point of blowing out when arriving, by it is anti-knock into the back it is pre- take aim at control for brake model, rear car should have been enter into braking retention period, be driven by rear car The person of sailing is kept by braking to adjust at a distance from front truck of blowing out, and drop is adjusted by the coadaptation of forward and backward vehicle each control for brake phase Low front truck active brake of blowing out causes car rear-end collision probability；
Ii, manned vehicle flat tire left and right directions anticollision control and controller；The anticollision of manned left and right vehicle wheel side controls With active steering coordinate based on following brakings, driving, deflecting roller turning power or respectively to control；Each controller is using wheeled vehicle of blowing out Control model, model and algorithm are coordinated in stable state braking, deflecting roller turning power, active steering and limited driving, by wheel stable state, Vehicle attitude, vehicle stabilization deceleration, direction of traffic and path following control, prevent vehicle flat tire sideslip, wheel side sliding, realize quick-fried Tire vehicle controls left and right sides driving vehicle and barrier anticollision；
Iii, automatic driving vehicle are blown out anticollision control and controller；The controller be arranged machine vision, ranging, communication, navigation, Register control and control module determine the position of this vehicle, Ben Che and all around position between vehicle and barrier in real time Coordinate calculates this vehicle at a distance from vehicle all around and barrier, relative velocity on this basis, by safety, dangerous, taboo The spacing control time zone for entering, bumping against multiple grades, passes through the combination of A, B, C, D brake control logic and cycle HhCycle, braking with Drive control is converted and active steering coordinates control, realizes blow out vehicle and all around vehicle, the anticollision of barrier and wheel The deceleration of vehicle stable state and vehicle controls；The braking of above-mentioned each control period of manned vehicle flat tire and with fore-aft vehicle anticollision Coordinate control and is equally applicable to automatic driving vehicle；
2., wheel stable state (A) control and A controllers
The object of A controls is single wheel, including wheel stable state control for brake of blowing out, non-wheel braking anti-lock control of blowing out；It blows out Under state, slip rate SiThe specific justice meaning for not had the peak value slip rate under the control of normal wheels braking anti-lock, is blowing out Take turns inflection point, in the state of singular point, by A controls to wheel of blowing out implement brake force step by step, the stable state control for brake that successively decreases of non-equivalent； A controllers are with angular speed of wheel ωi, angle acceleration-decelerationSlip rate SiEnter parameter Deng for number, establishes the mathematical modulo of its parameter Type determines control structure and characteristic using certain algorithm, and each wheel obtains a dynamic wheel stable state brake force under A controls；A is controlled Device mainly withSiVariable and control targe in order to control, with brake force Qi for basic control parameter, setting A controlling cycles Hj, Hj Including wheel stable state control for brake cycle H of blowing outjaWith the non-wheel braking anti-lock controlling cycle H that blows outjb, HjaWith HjbIt is equal or different； A Controlling models are using common analytic expression or are converted into state-space expression, and wheel power is expressed with state equation form System applies modern control theory, determines control algolithm appropriate on this basis；The algorithm includes logic threshold or mould Paste with PID is compound, ABS robusts, robust adaptive, sliding moding structure etc., obtain withSiThe non-wheel braking of blowing out of parameter description Anti-lock and wheel stable state braking control system of blowing out；Foundation is blown out, non-blow out takes turns stable state control model, model and algorithm, is determined Blow out, it is non-blow out wheel stable state, Unsteady characteristics region attachment coefficientWith slip rate SiRelational model and characterisitic functionThe ANTI LOCK control for wheel of blowing out is converted into the control of wheel stable state in the A controls of wheel stable state；Tyre burst brake controls Cycle HjaDuring logic loops, by wheel motion state feature of blowing out, non-equivalent reduces the wheel brake force Q that blows out step by stepi；It is quick-fried Tire wheel brake force QiReduction then pass through non-equivalent, the control variable reduced step by stepSiTarget control valueSkiIt realizes, UntilSiTarget control valueSkiFor a setting value or 0；Control wheel of blowing out in the processSiActual value surround its Target control valueSkiIt fluctuates up and down, thus indirect regulating brake force Qi, wheel control variable of blowing outSiActual value always Around its target control valueSkiUpper and lower fuctuation within a narrow range, makes QiStep by step, non-equivalent is successively decreased until being 0；Wheel braking stable state of blowing out A Control usesSiThreshold Model, settingSiThreshold value, which isSiTarget control valueSki； It establishes and determinesSiTarget control valueSkiMathematical model, and determined by the modelSiThe thresholding threshold to successively decrease step by step ValueSkiSet Ski[Ski-1、Ski+0、Ski+1、Ski+2...], this cycle HjIt is interiorSkiValue by a upper cycle Hj-1 Intrinsic parameterSiUpper and lower undulating value ± Δ ωi-1、±ΔSi-1Mathematical model determine：
Ski+0=f (± Δ ωki-1, ± Δ Ski-1)
In the mathematical model, parameter is determinedSiUpper and lower undulating value ± Δ ωi-1、±ΔSi-1With different weights, whereinPower be less than-Δ ωki-1,+Δ Ski-1Weight be more than-Δ Ski-1Weight；In the A controls of wheel stable state, by quick-fried Tire wheel brake force QiReduce the purpose that wheel stable state control of blowing out is realized up to 0 step by step；Blow out determined by the A controls of wheel stable state, Non- quick-fried wheel braking force distribution and Controlling model, should finally be verified by live tire burst test or in-site modeling tire burst test, According to parameter and model structure used by field test conclusion Correction and Control model, blown out with determination, non-quick-fried wheel brake force point Match and Controlling model is to the equivalence of field test results, validity and consistency；
3., wheel balance braking (B) control and (B) controller
B control objects are all wheels, are related to each wheel balanced system power of longitudinally controlled (DEB), using front and back axle or diagonally Line is blown out, the distribution of the brake-force balance of non-balance car wheel set of blowing out and control model, balanced system power total amount are each wheel distribution The sum of balanced system power；B controllers are with each wheel slip rate SiFor parameter, blow out each control period wheel braking force distribution and control are determined The stability region of system：0 ＜ Si＜ St, S in formulatPeak value slip rate for wheel slip setting value or when being maximum grip coefficient； The concept for balancing, imbalance distribution and controlling of definition control variable：Under the Braking of each wheel distribution, each tire force pair Vehicle centroid torque is equal or equivalent equal control variable includes Qi、ΔωiOr SiDistribution and control are known as each wheel balance Braking force distribution and control, on the contrary it is non-equilibrium braking force distribution and control；B controllers are with each wheel brake force Qi, angular deceleration(angular deceleration increment Delta ωi), slip rate SiOne of parameter or multiple parameters are variable, mainly with Nzi、μi、Gxi、RiBecome for ginseng Amount, establishes longitudinal force F in ground suffered by each wheelxi(abbreviation longitudinal tire force) model, model analyzing formula or equivalent model are：
Fxi=f (Si, Nzi, μi, Ri)
Using certain algorithm, tire force F is determinedxiWith parameterΔω、SiBetween characterisitic function and characterisitic function curve, should Curve includesFxi~Si、Fxi~QiDeng；N in formulazi、μi、Gxi、RiRespectively each wheel load, is indulged ground friction coefficient To rigidity, effective rolling radius, SiIt can be with Qi、Mutually substitution；Under the action of each wheel brake force,It is i.e. each Longitudinal tire force is 0 to the sum of torque of vehicle centroid (in theory), l in formulaiFor each wheel to vehicle (crossing barycenter) longitudinal axis Distance；
I, balanced system power total amount QbOr QbVehicle under effect respectively takes turns comprehensive angular decelerationComprehensive slip rate SbDistribution and control System；
Brake monitor is with each wheel Qb、ΔωbOr SbOne of parameter or multiple parameters variable in order to control, with wheel tire pressure of blowing out pri(including pre、pra), respectively take turns angular velocity omegai, balance car wheel set two of blowing out take turns equivalent non-equivalent relative angle velocity deviation e (ωe) With e (ωa), steering wheel angle δ, yaw velocity deviation eωr(t), vehicle centroid lateral deviation angular displacement eβ(t), it blows out turning power Mk, each wheel SimMan universal patient simulator μb, Ben Che and front or rear vehicle spacing Lt, opposite speed uc, pedal brake power QpMainly to input Parameter is established above-mentioned based on vehicle braking control structure, runflat condition, anticollision control different phase and the control characteristic in time zone The mathematics model and algorithm of selected parameter determines each control variable Qb、ΔωbOr SbTarget control value, wherein algorithm master To include the PID of each parameter, most excellent modern control theory respective algorithms；
Ii, each control variable Qb、ΔωbOr SbEach wheel of target control value distributes and control；The distribution and control can be used front and back The forms of distribution of axle and diagonal line balance car wheel set, balance car wheel set include blowing out and non-balance car wheel set of blowing out, balance car Same or different control variable can be used in the distribution of wheel set and wheel pair left and right wheels；One, forward and backward axle blow out and non-blow out Balance car wheel set respectively controls the distribution of variable target control value；Controller is with vehicle decelerationForward and backward axle balance car wheel set Left and right wheels are opposite or equivalent relative angle velocity deviation e (ωkf)、e(ωkr)、e(ωef)、e(ωer), forward and backward axle left and right wheels have Imitate rolling radius deviation | R1-R2|、|R3-R4| or detection tire pressure deviation | Pra1-Pra2|、|Pra3-Pra4| absolute value, forward and backward vehicle Axle load NZf、NZrFor major parameter, the distribution model that front and back axle respectively controls variable target control value is established, determines front and back vehicle Axis two takes turns synthetical restraint power QbfAnd Qbr, angular decelerationWithOr slip rate SbfAnd SbrDistribution；Secondly, blow out and non- The left and right each control variable Q of wheel of balance car wheel set of blowing outb、SbIt is distributed between the wheel of target control value；Using two wheel Qb、SbBrake force equal distribution pattern, equivalent equal distribution pattern or balanced system power allocation model；It sets left and right Take turns ground friction coefficient μi, load NZiEqual, the non-left and right wheel of balance car wheel set of blowing out uses Qb、SbEquivalent is distributed Model, the model are suitable for front and back axle or diagonal line balance car wheel set；The left and right wheel of balance car wheel set of blowing out is in balanced system power QiUnder effect, it is based on tire model, wheel longitudinal tire force equation and momental equation, with slip rate Si, angular decelerationTo become Amount, μi、NZi、Ri, GziFor parameter, it is equal, equivalent equal to establish ground longitudinal force suffered by wheel (abbreviation longitudinal tire force) Mechanical model and the distribution model of parameter compensation：
Fxi=f (Si, Nzi, μi, Ri, Gzi), Fx1=Fx2、
Determine the left and right wheel Q of tire balance car wheel set that blows outi、SiOrDistribution, various compensation can be used in equivalent equal mechanical model Parameter lambdai；Pass through above-mentioned distribution model；The longitudinal tire force F that balance car wheel set two of blowing out wheel obtainsxbiTo vehicle centroid balance Yaw moment is substantially met in theoryEquation, l in formulaiFor wheel to cross barycenter longitudinal axis distance, RiFor radius of wheel, μiFor the friction coefficient μ for the wheel of balance car wheel set two of blowing outi、NZiFor two wheel loads, GziWheel longitudinal rigidity； Wheel balance brakes the distribution model of each wheel control variable determined by B controls, should pass through live tire burst test or in-site modeling Tire burst test is verified, and is modified according to parameter and model structure used by the peering model of field test, with determination The model is to the equivalence of field test results, validity and consistency；
4., vehicle stable state braking (C) control and C controllers
C control objects are all wheels, are related to the unbalanced system power Q that differential braking is respectively taken turns in Vehicular yaw control (DYC)i, C controls System is mainly with yaw rate ωr, parameters input parameter, the mathematical model using its parameter and the calculation such as side slip angle β Method determines, and distributes to each wheel by certain allocation rule；The unbalanced system power of C controls is blown out non-using four-wheel or front and back axle The forms of distribution for balance car wheel set of blowing out；C controllers include following two types,
I, mechanics parameter type controller is based on vehicle-mounted braking anti-lock/antiskid system (ABS/ASR), flat using cross force of blowing out The control model of weighing apparatus；It is each to take turns suffered by (including wheel of blowing out) under blow out cross force or non-equilibrium braking force distribution and control action Ground force FxyiIt to the torque of vehicle centroid and levels off to zero, theoretically meets counteracting forces equation：
Cross force of blowing out control generates the sideway trimming moment M that blows out based on vehicle dynamic model of blowing out, by each wheel differential brakingu With the yaw moment M that blows outωIt balances each other, i.e. Mu=-Mω；MωDetermination use component and total amount both of which；One, determination are blown out Yaw moment MωComponent modes；MωFor the yaw moment M for rolling resistance generation of blowing outω1And the sideway for lateral force generation of blowing out Torque Mω2The sum of, i.e.,：
Mω=Mω1+Mω2,
F in formulaxiFor each wheel rolling resistance, liDistance, the J of barycenter longitudinal axis are crossed for wheel to vehiclezFor vehicle rotary inertia,Respectively Mω1、Mω2The yaw angle acceleration-deceleration of the lower vehicle of effect；Secondly, determine and blow out yaw moment MωTotal amount Pattern；Main includes using vehicle two and more free vehicle theoretical models and algorithm, setting stability contorting programming system (ESP) Vehicle field test and algorithm；The yaw moment M that blows out is determined by above-mentioned component and total amount patternω, with MωBalance Vehicle flat tire adds yaw moment MuMathematic(al) representation be：
Mu=-Mω、
K in formula1、k2For runflat condition feedback variable or parameter；In brake control process, controller is with sideway equilibrant force of blowing out Square MuEach wheel differential braking distribution model is established in conjunction with brake relevant parameter for parameter, realizes each wheel sideway control for brake (DYC) braking force distribution；
Ii, mechanics and state parameter jointly control type；The Control Cooling is based on vehicle braking stabilizing control system, is controlled with stablizing System (VSC), Study on Vehicle Dynamic Control system (VDC) or electronic stability program system (ESP) control compatibility processed；It is one, optimal Additional yaw moment MuDetermination；Controller is that input is joined with normal, operating mode of blowing out wheel, vehicle status parameters and mechanics parameter Number, that establishes wheel, vehicle-state and mechanics parameter jointly controls pattern, model and algorithm；Controller is based on longitudinal, horizontal Put two degrees of freedom auto model, and with longitudinally, laterally, sideway, the multivariant auto model such as inclination, tire model and Vehicle wheel rotation equation, establish normally and the operating modes such as blow out under, wheel, mechanics of vehicles system analytic expression, or be converted into shape State space expression formula, export is normal, operating mode of blowing out wheel, vehicle control scheme, model theoretical algorithm, the normal, works such as blow out Under condition, state of motion of vehicle is mainly by yaw velocity ωr, side slip angle β characterization, wheel movement state is mainly by wheel Equivalent, the non-equivalent phase degree deviation of (longitudinal side is vertical) rigidity, side drift angle, acceleration-deceleration, slip rate and its parameter determines；Vehicle Stability control depends on (barycenter) side drift angle β and and its derivativeIn β-β phase planes, stable condition approximate representation is：
C in formula1、c2For constant factor；Ideal yaw velocity ωr1By auto model or the sensor of vehicle configuration, using one Determine algorithm determination, practical yaw velocity ωr2Pass through yaw-rate sensor the real time measure set by vehicle centroid position；It is ideal With virtual condition side slip angle β1、β2It is determined by auto model and β observers, β1、β2Or by sensor configuration and accordingly Algorithm determines；Define vehicle ideal and practical yaw velocity ωr1And ωr2, side slip angle β1And β2Between deviation：
eβ(t)=β1-β2；
Under runflat condition, C controllers one add yaw moment MuWitheβ(t) it is primary variables, with μe、e(ωe)、ux、ax、ayFor parameter, managed using the modern scientists such as the PID of its parameter, optimal, fuzzy, sliding formwork, robust, neural network The respective algorithms of opinion, use is equivalent, compensation model determines；It establishes and adds yaw moment MuEquivalent mathematical model：
P in modelraTo detect tire pressure, uxIt is steering wheel angle, e (ω for speed, δe)、It respectively blows out balance car wheel set The equivalent relative angle velocity deviation of two wheels, angle acceleration-deceleration deviation, ax、ayIt is indulged for vehicle, side acceleration, μiFor friction coefficient；Really Surely additional yaw moment MuFunction model includes mainly：
μ in formulaaSimMan universal patient simulator, detection tire pressure P are taken turns for balance car wheel set tworaOr equivalent Relative sliding rate deviation e (Se) can be with Equivalent relative angle acceleration-deceleration deviationIt exchanges；Determine additional yaw moment MuModel and algorithm in, the deficiency of vehicle or Negative understeer is judged using following various modes；Determinating mode one passes through vehicle yaw moment deviationAnd steering wheel angle The positive and negative judgement of δ；Determinating mode two is judged by side slip angle and yaw velocity；Vehicle steady-state controller is with above-mentioned mould Main relevant parameters in type are basic parameter, based on vehicle one or with Multi-freedom model, differential equation of motion, tyre mould Type is established and determines optimal additional yaw moment MuTheoretical model, equivalent model, on this basis determine runflat condition under it is optimal Additional yaw moment MuBasic formula, the formula include mainly：
Or
In formulaWithk1(Pr) and k2(Pr) it is runflat condition feedback variable or ginseng Variable, wherein e (Se) can be withIt exchanges；In view of yaw velocity ωrThere are lotus root conjunction property with side slip angle β, it is difficult to simultaneously Realize or reach ideal yaw velocity ωrWith side slip angle β, using the control algolithm of modern control theory, can decision most Excellent additional yaw moment；Wherein one of algorithm：According to the state observer of LQR Theoretical Design Infinite Times, decision goes out optimal attached Add yaw moment Mu；Normally and blow out under operating mode, vehicle reality and ideal movements state, including yaw velocity ωrWith barycenter side Drift angle β, there are deviation delta ωr, Δ β, with nominal situation to blow out operating mode transfer and process of blowing out development, parameter, Δ ωr、 Δ β reflects that the weight for travel condition of vehicle role and influence of blowing out increases, and need to apply to vehicle and add yaw moment Mu, restore vehicle Perfect condition；When using equivalent model and algorithm, to MuModified pattern, model and algorithm include：Parameter feedback amendment, Time lag is corrected, blow out impact amendment, knocking over and wheel rim contact to earth, correct and blow out with blocking comprehensive modification model and algorithm, Middle MuComprehensive parameters amendment of blowing out, using comprehensive parametersvNon-linear or linear correction model and algorithm, include mainly：
Or
Or
V includes that balance car wheel set two takes turns equivalent or non-equivalent angular speed deviation e (ω in formulae) or e (ωk), slip rate deviation e (Se), speed ux, vehicle side acceleration ayOr with yaw velocity ωr；M after being correcteduReflect the control of runflat condition Characteristic, each additional yaw moment M for taking turns differential braking and generatinguWith the yaw moment M that blows outωIt balances each other, by being controlled to each wheel Variable brake force Q processedi, angle slow down(angular speed decrement Δ ωi), slip rate SiOne of control, directly, indirect control it is additional Yaw moment Mu；Secondly, optimal plus yaw moment MuEach wheel control variable Qi、ΔωiOr SiDistribution；Based on wheel vehicle Configuration state parameter establishes optimal plus yaw moment MuWith parameter Qi、ΔωiOr SiOne of relational model；Wheel vehicle Configuration state parameter：Main includes additional sideway power Mu, wheel longitudinal side is to attachment coefficientWithGround friction coefficient μi、 Each wheel dynamic load carries Nzi, front and back axle to vehicle centroid distance laAnd lb, wheel lateral force acting factor λi(αi), front-wheel Rotational angle thetaaOr with speed ux；Brake structural parameter and static parameter：Include mainly braking effectiveness factor ηi, braked wheel radius Ri, Each wheel longitudinal rigidity Gri, half wheelspan d of axlezi；MuWith parameter Qi、ΔωiOr SiThe modeling structure of relational model be：Pass through Preceding one kind parameter determines that wheel exists(or μi)、Fzi、la、lbWhen reality value state under tire force, joined by latter class Number determines the brake force Q that brake provides wheeli, wherein control variable Qi、、SiTo add yaw moment MuAbsolutely To being worth the increasing function of increment；Relational model mainly uses the types such as theoretical model, equivalent model or test model；Theoretical model can Vehicle is led by longitudinal (or and lateral) tire moments equation, vehicle wheel rotation equation, tire model and its vehicle Multi-freedom model Go out；Equivalent model is mainly with brake efficiency factor ηi, braked wheel radius Ri, each to take turns longitudinal rigidity Gri, half wheelspan of axle dzi, wheel lateral force acting factor λi(αi), ground friction coefficient μi, wheel weight NziOr with speed uxFor parameter, joined using it Exponential model and algorithm determine brake force QiUnder effect, yaw moment M is addeduQi、Δωi、SiEach wheel distribution and control System；Equivalent model one：
Qi=f (Ri, pi)、pi=Δ pi+pi0、ρi=f (μi, Nzi)
Δpi=f (Mu, ηi, dzi, λi(αi), Ri, Gri, ρi)
Q in formulaiFor each wheel (differential) brake force, pi、pi0For this control for brake cycle HhWith a upper cycle Hh-1Between wheel cylinder Pressure value, Δ piFor the pressure of wheel cylinder change value in this control for brake period and the distribution of a upper periodic wheel；In each control The control for brake cycle H of variablehIn cycle, in each wheel distribution brake force QiUnder the action of, vehicle obtains optimal additional yaw moment For Mu；Equivalent model two：
Si=Si0+ΔSi、ΔSi=f (Mu, Gri, dzi, λi(αi), ρi, ux)、ρi=f (μi, Nzi)
S in formulaiAnd Si0Respectively this control for brake of wheel cycle HhWith a upper cycle Hh-1Slip rate, Δ SiFor this period of wheel with Slip rate change value between a upper period；Equivalent model three：
ωi=ωi0+Δωi、Δωi=f (Mu, Gri, dzi, λi(αi), ρi)、ρi=(μi, Nzi)
ωiAnd ωi0Respectively this cycle H of wheelhWith a upper cycle Hh-1Between magnitude of angular velocity, Δ ωiFor this cycle H of wheelhWith A upper cycle Hh-1Between angular speed change value；The modeling structure of equivalent model is：The change value Δ p of each control variablei、Δ ωi、ΔSiFor MuThe increasing function of absolute value increment；The non-wheel longitudinal rigidity G that blows outriIt is set as constant, not as occurrences in mould In type and algorithm, GriIt can be with radius of wheel RiIt exchanges；ρiFor parameter μi、NziModifying factor；Factor lambdai(αi) limited by friction circle System increases when tire adhesion force tends to saturation with braking moment, and lateral force reduces；λi(αi) lateral force variation is considered to cross Put the influence of torque, λi(αi) certain value is taken, it is more suitable in [0,1] section；In equivalent model, mainly by adding yaw moment MuDetermine each wheel control variable Δ pi(or Δ Qi)、Δωi、ΔSi, MuUsually it is not assigned to wheel of blowing out, control variable Δ pi、Δ ωi、ΔSiDetermine each additional yaw moment M for taking turns and being distributedui；Optimal additional sideway power MuEach wheel differential system power QiOr Δωi、SiThe distribution and control of parameter are distributed mainly on wheel braking model characteristics function curve (Fxi~Qi, Fxi~Δ ωi、Fxi~Si) stability region (or its linearity range), in each wheel differential system power QiUnder the action of, pass through wheel longitudinal direction Tire force FxiTo the unbalanced system kinetic moment of vehicle centroid, the additional yaw moment M of composition recovery vehicle stabilizationu；MuEach wheel Distribution uses various modes and model, and simplified, equivalent mode and empirical equation are used in practical application；Thirdly, optimal plus sideway Torque MuEach control variable Qi、ΔωiOr SiEach wheel allocation model；Distribution and control mode one：Efficiency side drift angle side Formula, according to each wheel efficiency side drift angleWith the relationship of each wheel side drift angle α, the optimal additional yaw moment M that differential braking generatesuPoint Dispensing efficiency side drift angleThe sum of higher wheel pair；It is defined as：Each wheel efficiency side drift angleIn formula：
I is wheel number, and 1 and 4,2 and 3 be diagonal line wheel, and efficiency side drift angle is divided into two groups of αIAnd αII, Distribution and control mode two：Efficiency load manner respectively takes turns dynamic load N by control for brake computation of PeriodZi, definition effect Rate load
sN(i)=- s (i) sign (Mu)、
Each efficiency load is calculated, the optimal additional yaw moment that differential braking generates is distributed toThe wheel of higher value is taken, if should Wheel is wheel of blowing out, and is takenSecondary big wheel carries out MuDistribution；Distribution and control mode three：Blow out, it is non-blow out balance car wheel set and Front and back axle, diagonal line arrangement wheel MuThe configuration method of salary distribution；Inside front-wheel tyre-burst, the optimal additional cross that differential braking generates Put torque MuMain to distribute to the non-balance car wheel set of blowing out arranged by diagonal line, part differential system power or distribute to is blown out flat The non-wheel of blowing out for the wheel pair that weighs；Outside front-wheel tyre-burst, the optimal additional yaw moment M that differential braking generatesuIt is main distribute to by The non-balance car wheel set of blowing out of front and back axle arrangement, part differential system power or distributes to the non-of balance car wheel set of blowing out and blows out Wheel；Similarly, interior outside rear wheel is blown out identical as front-wheel tyre-burst distribution principle：Determination is blown out first, non-balance car wheel set of blowing out is selected Fixed wheel arrangement, the optimal additional yaw moment that differential braking generates mainly distribute to non-balance car wheel set of blowing out, portion Differential brake force or the non-wheel of blowing out for distributing to balance car wheel set of blowing out, MuIt is not assigned to wheel of blowing out；Four, optimal additional cross Put torque MuThe control structure and flow of each wheel distribution；Based on blowing out, wheel and is blown out each control stage at state parameter, MuIt is each wheel point Match and controls using control variable Qi、ΔωiOr SiLinear, nonlinear model or equivalent model, pass through wheel A, B, C, D The logical combination of control for brake and the logic loops of control, carry out it is non-blow out wheel and non-balance car wheel set of blowing out, blow out wheel and it is quick-fried Tire balance car wheel set Qi、Or SiDistribution and control；Blow out early period, really blow out the phase：Additional yaw moment Mu, adopt WithOr Control logic combines and the distribution side of above-mentioned efficiency side drift angle, efficiency load or left and right wheels of blowing out Formula carries out Qi、Or SiEach wheel distribution and control；For balance car wheel set of blowing out, useOrControl is patrolled Combination is collected, when wheel of blowing out carries out stable state A controls, withSiVariable in order to control reduces wheel brake force of blowing out, until releasing step by step It is braked；Non- wheel of blowing out in balance car wheel set of blowing out applies it and wheel of blowing out on the basis of the brake force that wheel applies of blowing out The brake force of two wheel balance of equivalent brake force or wheel pair releases non-in the wheel pair on an equal basis when wheel braking is blown out in releasing It blows out and takes turns brake force；It is non-blow out balance car wheel set or and the non-wheel of blowing out blown out in balance car wheel set may also participate in additional sideway power Square MuControl variable Qi、Δωi、SiOne of distribution and control；Inflection point of blowing out and wheel rim detach control period：It blows out balance Two wheel of wheel pair usesControl logic, the final stage that wheel of blowing out enters stable state control release wheel brake force of blowing out at once, Non- wheel brake force of blowing out in the wheel pair is released on an equal basis, non-wheel or the additional yaw moment M of participation of blowing outuControl variable Qi、SiOne of distribution and control, when it is non-blow out wheel up to ANTI LOCK threshold value when then enter braking anti-lock Control；Inflection point of blowing out control period：By the distribution and control of above-mentioned each wheel brake force, make to blow out wheel and each wheel be in it is appropriate Attachment state, each differential braking wheel obtain maximum yaw moment wheel rim in optimal slip rate section and detach control period：Because of inflection point Wheel braking of blowing out is released in control, wheel wheel rim of blowing out makees pure rolling along tyre surface, can be exported without longitudinal cunning according to auto model Blow out the side drift angle β of wheel under shifting state：
U in formulax、uyFor vehicle vertical, horizontal speed, ground vertically and horizontally friction coefficient μx、μyIt then can be by the friction system on ground and rubber The parameters such as number determine；Experiment shows：The probability of knocking over is quite big when side drift angle β is more than threshold limit value, on the road for not influencing vehicle Under conditions of diameter tracking, by the target control value of β, ground friction coefficient μyEtc. parameters, limit steering wheel for vehicle corner, prevent from taking turns Rim detaches；The vertical, horizontal attachment coefficient when road surface is more smoothAbout the one of several points of nominal situation, based on attachment The parameters such as coefficient, vertically and horizontally power, can be to the additional yaw moment M after wheel knocking overuIt is modified；Wheel rim card when laterally adhere to CoefficientIt increased dramatically,Value can lead to experiment and determine that the value is stored in electronic control unit, for wheel rim card when add sideway Vehicle stable state control of blowing out effectively is realized in the amendment of torque Mu；Each wheel differential system power distribution determined by the C controls of vehicle stable state And Controlling model, it should finally be verified by live tire burst test or in-site modeling tire burst test, and according to field test knot It is modified by parameter used by Controlling model and model structure, to determine blow out vehicle stable state braking distribution and control mould Type is to the equivalence of field test results, validity and consistency；
5., vehicle braking force total amount (D) control and D controllers
D control objects are all wheels；Vehicle single-wheel of the D controls based on longitudinal single-degree-of-freedom or longitudinal direction and revolution two degrees of freedom Model；Vehicle is reduced to brake force Q by the modeld, longitudinal tire force Fdx, lateral tire forces Fdy, vehicle gravity NdAct on one The vehicle of a single-wheel is used in combination vehicle single-wheel to integrate angular decelerationAngular speed negative increment Δ ωd, slip rate Sd, vehicle decelerationCharacterize state of motion of vehicle；Δωd、SdValue controlled by each wheel stable state A, balancing brake B control, vehicle stable state braking C Control determining control variableΔωi、SiThe algebraical sum of target control value；Define Qd、Sd、Target control value target Deviation e between controlling value and actual valueQd(t)、eωd(t)、esd(t)、Feedback by deviation and closed-loop control are adjusted Section control variableΔωd、SdValue realizes vehicle brake force total amount QdOr vehicle decelerationBe controlled, directly or indirectly；It needs Control vehicle decelerationWhen, it pressesWith the wheel synthesis longitudinal tire force F of single-wheel auto modeldx, wheel synthesis angle slow down DegreeVehicle braking force total amount QdBetween relational model, determine Qd、Or slip rate SdTarget control value, and with Qd、Or SdTarget control value as a reference value, in turn determine A, B, C control each wheel control variableΔωiOr Si's Target control value；Vehicle brake force total Pollutant Quantity Control Model determined by the D controls of vehicle braking force total amount, finally should be quick-fried by scene Tire is tested or in-site modeling tire burst test is verified, and according to field test conclusion to parameter used by Controlling model and mould Type structure is modified, to determine brake force total amount to the equivalence of field test results, validity and consistency；Vehicle braking Vehicle brake force total Pollutant Quantity Control Model determined by the D controls of power total amount, finally should be quick-fried by live tire burst test or in-site modeling Tire is verified, and is modified to parameter used by Controlling model and model structure according to field test conclusion, with Determine brake force total amount to the equivalence of field test results, validity and consistency；
6., the compatible control of braking and controller
I, manual operation interface braking control compatible with active brake of blowing out and controller；Manual system's arena face includes someone Drive pedal of vehicles brake service interface and automatic driving vehicle auxiliary brake operation interface；Brake the defeated of compatible controller It includes three classes to enter parameter signal；A kind of signal：The brake force total amount Q of active brake of blowing out outputd, each comprehensive angular deceleration of wheelAngular speed negative increment Δ ωd, slip rate Sd, vehicle decelerationTwo class signals：Brake pedal Brake displacement Sw', it is making Power QdUnder ' effect, each comprehensive angular deceleration of wheelAngular speed negative increment Δ ωd', slip rate Sd′；Three classes signal：Vehicle is managed Think and practical yaw velocity deviationFront or rear axis balance car wheel set two of blowing out takes turns equivalent (or with non-equivalent) relative angle Velocity deviation e (ωe) and angular deceleration deviationBlow out time zone taiParameter signal；It is based one(ωe)、 taiParameter establishes the mathematical model of runflat condition and control parameter γ；By active brake and pedal brake (the referred to as two kinds of systems of blowing out It is dynamic) independent or parallel work-flow state, vehicle braking and anticollision coordinate control model and determine brake operating compatibility mode, thus solve The control hazard certainly occurred when two kinds of braking parallel work-flows；Blow out active brake, pedal brake it is individually operated or when, this two class behaviour The control for brake of work does not conflict, and for braking compatible controller not to the compatible processing of its input parameter signal, it is corresponding to go out signal Input signal；When active brake of blowing out is with pedal brake (hereinafter referred to as two brakings) parallel work-flow, braking compatible controller is pressed Pedal brake displacement Sw' and brake force Qd' between relational model, by Qd' with vehicle respectively take turns integrate angular decelerationAngular speed Negative increment Δ ωd', slip rate Sd' between relational model, determine vehicle braking force QdUnder ' effectΔωd' or Sd' mesh Mark controlling value；Definition is blown out between active brake control variable target control value and pedal brake control variable target control value Deviation：
eQd(t)=Qd-Qd′、eSd(t)=Sd-Sd′、
ΔQd'=| eQd(t)|、ΔSd'=| eSd(t)|、
According to deviation eQd(t)、eSd(t)、It is positive and negative, determine the compatible control logic of braking；Work as eQd(t)、eSd(t)、When more than zero, braking compatible controller respectively controls variable Q with active brake of blowing outd、Sd、Target control value be control The output valve of device processed；Work as eQd(t)、eSd(t)、When value is less than zero, the input parameter signal of brake operating is compatible with through braking Controller processing, the compatible control parameter Q of output brakingda、Or SdaSignal, Qda、Or SdaValue be compatible with by following brakings Controlling model determines that braking compatible model is：
Qda=f (Qd, λ1)、Sda=f (Sd, λ3)
λ in formula1、λ2、λ3To brake any compatible features parameter；Its modeling structure is：Qda、Or SdaRespectively Qd、Sd、Positive increment Increasing function, otherwise be its decrement subtraction function；Qda、Or SdaRespectively λ1、λ2、λ3The subtraction function of increment absolute value, it is on the contrary It is reduced the increasing function of absolute value for it；λ1、λ2、λ3Mainly by each wheel brake force total amount Qd', comprehensive angular speed it is negativeIt is comprehensive to slide Shifting rate Sd', the asymmetric step function model that runflat condition and control parameter γ are basic parameter determines：
λ1=f (± Δ Q 'd, γ), λ2=f (± Δ ω 'd, γ), λ3=f (± Δ S 'd, γ)
Runflat condition and control parameter γ are based on zone properties when runflat condition, control for brake phase and anticollision, by vehicle ideal and reality Border yaw velocity deviationAntero posterior axis balance car wheel set two takes turns equivalent (or with non-equivalent) relative angle velocity deviation e (ωe), angular deceleration deviationBlow out time zone taiIt is determined for the mathematical model of parameter；The modeling structure of parameter γ is：e(ωe)、Increasing function, the γ t of absolute value incrementaiThe increasing function of decrement；Brake any compatible features parameter lambda1、 λ2、λ3Modeling structure be：λ1、λ2、λ3The respectively increasing function of γ increments, λ1、λ2、λ3Respectively parameter, Δ Qd′、ΔSd′、Δ ωd' just travel parameters (+Δ Q 'd、+Δω′d、ΔS′d) increment subtraction function, negative travel parameters (- Δ Q 'd、-Δω′d、-Δ S′d) increment increasing function；Wherein asymmetric step function model refers to：In the positive and negative stroke of brake pedal, λ is determined1、λ2、λ3's Function model has different structures, parameter, Δ Q 'd, weights of the γ in positive stroke is less than the weight in negative stroke, positive row The functional value of its parameter is less than the functional value of its parameter in negative stroke in journey：
Or
Positive and negative (+, -) of each parameter is by the positive and negative determination of brake-pedal travel in formula, and each parameter value increases, the origin of decrement is inclined Poor eQd(t)、eSd(t) or0 point；By the model can quantification determine that pedal brake is grasped parallel with active brake of blowing out Make man-machine self-adaptive wavelet base；Work as eQd(t)、eSd(t) orWhen value is less than zero, braking compatible controller is based on blowing out each Control period and feature parameter"λ"1、λ2、λ3, determine wheel stable state, each wheel balance, vehicle stable state, brake force total amount (A, B, C, D) control Logical combination processed, includingDeng；It brakes compatible controller and uses closed-loop control, When deviation is negative, controller is to brake compatible deviation eQd(t)、eSd(t)、For parameter, pass through the compatible deviation of braking B, C controls carry out each wheel braking force distribution and adjusting, and the actual value that active brake controls that makes to blow out tracks its target control always It is worth, active brake of blowing out after braking compatible processing control output valve is its target control value Qda、Or Sda, as 0 deviation The compatible control of braking；Early period, fore-aft vehicle blow out when being in Collsion proof safety time zone, γ values are 0, and vehicle mainly usesBrake control logic combination；Each phase or/and Collsion proof safety dangerous each later stage, use after the true phase of blowing outBrake control logic combination, by parameter lambda1、λ2Or λ3Increase, it is possible to increase each wheel balancing brake B controls The braking force component of system, but the brake force of each wheel balancing brake B controls is not assigned to wheel of blowing out；With runflat condition deterioration or Fore-aft vehicle enters the forbidden time zone of anticollision, and wheel of blowing out enters stable state and controls, and each balanced system power for taking turns balancing brake B controls only divides The non-balance car wheel set of blowing out of dispensing；Each control period after inflection point of blowing out, with the further deterioration of runflat condition, releasing is blown out to take turns and be made Power, other each wheels or non-balance car wheel set of blowing out in addition to wheel of blowing out useOrBrake control logic group It closes, in its control loop, increases each wheel differential system power of vehicle stable state C controls, keep or reduce balancing brake B controls Brake force, and by braking any compatible features parameter lambda1、λ2Or λ3γ, Q ' in modeld、ω′dOr Sd' between coordination, i.e. Qda、Or SdaIt carries out with λ1、λ2Or λ3Reduction and reduce, Qda、Or SdaWith Q 'd、ω′dOr Sd' increase and increased association Regulation and control system realizes adaptive compatible control of the artificial pedal brake with active brake of blowing out；
Ii, the active brake of automatic driving vehicle and active brake of blowing out (referred to as two classes are braked) compatible controller；The controller With the brake force total amount Q for the tyre burst brake control that vehicle single wheel model determinesd1, comprehensive angular decelerationComprehensive angular speed is negative Increment Delta ωd1, comprehensive slip rate Sd1, vehicle decelerationOne of parameter, and the power total amount controlled with vehicle active brake Qd2, comprehensive angular decelerationAngular speed negative increment Δ ωd2, slip rate Sd2One of parameter be input parameter, by vehicle braking Coordinate control model with anticollision, is braked individually according to two classes or parallel work-flow state is solved using following brake operating compatibility mode The certainly control hazard of two classes braking parallel work-flow；When one, the braking of two classes individually carry out, the control for brake of this two generic operation does not rush Prominent, brake monitor independently carries out blow out active brake or the control operation of automatic driving vehicle active brake；Secondly, two classes braking When parallel work-flow, braking compatible controller determines following braking compatibility modes according to set collision prevention of vehicle control model, model； One of parameter that braking compatible controller is braked with two classes is input parameter, defines the deviation of two class brake parameters：
eQd(t)=Qd1-Qd2、eSd(t)=Sd1-Sd2、
It is determined according to positive and negative (+, -) of deviation " higher value " and " smaller value " of the braking of two classes, deviation is determined as " larger for timing Value " when deviation is negative, is determined as " smaller value "；Compatible controller is braked to brake by two class of fore-aft vehicle anticollision control model pair Control parameter is handled：Two class control for brake are in Collsion proof safety time zone taiWhen interior, braking compatible controller is with two class systems Dynamic control parameter (Qd、Δωd、Sd) in " the greater " type of retardation as operation and control type, and it is " larger with parameter Value " is as braking compatible controller output valve；The control of one of two classes braking is in anticollision danger or forbidden time zone taiWhen, braking Compatible controller is using the type of retardation of two class control for brake parameters " smaller " as operation and control type, " smaller value " of parameter As braking compatible controller output valve, the control hazard when braking parallel work-flow of two classes is thus solved, realizes automatic driving car Active brake is compatible with active brake control of blowing out；
7., brake-by-wire control and controller
Brake monitor includes mainly：Electric-controlled hydraulic, line traffic control mechanical braking controller；Electric control hydraulic braking controller is the above institute It states；Line traffic control mechanical braking controller is based on above-mentioned electric control hydraulic braking controller, while adding line traffic control fail-ure criterion device, for just Often and the braking and control of each operating mode such as blow out；
I, line traffic control mechanical braking controller；The controller is with brake-pedal travel SwOr brake pedal force sensor detection signal Pw For parameter, S is establishedwOr PwThe equivalency transform model of parameter, model include mainly：
Qd=f (Sw)、
Sd=f (Sw, δ, μi, Nz)
By transformation model, by SwOr PwBe converted to vehicle decelerationBrake force total amount Qd, wheel integrate angular decelerationIt is comprehensive Close angle speed negative increment Δ ωd, slip rate SdEtc. other parameters form；Based on Qd、Δωd、SdOne of parameter, by the above-mentioned system of blowing out Dynamic control model model and algorithm, determine each wheelOr SiThe target control value of distribution passes through A, B, C, D brake control logic group The loop cycle of conjunction realizes the control of vehicle flat tire brake-by-wire；Because of Qd、SdEtc. parameters to parameterResponse lag, can Phase lead compensation is carried out to it using compensator：In the cycle period Hh of control for brake, after phase lead compensation, sensing Device detection parameters signal Sw、It is consistent with the low frequency signal phase that driver inputs brake pedal, control variable Qd、 SdWith parameter signal Sw、Phase basic synchronization；Phase compensation (correction) model includes：
G in formulac(t) be the phase compensation time, k is coefficient, and the response of braking control system and relevant parameter is improved after compensated Speed；
Ii, brake-by-wire control fail-ure criterion；It is automatically controlled set by brake-by-wire controller to ensure the reliability of malfunction and failure judgement Unit (ECU), sensor etc. are constructed according to line control brake system structure, model and algorithm using fault-tolerant design, set up each electricity The sensor redundancies information such as wheel speed, brake force, the pedal displacement of control device, determining electric control gear associated with fault tolerant object, Sensor etc. carries out fault verification by residual error, and fault message is stored in electronic control unit, is alarmed, is prompted using sound, light crossing-signal Thus driver's ageing treatment reduces the systematic failure risk of electric control braking subsystem, on this basis, while carrying out in real time Operation troubles fail-ure criterion；One, wheeled vehicle state parameter fail-ure criterion device；The judging device is mainly slowed down with the comprehensive angle of each wheel DegreeOr vehicle decelerationBrake-pedal travel detection parameters SwOr with braking force sensor detection parameters signal PwJoin for input Number signal, using following fail-ure criterion patterns；Pattern one, wheel speed respond determinating mode, establish fail-ure criterion receptance function：
w1b=kbSw
Work as w1bUp to setting threshold value cw1bWhen, w1aLess than limit threshold value cw1aWhen judgement brake-by-wire failure；Pattern two, brake force are rung Determinating mode is answered, fail-ure criterion receptance function is established：
w2a=kaPw、w2b=kbSw
Work as w2bUp to setting threshold value cw2b, w2aLess than threshold value cw2aJudge brake-by-wire failure；After judging brake fade, electricity Control unit output brake fade signal il；Secondly, automatically controlled parameter it is forward and inverse to brake fade judging device；It is forward and inverse to malfunction and failure Judgement refers to：Otherwise system electric control signal is positive malfunction and failure judgement from the judgement being input on outbound course is reverse Malfunction and failure judges；The determinating mode is：The automatically controlled parameter of brake-by-wire controller is on signal transfer direction, brake-by-wire control The input of the signal of detection, control parameter set by the structure of device processed is not 0, and the output of relevant parameter signal is 0, input signal on the contrary It is not 0 for 0 output, judges brake fade；By the structural unit of brake-by-wire controller, it is set detection, control parameter signal Input be not 0, output judges brake fade by not being 0 to switch to 0；It is forward and inverse to use 0 and non-zero logic to fail-ure criterion pattern Threshold Model and decision logic meet as defined in model 0 and non-zero logic decision condition, then decision-making system malfunction and failure, output Brake fade signal il；
Iii, brake-by-wire control device；Regulated power supply and circuit, stand-by power supply or power storage element is mainly arranged in the device (including mainly capacitance, inductance storaging piece etc.), voltage or/and electric current configurator, voltage and current monitor, alarm；Voltage stabilizing Power supply links with EMS (or EHS) line control system, and stand-by power supply links with brake fade protective device；Wherein voltage or/and electric current Configurator be braking control system configuration as defined in voltage, electric current, by brake apparatus use driving type, structure and pattern, Corresponding electric power is provided for brake apparatus；
8., brake control mode and flow
I, brake control mode；Brake monitor uses closed loop or opened loop control, and brake monitor is with each wheel brake force Qi, angle subtracts SpeedThe positive and negative increment Delta ω of angular speediOr slip rate SiVariable in order to control in the braking of wheel stable state, respectively takes turns balancing brake, vehicle The braking of stable state, the combination of brake force total amount (A, B, C, D) control logic loop cycle in, by A, B, C, D control model, model And algorithm, determine control variable Qi、Or SiTarget control value, Qi、SiActual value made by each wheel Dynamic pressure force snesor, wheel speed sensors real time detection signal are determined using certain model and algorithm；Definition control variable Qi、SiThe deviation e of target control value and actual valueqi(t)、eΔωi(t)、esi(t)；It brakes in closed-loop control, braking control Device processed is to control the Q of variablei、Δωi、SiParametric form, by deviation eqi(t)、eΔωi(t)、esi(t) or the mathematics of its deviation Value determined by model controls braking executive device in the cycle in control for brake period, makes each wheel control variable Qi、Δωi、 SiActual value track its target control value always, realize each wheel brake force QiOr other parametersΔωi、SiDistribution and control System；
Ii, control for brake flow；Electronic control unit set by controller carries out data processing by control program or software, and the output phase answers electricity Signal control electric-controlled hydraulic (EHS), electric-controlled mechanical (EMB) braking executive device are controlled, wheel cylinder hydraulic coupling or EMS brakings are adjusted Motor torque and corner, realize it is each wheel brake force distribution and control, normally with the collision prevention of vehicle for operating mode of blowing out control, blow out master Dynamic control for brake is compatible with ABS, ASR, VDC or ESP control for brake；
9., tyre burst brake control subprogram and electronic control unit
I, tyre burst brake controls subprogram；By tyre burst brake control structure and flow, control for brake pattern, model and algorithm, compile Control for brake subprogram processed or software, using Structured Programming, which is mainly arranged：Wheel stable state, balancing brake, Vehicle stable state and brake force total amount (A, B, C, B) control for brake, control for brake parameter and (A, B, C, B) control for brake type combination Configuration, braking-distance figures processing and control process, actively system of blowing out is compatible with pedal brake, and braking coordinates control journey with anticollision control Sequence module, or with brake-by-wire program module；A, B, C, B brake control routine module：It include mainly A, B, C, B control for brake class Type controls the distribution of each wheel and the control submodule of variable；Parameter and Control Cooling combine configurator module：It is controlled by (A, B, C, B) Type and controlling cycle processed select control variable, determine the logical combination of A, B, C, B Control Cooling；Braking-distance figures processing and control Program module processed：The data processing of A, B, C, B Type Control pattern, model and algorithm is set, and A, B, C, B control for brake are all types of Logical combination；Brake compatible program module：When active brake of blowing out is with brake pedal parallel work-flow, used by the compatible control of braking Compatibility mode, model, to blowing out, active brake and pedal brake control signal carry out compatible processing；Brake-by-wire subprogram mould Block adds following program submodules；One, signal conversion program submodule：The submodule is based on pedal travel SwAnd its change rateOr signal is detected with brake pedal force sensor, by pedal travel SwWith vehicle decelerationOr brake force total amount QdEtc. Parameter model and algorithm are imitated, determines QdOrTarget control value；Secondly, brake fade decision procedure submodule：The submodule By brake fade judging device use wheeled vehicle state parameter, automatically controlled parameter it is forward and inverse to determinating mode, model, made Dynamic fail-ure criterion, output brake fade signal i after judgement is set upl；Thirdly, brake fade control model conversion program submodule： The module switches to the brake fade protection of brake fade protective device for the braking of hydraulic pressure or mechanical braking system；Four, Brake fade controls program submodule：The submodule is with brake fade signal ilFor switching signal, according to brake subsystem power supply, The characteristic of electronic control unit, electric control gear, executing agency and combinations thereof structure is started braking and is lost using brake fade transformation model Protective device is imitated, realizes normal and blow out operating mode control for brake and abating protection device control model conversion；Five, power supply pipe Manage program submodule：The submodule presses automatically controlled parameter and standard, is monitored to automatically controlled parameters such as the electric currents, voltage, frequency of power supply, Less than established standards output Failure Alarm signal il；
Ii, electronic control unit ECU；Electronic control unit ECU set by controller is mainly outer by input/output, microcontroller, minimum Enclose the compositions such as circuit, regulated power supply；Main setting input, data signal acquisition and signal processing, communication, data processing and control System, monitoring, power management, driving output module；
10., braking executive device；Braking executive device is using electric control hydraulic braking, line traffic control mechanical braking two types；
I, electric control hydraulic braking executive device and control flow；One, electric control hydraulic braking executive device；The device is based on vehicle-mounted Electric control hydraulic braking executive device establishes normal, operating mode of blowing out wheeled vehicle stable state (or stability) control electric control braking dress Structure is set, the device mainly includes：Wheel nominal situation braking anti-lock and operating mode stable state of blowing out control, blow out with it is non-blow out it is flat Weigh wheel pair two wheel braking force distribution and adjusting, pedal brake and blow out active brake independence or parallel work-flow it is compatible control, It blows out and non-tyre burst brake Failure Control；The device is with each wheel brake force Qi, angular decelerationAngular speed negative increment Δ ωiOr it is sliding Shifting rate SiParameter signal in order to control is arranged diagonal line or the hydraulic brake circuit of antero posterior axis arrangement, realizes each of three or four channel It distributes and controls between wheel braking wheels；Triple channel brake control mode：Two wheels of same control are distributed with balanced system power, To two wheel partition equilibrium brake force of independent control or the unbalanced system power of differential braking, i.e., on the basis of differential system power It is superimposed a balanced system power；Four-way brake control mode：To the wheel of four independent controls, distribute with four-wheel balancing brake Power, two wheel differential system power and the same brake force of two wheels or four-wheel differential system power are balanced brake force superposition differential system Power, the brake force that thus adjusting is blown out and non-balance car wheel set of blowing out respectively is taken turns；The device is mainly by pedal brake device, braking The compositions such as regulator, hydraulic pressure power supply device, wheel cylinder；Pedal brake device be a kind of servo-hydraulic (or air pressure) power-assisted with Dynamic brake apparatus includes mainly brake pedal, transmission leverage, master cylinder, fluid pressure line, pressure or is sensed with pedal travel Device, pedal sense simulator, hydraulic braking abating protection device；Regulator is braked mainly by high-speed switch electromagnetic valve, liquid Press pressure regulator valve, electromagnetism and hydraulic switching valve, oil storage cylinder, fluid pressure line or with the compositions such as voltage regulation cylinder；Hydraulic pressure power supply device mainly wraps Motor, hydraulic pump, valve, accumulator, oil storage cylinder are included, using two class formation forms；Structure type one, with booster pump, oil storage cylinder, Valve etc. is set to as the structure type of component in the hydraulic pressure pressure-control circuit of braking regulator；Structure type two, by hydraulic pressure Pump, oil storage cylinder, accumulator and valve are constituted, and are independently arranged as system power supply device；In braking executive device, master cylinder With two balance car wheel set hydraulic brake circuits (the hydraulic pressure system of axle or diagonal line arrangement for pumping accumulator, braking regulator Dynamic circuit), wheel cylinder constitutes by set two control valves (reversal valve) on hydraulic brake circuit or to form two classes mutually only Vertical hydraulic brake circuit I, II；Control valve does not power on as normal open, and control valve is by power supply device (pump accumulator) to braking pressure regulation The pipeline of device blocks, and by master cylinder to the pipeline connection for braking regulator, organizes structure or forms hydraulic brake circuit I；Liquid Pressure brake circuit I compositions are independent pedal brake circuit, the braking of master cylinder, braking regulator and two balance car wheel sets Wheel cylinder collectively form it is each wheel braking anti-lock (ABS), power processed distribution (EBD) independent pedal hydraulic control system, pedal brake It includes forward and backward axle brake force or distribution and control with the left and right brake force of two axles that power, which distributes (EBD) control mainly,；Control It replaces when valve powers on, control valve blocks the pipeline of master cylinder and braking regulator and by master cylinder to pedal sense The pipeline connection of simulator while the pipeline connection that power supply device (pump accumulator) is extremely braked regulator, organize structure or shape At hydraulic brake circuit II；Power supply device (pump accumulator), braking regulator and each wheel cylinder of two balance car wheel sets braking, altogether With constituting, nominal situation ASR, ESP (including VSC, VDC) control, operating mode of blowing out wheel of vehicle stable state, respectively wheel balance, vehicle are steady State, brake force total amount (A, B, C, D) control independent active brake fluid system；Anti-slip regulation (ASR) control uses hydraulic pressure system Dynamic circuit II, the pressure fluid of pump accumulator output enter drive shaft wheel pair two and take turns, and it is mutual that wheel pair two takes turns braking hydraulic circuit Isolation constitutes mutually independent hydraulic brake circuit, by two wheel differential system power distribution, realizes ASR controls；Turn to driving process In, it is distributed by driving or with two balance car wheel set four-wheel differential system power of nonpowered axle, realizes that drive shaft two is taken turns anti-skidding and turned Deficiency or the oversteering control of vehicle into driving；Nominal situation ESP (including VSC, VDC) is controlled and active brake control of blowing out System uses hydraulic brake circuit II, the pressure fluid of pump accumulator output to enter balance car wheel set two through braking regulator and take turns hydraulic pressure Brake circuit；Braking executive device is using the control distinctive parametric form of variable：Brake force Qi, angular decelerationAngular speed is negative Increment Delta ωiOr slip rate Si, based on the logical combination and its loop cycle of A, B, C, D control for brake type, pass through two balance cars The same or independent control that wheel set two is taken turns realizes the distribution and adjusting of balance car wheel set and each wheel control parameter；Brake pressure regulation dress In setting, pass through the spool position state (open and close) of set solenoid valve, hydraulic pressure pressure regulator valve, reversal valve and combinations thereof structure, it is established that Normal and blow out operating mode, non-balance car wheel set two of blowing out of blowing out take turns mutually isolated same control or the hydraulic braking of independent control Circuit, the former takes turns the identical same control of brake force for balance car wheel set two, and the latter takes turns brake force for balance car wheel set two Different, differential braking independent control；The same or independent control includes：The same control of one wheel pair, two wheel, another wheel pair Two wheels of two wheel independent controls or two wheels pair use independent control；The hydraulic coupling of pedal brake device output is by pressure sensing Device detect, detect signal input brake controller, brake monitor by brake it is compatible in a manner of, to active brake and pedal brake Power carries out coadaptation compatible processing, and output control signal is compatible with control mode control with ASR, ESP and non-active brake of blowing out of blowing out System braking regulator；Secondly, the structure of electric control hydraulic braking regulator and voltage regulating mode；The regulator is mainly by high speed Switch electromagnetic valve, solenoid directional control valve, hydraulic pressure pressure regulator valve, hydraulicdirectional control valve (or with mechanical braking compatible apparatus) constitute combination knot Structure, be mainly arranged hydraulic pump (including reflux, low pressure, high-pressure pump) and corresponding fluid reservoir or and accumulator, wherein hydraulic pressure pressure regulation Valve is made of voltage regulation cylinder and relief piston etc., and high-speed switch electromagnetic valve mainly uses bi-bit bi-pass, 3-position-3-way, 3-position 4-way each Type；Electric control hydraulic braking regulator is using circulation cycle or the pressure adjusting structure and control model of variable volume, electronic control unit Output signal is with pulsewidth (PWM) or frequency (PFM), amplitude (PAM)) modulation system, continuous control respectively takes turns the height in brake circuit Fast switch electromagnetic valve adjusts each hydraulic brake circuit, system by the pressure regulative mode of voltage-regulating system supercharging, decompression and pressurize Hydraulic coupling in driving wheel cylinder；During pressure regulation, each valve combination and spool position state (on or off) constitute different type structure Hydraulic brake circuit and wheel cylinder supercharging, decompression and pressurize three kinds of specific pressure regulation states；Pressurized construction and pressure regulation State：The access of releasing of wheel cylinder is closed by valve or hydraulic pressure voltage regulation cylinder, the pressure of pedal brake device or power supply device output Power liquid forms pressurization control time zone and the shape of hydraulic brake circuit and wheel cylinder through braking regulator, into wheel cylinder State；Pressure-maintaining structure and pressure regulation state：Wheel cylinder bleeder pipe routing valve or hydraulic pressure voltage regulation cylinder closing, pedal brake device and Power supply device enters the pipeline of wheel cylinder by braking regulator while closing, and forms hydraulic brake circuit and wheel cylinder Pressurize time zone and state；Pressure reduction structure and pressure regulation state：The pipeline of releasing of wheel cylinder is connected to through valve or hydraulic pressure voltage regulation cylinder The distribution channel for storing fluid cylinder is opened, and the pipeline that pedal brake device is connected to wheel cylinder with power supply device through braking regulator seals It closes, forms decompression time zone and the state of wheel cylinder；Each wheel brake force passes through wheel cylinder supercharging, pressurize and decompression state and control The cycle in period processed constitutes each wheel braking force distribution and control process, realizes each wheel control variable Qi、Δωi、SiDistribution and Control；The circulation pressure adjusting structure and pattern of regulator be：The input and output port difference of hydraulic pressure pressure-control circuit, wheel cylinder High-speed switch electromagnetic valve is set, and electronic control unit is using signal modulation modes such as pulse-width signals (PWM), by controlling hydraulic pressure system The high-speed switch electromagnetic valve of set wheel cylinder input, output, adjusts and is pressed in hydraulic brake circuit and wheel cylinder in dynamic circuit Three kinds of supercharging of power liquid, decompression and pressurize states realize each wheel brake force tune in the loop cycle of three kinds of states of pressure regulation process Section；Brake regulator transfiguration pressure adjusting structure and pattern be：The device is mainly by voltage regulation cylinder, relief piston, pressure regulator valve, electromagnetism Valve, high-speed switch electromagnetic valve are constituted, and enter wheel cylinder by solenoid valve control pedal brake device or hydraulic pressure power supply device Access, the supercharging of attainment brake hydraulic pressure circuit and wheel cylinder；Pass through pressure regulator valve, high-speed switch electromagnetic valve control pedal system simultaneously Dynamic device or hydraulic pressure power supply device input pressure liquid enter voltage regulation cylinder, the pressure at relief piston both ends are thus adjusted, to regulate and control The displacement of relief piston and the volume of voltage regulation cylinder, based on the variation of voltage regulation cylinder volume, the pressure in the wheel cylinder that keeps or release Liquid realizes pressurize, the decompression of wheel cylinder；Thirdly, the work system of electric control hydraulic braking executive device；Braking executive device is logical The specific structure for crossing hydraulic brake circuit I, II constitutes nominal situation pedal brake, operating mode of blowing out active brake, braking compatibility, system Mutual indepedent, the mutually coordinated work systems such as dynamic fail safe；Job family is unified, is based on hydraulic brake circuit I；Using circulation Recycle pressure adjusting structure and pattern：When driver's independent brake operates, master cylinder output pressure liquid is through braking electricity in regulator Magnet valve, hydraulic valve normal open road established in hydraulic brake circuit I pedal be servo-actuated brake fluid pressure, pass through high-speed switch electromagnetic valve Adjusting, directly control the hydraulic coupling in wheel cylinder；Variable capacity pressure adjusting structure and pattern：Between master cylinder and wheel cylinder simultaneously Even a set of hydraulic device, the device mainly includes hydraulic pressure voltage regulation cylinder, relief piston, hydraulic valve, pedal brake hydraulic circuit and liquid Voltage-controlled liquefaction road is mutually isolated, is changed by voltage regulation cylinder volume set by hydraulic control oil circuit, indirect control wheel cylinder brake pressure；Work Make system two, be based on hydraulic brake circuit II, the pressure fluid of master cylinder output is through setting set electromagnetism or hydraulic pressure in fluid pressure line Control valve links with regulator, brake feel simulator respectively；Carry out ASR, VSC, VDC or ESP and active brake of blowing out When control, control valve transposition, master cylinder output pressure liquid enters brake feel simulator, hydraulic pressure power supply device output pressure Liquid enters the hydraulic brake circuit II of braking regulator and wheel cylinder, master cylinder output pressure liquid and pump accumulator output Pressure fluid it is mutually isolated；Electronic control unit set by brake monitor is with each wheel angular speed negative increment Δ ωiOr/and slip rate SiFor Control variable, the deviation e based on its target control value and actual valueΔωi(t) or/and esi(t), output control signal, with pulsewidth (PWM) modulation system continuously adjusts braking regulator high speed switch electromagnetic valve, is adjusted with the pressure of pressurize by increasing, subtracting Mode, carry out it is each wheel brake force distribution and adjusting, realize Anti-slip regulation, dynamic stabilization, electronic stability program system (ASR, VSC, VDC or ESP) control and active brake control of blowing out；Work system three, active brake of blowing out and operator brake are parallel When operation, brake monitor is believed with pressure sensor detection parameters signal set by master cylinder master cylinder, active brake of blowing out parameter Number it is input parameter signal, compatible processing is carried out to each wheel braking force distribution value by braking compatibility mode, output braking is compatible to be believed Number, by hydraulic brake circuit II, with pulsewidth (PWM) modulation system, continuous control brakes regulator high speed and switchs electromagnetism Valve, adjust blow out, the brake force of non-blow out balance car wheel set and each wheel distribution；Work system four is protected using two kinds of brake fade Shield mode；In mode one, hydraulic brake circuit (I, II), the normal open hydraulic pressure by master cylinder to wheel cylinder is included at least Pipeline, solenoid valve, hydraulic valve in the fluid pressure line are set as normal open (opening), i.e., are opened when solenoid valve does not power on, are executed in braking When device is without control electric signal input, the pressure fluid of master cylinder output can be directly entered wheel cylinder；Mode two, hydraulic braking In circuit I, II, a differential pressure reversal valve is arranged in the hydraulic brake circuit between master cylinder or hydraulic accumulator and wheel cylinder, Master cylinder or hydraulic accumulator, differential pressure reversal valve and wheel cylinder group constitute an independent hydraulic brake circuit, differential pressure commutation Valve is formed by differential pressure commutation, electricity by hydraulic coupling between master cylinder or hydraulic accumulator and electric control hydraulic braking circuit I, II When controlling the electric control part failure of hydraulic braking executive device, the pressure fluid of master cylinder or hydraulic accumulator output passes through the only of this Vertical hydraulic brake circuit is directly entered wheel cylinder, realizes brake fade protection；Four, electric control hydraulic braking executive device control Structure and flow processed；Under the operating modes such as normally, blow out, in brake control process, electronic control unit output switch set by controller and each Control signal group；Switching signal group gza, the control rule opened, closed by solenoid valve set by each device, control hydraulic pressure confession respectively Reversing solenoid valve set by energy device (pump motor) and brake regulation system (including switch and control valve), passes through the unlatching of solenoid valve And closing, it realizes master cylinder, electric-motor pump, the input of pressure fluid, the working conditions such as release, commutate, shunting, collaborating, has coordinated At the entrance of function and the tyre burst brake control of each device, exit；Switching signal gza1By the energy supply demand and accumulator of braking Storage pressure state control pump motor operation and stopping, and being built in the hydraulic brake circuit I or II of each wheel through control valve Vertical hydraulic coupling；Signal gza2Control reversing solenoid valve (control valve), it is established that each wheel hydraulic brake circuit I or II；Signal gza3Control It sets up the unlatching for the booster pump being placed in hydraulic brake circuit I or II, close, realize brake regulation system hydraulic brake circuit Increase, subtract or the adjusting of pressurize；The control structure for controlling signal group is as described below；gzbBelieve for vehicle traction anti-sliding control (ASR) Number, when drive control, it is based on hydraulic brake circuit II, signal gzbThe system for adjusting driving or being taken turns with nonpowered axle balance car wheel set two Power distributes, and realizes that vehicle traction is anti-skidding and insufficient or oversteering controls；gzcFor axle before and after nominal situation or and left and right wheels Braking force distribution (EBD) signal, pedal brake control when, be based on hydraulic brake circuit I, signal gzcAdjust front and back two axles or With the distribution of two axis left and right wheels brake force, realizes that wheel braking is anti-skidding and vehicle stabilization control is (including when preventing pedal brake Vehicle whipping, deficiency or oversteering)；gzdBraking anti-lock control signal is respectively taken turns for nominal situation, is based on hydraulic brake circuit I, when wheel reaches braking anti-lock threshold value, electronic control unit terminates the output of the other control signals of the wheel, calls anti-braking Dead letter gzd, the brake force of the wheel is adjusted, realizes that its braking anti-lock controls；gzeFor nominal situation vehicle electric stability program ESP (including VSC, VDC) system control signal, when not carrying out pedal brake, signal gzeFor the active system of vehicle stable state (C) control Power target control value signal；When pedal brake and ESP active brake parallel work-flows, compatible processing is carried out by electronic control unit, Logical combination with vehicle stable state (C) control, the brake force target control value of ESP controls are controlled using each wheel balancing brake (B) For the differential unbalanced system power target control value of balancing brake (B) control and vehicle stable state (C) control distribution of each wheel distribution The sum of；Based on hydraulic brake circuit II, signal gzeIt adjusts two balance car wheel sets and respectively takes turns braking force distribution, realize intact stability Control；gzf(including gzf1、gzf2、gzf3) it is blow out wheel and vehicle steady state control signal of blowing out, it is based on hydraulic brake circuit II, is pressed Runflat condition and control period (including really blow out, inflection point, the control for brake phase such as knocking over), i.e. signal ia、ib、icOr with each control When each phase control signal of Qi Nei subordinates arrives, electronic control unit terminates each wheel nominal situation control for brake at once set by controller, turns Enter to blow out operating mode control for brake pattern, and electronic control unit is with each wheel brake force Q set by controlleri, slip rate Si, angular deceleration is negative increases Measure Δ ωiVariable in order to control is taken turns, is blown out, the brake force Q of non-balance car wheel set of blowing out by eachiDirectly distribution or slip rate Si, angular deceleration negative increment Δ ωiDistribution indirectly, realization, which is blown out, takes turns stable state or its non-wheel anti-lock of blowing out, the control of vehicle stable state； Control entering signal of blowing out iaWhen arrival, which kind of nominal situation state of a control no wheel blows out wheel in, and the state of a control is whole at once Only, wheel of blowing out enters stable state A controls, according to parameter Si、Thresholding and Controlling model, signal gzf1Control braking regulator In high-speed switch electromagnetic valve, reduce the wheel brake force Q that blows out step by stepi, the wheel is made to be in stable state brake area, inflection point of blowing out later stage Or when wheel rim separation, releasing, which is blown out, takes turns braking, makes wheel negative increment Δ ωi、SiTend to 0；In signal iaThis cycle H to arrivehOr Next cycle Hh+1, electronic control unit is using wheel stable state A controls of blowing out, each logic for taking turns balancing brake B controls, the C controls of vehicle stable state Combination exports the operating mode vehicle steady state control signal g that blows outzf2, it is based on hydraulic brake circuit II, with A controls, C controls or and is folded Add B control logics combination carry out it is each take turns, blow out, non-balance car wheel set braking force distribution of blowing out, realize longitudinal direction of car, sideway control (DEB and DYC)；When active brake of blowing out is with pedal brake parallel work-flow, electronic control unit output is through system set by brake monitor Control signal g after dynamic compatible processingzf3, and by gzf3Substitution control signal gzf2, the target control of braking force distribution and adjusting Value is the target control value after pedal brake and active brake compatible processing of blowing out；The D controls of brake force total amount mainly pass through each wheel The wheel stable state brake force of the brake force total amount of balancing brake B controls, the vehicle stable state differential system power of C controls and A controls Combinatorial regulation is realized；Brake monitor according to D control control variable target control value with it is each wheel distribution each control variables A, B, the deviation of the sum of C control targes controlling value determines and adjusts vehicle D control parametersΔωd、SdTarget control value, Connect the brake force total amount target control value for adjusting vehicle D controls；When electric control hydraulic braking executive device brake fade, automatically controlled list First output signal gzg(solenoid valve can be taken solenoid valve by differential pressure reversal valve and combinations thereof valve set by the dynamic abating protection device of control Generation), it is connected to the hydraulic path of accumulator or master cylinder and each wheel cylinder, hydraulic coupling is set up in wheel cylinder, realizes hydraulic pressure system Dynamic fail safe；It blows out and exits signal ieWhen Deng coming, tyre burst brake control and control model voluntarily exit, and are transferred to nominal situation control System and control model, until the entering signal i that blows outaIt arrives again；Braking executive device is controlled into new period tyre burst brake, Thus the loop cycle of A, B, C, D control for brake is constituted；Five, in hydraulic brake circuit I, II, balance car wheel set two wheel or Each wheel group constitutes mutually independent brake circuit；Electronic control unit is with brake force Qi, slip rate Si, angular decelerationOne of parameter or Variable, output each group control signal g to multiple parameters in order to controlz；The wheel of brake monitor balance car wheel set two implements same control Condition is：The left and right wheel control signal g of balance car wheel setz1、gz2Each hydraulic brake circuit identical, that balance car wheel set two is taken turns, With Qi、SiOr Δ ωiParametric form keeps the brake force of equivalent (same), in the logic of each wheel supercharging, decompression and holding pressure control It in cycle, keeps brake force equivalent or equivalent same, keeps supercharging, decompression and the synchronization of holding pressure control time, control parameter Si Or Δ ωiWith QiKeep its equivalence；Under nominal situation, when wheel braking anti-lock controls, the leveling wheel of same braking is carried out Two wheel of pair is using the high choosing of brake force or low choosing input；It blows out operating mode, the wheel of tire bursting vehicle wheel set two is inputted using the low choosing of brake force Or differential input；When balance car wheel set two takes turns independent control, electronic control unit is with Qi、SiOr Δ ωiParametric form carries out the wheel The distribution of secondary left and right two wheels relevant parameter, output signal gz1、gz2The left and right wheel hydraulic brake circuit of independent control balance car wheel set In high-speed switch electromagnetic valve realize that the secondary left and right wheel of the wheel is braked by the logic loops of supercharging, decompression and holding pressure control The direct or indirect distribution and adjusting of power；
Ii, line traffic control mechanical braking executive device, control flow and brake fade protective device；One, line traffic control mechanical braking execute Device control structure, control flow；The device is mainly filled by pedal travel or with braking force sensor, pedal brake feeling simulation It sets, motor, slows down, increases square, conversion of motion (rotation translation conversion), clutch, braking clamp body device, composite battery group is constituted； Device is using two kinds of structures of no self energizing effort or self energizing effort；EMS is same using the two balance car wheel sets that front and back axle or diagonal line are arranged Two sets of mutually independent braking systems of forward and backward axle or diagonal line arrangement are arranged, when wherein in one control or four-wheel independent brake When the failure of a set of braking system faults, another set of system independently implement emergency brake；Under normal and each operating mode such as blow out, line traffic control Electronic control unit set by mechanical braking controller is to control the parametric form of variable use：Brake force Qi, angular speed negative increment Δ ωi Or slip rate SiExport each wheel braking force distribution and Regulate signal group (abbreviation signal) gz1、gz2、gz3、gz4、gz5、il；gz1For switch Signal, controls the opening and closing of each wheel braking electromechanical assembly (including motor), and motor is in standby after opening；gz2For just The braking force distribution and Regulate signal of the wheel of balance car wheel set two or four-wheel under normal operating mode, control by braking motor, deceleration, increase square, Conversion of motion device, wheel organize the line traffic control mechanical braking executive device of structure jointly, realize wheeled vehicle Anti-slip regulation (ASR), system Dynamic anti-lock (ABS), electronic stability program (ESP) control (including VSC, VDC)；gz3For operating mode wheeled vehicle stable state control of blowing out Signal is based on line traffic control mechanical braking executive device, and according to blowing out, each control period and anticollision control time zone, by wheel stable state dynamic (A), Balancing brake (B), vehicle stable state (C) differential braking, brake force total amount D control logical combination, realization blows out, non-balance of blowing out Wheel is secondary and wheel pair two takes turns braking force distribution and control；gz4For wheel steady state control signal, under nominal situation, non-wheel of blowing out reaches Braking anti-lock control setting thresholding presentation time, electronic control unit are terminated to wheel brake-force control signal gz3Output, with signal gz41 Replace gz3, realize that its braking anti-lock controls；It blows out each control period, electronic control unit is to wheel output signal g of blowing outz42, to replace gz3, signal gz42Control blow out wheel braking executive device, realization blow out wheel stable state control, blow out wheel motion state deteriorate when (including Brake inflection point, knocking over etc.), releasing, which is blown out, takes turns braking；When active brake of blowing out is with pedal brake parallel work-flow, brake monitor Set electronic control unit exports the control signal g after braking compatible processingz5, and by gz5Substitution control signal gz3, brake force point The target control value matched and adjusted is pedal brake and the target control value after active brake compatible processing of blowing out；Control for brake In, braking motor output braking moment inputs each wheel braking clamp body, respectively through slowing down, increasing the devices such as square, conversion of motion, clutch Wheel obtains wheel stable state, the brake force of vehicle stability contorting；Secondly, brake-by-wire abating protection device；Brake fade judging device Angular deceleration is integrated with each wheelPedal travel detects signal S with braking force sensorwOr and PwAutomatically controlled parameter signal is defeated Enter parameter signal, by the just reverse brake fade determinating mode of wheeled vehicle state parameter, automatically controlled parameter, model, judgement braking event Barrier failure, output Failure Alarm signal il；Brake-by-wire executive device is arranged pedal brake and feels simulator and fail safe Device (abbreviation two devices), with pedal gear, fluid power emergency power brake apparatus is set, two devices are complex as a whole, and share braking Pedal operation interface, and by electric-controlled mechanical conversion equipment (including mainly electric controller and mechanical switching device), realize pedal force The transfer of (including mechanically or hydraulically power) between two devices；Brake fade alarm signal ilWhen arrival, signal ilControl electric-controlled mechanical Solenoid valve in conversion equipment, mechanically or hydraulically accumulator complete pedal force, mechanically or hydraulically energy storing brake power is in pedal brake Feel the transfer between simulator and abating protection device；
7) it, blows out throttle control and controller
Throttle control is based on on-board engine electronic throttle (ETC), is controlled by throttle opening during control of blowing out, Indirect control engine fuel injection and power output, throttle controller use two types；One, using X-by-wire Bus constitutes the connection of high speed fault-tolerant bus, high-performance CPU management, suitable for the air throttle fax control of normal each operating mode such as blow out (Throttle-by-wire) system of system；Secondly, air throttle information unit, controller and execution unit use integral structure, Physical routing is used therebetween, and by CAN data/address bus into row information, data exchange；Air throttle is arranged in air throttle information unit Aperture or/and accelerator pedal position sensor and signal processing circuit, and it is electric with ETC share sensors and transducing signal processing Road；Throttle controller mainly include blow out throttle control structure and flow, control model model and algorithm, electronic control unit, Control program or software, the corresponding control module being arranged including software and hardware including, wherein electronic control unit mainly by microcontroller, outside It encloses circuit and regulated power supply is constituted；Electronic control unit set by controller is independently arranged or same with vehicle-mounted existing electronic throttle (ETC) If one electronic control unit of structure altogether, according to electronic control unit setting situation, with signal of tyre burst I etc. for conversion signal, using program, communication The different structure and pattern such as agreement and external converter are realized the entrance for control of blowing out, are exited, the normally control with operating mode of blowing out The conversion of system and control model；Control entering signal of blowing out iaWhen arrival, no matter vehicle (including someone or automatic driving vehicle) Which kind of state of a control in nominal situation terminates former working condition, and no matter at this time gas pedal is in what position (including oil Door pedal is in the engine driving of one stroke), it blows out control into throttle control of blowing out；It blows out and exits signal ie、if When Deng arriving, operating mode of blowing out throttle control exits, and is transferred to nominal situation throttle control；
1., throttle controller
Throttle controller is with throttle opening, throttle position, accelerator pedal position, engine speed, throttle inflow pressure Power, air flow rate signal are main input parameter signal, with throttle opening variable in order to control, using actively or from return controlling Mode establishes the coordinated control mode of blow out active control and reflection driver's control wish of having ready conditions, according to throttle opening DjTarget control value, air-fuel ratio cfAnd the parameter value of above-mentioned input parameter, it determines air input of engine by air and distributive value, adjusts Engine air throttle aperture and fuel oil injection, the output of indirect control engine power；
I, active control mode：Entering signal of blowing out iaWhen arrival, controller using successively decrease, constant, dynamic, idle speed control pattern And each pattern jointly controls, wherein successively decrease, constant and idling mode it is unrelated with accelerator pedal stroke h control signals, dynamic analog Formula have ready conditions to accelerator pedal stroke h it is related, according to condition limit enter vehicle traction control；One, decline mode：With blow out into Enter signal iaThrottle opening when arrival is initial value Dj0, setting throttle opening decrement Δ Di, descending cycle HwWith successively decrease (secondary) the number n of grade, by setting value Δ DjThe continuous throttle opening that successively decreases is up to being 0 or reaching idling position, early period of blowing out, Δ DjOr by Blow out wheel tire pressure priAnd its change rateIt is determined for the equivalent mathematical model of parameter：
Secondly, constant pattern：Valve opening is adjusted, throttle opening is setting value, on setting idle speed air admission road and idle valve Vehicle close air throttle, and can be by adjusting the idle valve that be set on idle speed air admission road, adjusting air inlet after closed throttle Amount；Thirdly, dynamic mode, the pattern be mainly used for manned vehicle, setting or do not set auxiliary man machine operation interface nobody Vehicle is driven, is had ready conditions into air throttle dynamic mode under the particular state of tyre burst brake control, which mainly wraps It includes：Other particular states of the anticollision of vehicle flat tire braking mode, path trace and rear vehicle of blowing out driving；Dynamic mode is using quick-fried Tire operating mode air throttle active control and operating mode of blowing out is artificial and the compatibility mode of active drive control intervention；Manual operation interface (including accelerator pedal operation) controls and active drive controls when intervening, and air throttle enters dynamic control pattern, tyre burst brake control It makes while exiting；Dynamic mode one, control parameter are mainly driver to vehicle feed speed control wish characteristic parameter Wi, it is based on The parameter establishes logic threshold model, works as WiWhen up to setting threshold value, air throttle enters dynamic control pattern；Air throttle dynamic Control is with throttle opening DjVariable in order to control, with wheel tyre pressure pri(including the wheel detection tire pressure p that blows outraOr state tire pressure pre)、 (± h is main input parameter to the positive and negative stroke of gas pedal, by pri, ± h asymmetric step function model and algorithm, determine DjTarget Controlling value includes mainly：
Wherein gas pedal is secondary or multiple stroke h initial bits are set as origin, value 0, pri=pr0-Δpi, pr0For standard Tire pressure, Δ pi、h、It is taken as absolute value；DjFunction model modeling structure：Dj(including Dj1、Dj2) it is priWith the increasing of h absolute value increments Function is tire pressure change rateThe subtraction function of absolute value；Function Dj2、Dj1In its positive and negative increment+Δ hi、-ΔhiAny section With identical or different change rate, i.e., so-called asymmetry；Asymmetry or Asymmetric Model are expressed as：In parameter h, hjIt is negative Increment (- Δ h ,-Δ hj) section, function Dj1Absolute value be less than the positive increments of parameter h (+Δ h ,+hj) interval function absolute value Dj2, the positive increments of parameter h (sections+Δ h), function absolute value Dj2Less than parameter under nominal situation in the sections h throttle opening Dj3Absolute value, i.e.,：
|Dj1| ＜ | Dj2| ＜ | Dj3|
Work as WiLogic threshold threshold value is not reached by Threshold Model, and throttle controller exits dynamic control pattern and is transferred to solar term of blowing out Other control models of door；Dynamic mode two, automatic driving vehicle are blown out in control, are needed to terminate tyre burst brake control, be started Engine driving controls, and air throttle enters dynamic control pattern, throttle opening DjTarget control value presses engine drive request It determines (referring to following drive control related Sections of blowing out)；Throttle opening DjTarget control value or using PID, optimal, fuzzy It is determined etc. corresponding control algolithm；Four, idling mode, when engine speed reaches setting threshold value, adjusting throttle opening Or idle speed air admission valve opening, make engine peed stable in idling；Idle speed control uses open loop or closed-loop control, is based on solar term Door, fuel oil eject sensor detection parameters signal, by distributive value Qf, air inflow Qn, air-fuel ratio cfDeng adjusting, make to start Machine rotating speed controls in idle range；The combination of throttle control pattern includes following types；Type one, by decline mode after Into dynamic or constant pattern；Type two is directly entered dynamic or constant pattern first, then between dynamic and constant pattern Mutually converted；In the control of above-mentioned each integrated mode, enter idling mode up to idle condition；Decline mode is mainly used for quick-fried Tire controls entering signal iaThe vehicle accelerated in driving when arrival, constant pattern include 0 aperture of air throttle (closing air throttle) And other setting constant values；Air throttle uses open loop or closed-loop control；Closed-loop control：With accelerator pedal position, throttle position (aperture), engine speed, admission pressure and flow etc. are parameter, using nominal situation, the successively decreasing of operating mode of blowing out, constant, dynamic State, idling and its combined control model and algorithm determine throttle opening DjTarget control value；Define throttle opening DjTarget Controlling value and throttle position sensor measured value Dj' between deviation eDJ(t)：
eDJ(t)=Dj-Dj′
Controller, electronic control unit (ECU) are according to deviation eDJ(t) feedback, control electric current, the voltage for determining and exporting adjust section Throttle opening in valve executive device, the practical aperture D of air throttlej' its target control value D is tracked alwaysj；By Threshold Model, As engine speed ωbWhen less than threshold value, engine is transferred to idle control model；
Ii, from return control mode：Entering signal of blowing out iaWhen arrival, electronic control unit output signal, control ETC driving motors with Transmission system between throttle body makes set electromagnetic clutch in transmission system disengage (separation), the solar term in throttle body Door is closed under return spring effect, while by adjusting set regulating valve on air throttle idle speed air admission road, control engine into Air pipe latus rectum, engine enter idle speed control；
2., throttle control subprogram or software
Based on throttle control structure and flow of blowing out, control model model and algorithm, throttle control subprogram or soft is worked out Part, the subprogram use Structured Design, and control model is converted, successively decreases, constant, dynamic, idling jointly control program mould for setting Block；Control model conversion module：Successively decrease, constant, dynamic, idling and its jointly control pattern conversion；Air throttle constant and idling Jointly control program module：Entering signal of blowing out iaIt is setting constant value that air throttle or throttle opening are closed when arrival, is started Machine rotating speed is transferred to idle speed control when reaching idling threshold value；Air throttle constant, dynamic, idling jointly control program module：It is quick-fried Tire controls entering signal iaIt is to set constant value that air throttle or throttle opening are closed when arrival, manual operation interface (including oil Door pedal operation) or vehicle active drive control intervention when, throttle control is transferred to dynamic mode；In the pattern, air throttle is opened Spend DjTarget control value is with the wheel detection tire pressure p that blows outra(or state tire pressure pre), the positive and negative stroke of gas pedal (± h) be main ginseng Several asymmetric step function models and algorithm determine；For automatic driving vehicle, throttle opening DjTarget control value is by anticollision, road Diameter tracks and to parking vehicle travels accelerationIt is determined for the mathematical model and algorithm of major parameter；Accelerator pedal stroke h For 0 orTarget control value be 0 when close air throttle；Engine speed is transferred to idle speed control when reaching idling threshold value；
3., electronic control unit (ECU)
Electronic control unit is independently arranged or sets total structure together with vehicle-mounted existing electronic throttle (ETC) electronic control unit；ECU is mainly by defeated Enter/output interface, microcontroller, peripheral circuit constitute；ECU uses modularized design, and main includes input, signal acquisition and place Reason, communication (including mainly that CAN, MCU data communicate), MCU data processings and control, the modules such as driving output, monitoring；
4., air throttle execution unit
Throttle control is using each sensor and other subsystem relevant parameter signals as input parameter signal, air throttle electronic control unit By throttle control subprogram or the software progress data processing of blowing out, output signal gd1、gd2、gd3Control air throttle execution unit； Air throttle execution unit is based on electronically controlled throttle valve (ETC) executive device, mainly by motor, throttle body, deceleration mechanism, idling control The compositions such as valve processed；Electronic control unit output signal gd1Control direct current or stepper motor, the displacement signal of motor output, through speed reducer Structure, clutch adjust throttle opening into air-throttle assemble；Signal gd2Control the clutch of clutch, gd2Not timed out clutch Device is in normally off；gd2Throw-out-of clutch is controlled when arrival, air throttle is closed under return spring effect；Signal gd3Control The idle valve being set on idle speed air admission channel realizes the adjustment of engine idle speed air admission；Signal i is exited in control of blowing oute、ifUntil Come or this brake subsystem tyre burst brake controls when exiting, throttle control of blowing out exits at once, is transferred to nominal situation air throttle Control, until the entering signal i that blows outaIt arrives again, the throttle control into a new period recycles；
5., throttle control structure and flow；
Nominal situation is arranged and two kinds of control models of operating mode of blowing out in throttle controller (90)；Under nominal situation, electronically controlled throttle valve (ETC) output signal controls electronically controlled throttle valve (91) executive device, realizes nominal situation throttle control；It blows out under operating mode, it is main It controls device (5) and exports signal of tyre burst I, electronic control unit is with the control entering signal i that blows out set by throttle controller (90)aBelieve for switching Number, no matter which kind of position throttle operation interface (pedal) (92) is in, and terminates the nominal situation control of electronically controlled throttle valve at once, turns Enter to blow out control and control model；Electronic control unit with sensor set by electronically controlled throttle valve (93), (including step on by throttle opening, throttle Board position, engine speed or with the sensors such as throttle inflow pressure, flow) detection signal is input parameter signal, according to The type and structure of set electronic control unit, setting signal acquisition turn with processing, data processing (MCU), driving output, control model Change modules (94), (95), (96), (97), (98), (99) such as (use postposition converter), power supply, monitoring；It is transferred to control of blowing out Afterwards, the control program and software that each module is used by throttle controller (90) carry out data processing, output signal gd；Signal gd Motor in control electronically controlled throttle valve executive device (91), motor output corner and torque are defeated through deceleration and transmission device (100) Enter throttle body (101), adjusts air throttle (102) aperture；When engine (103) turn up idling threshold value, signal gd Air throttle (102) aperture is controlled, into idle speed control；For the hair in idle speed air admission road and idling air control valve (104) is arranged Motivation then adjusts idle valve (104), realizes Eng ine Idling Control；Air throttle uses closed-loop control, throttle controller (90) Operating mode throttle opening target control value of blowing out is determined in real time, and practical controlling value is by the real-time detected value of engine load sensor It determines, the deviation between air throttle (102) aperture target control value and actual value is defined, according to the feedback control of deviation, envoy Valve actual value tracks its target control value always；Signal i is exited in control of blowing outeWhen Deng arriving, throttle controller (90) is logical It crosses control model conversion module (postposition converter) (97) and terminates air throttle and blow out control, electronically controlled throttle valve (ETC) is transferred to normally Operating conditions；
8) fuel Injection Control of blowing out and controller
Fuel Injection Control is based on on-board engine electronic fuel injection device (EFI) and electronic throttle (ETC), and real therewith Existing device resource shares shared；Electronic control unit, execution unit set by controller use one with information element part sensor When changing design, physical routing is used therebetween；Controller and onboard system are by data/address bus into row information, data exchange；Information Sensor and transducing signal processing circuit is arranged in unit；Controller is mainly by fuel Injection Control structure and flow, the control of blowing out Pattern model and algorithm, electronic control unit, control program and software sharing；Electronic control unit includes mainly microcontroller, peripheral circuit And regulated power supply；Controller presses its type and structure, and corresponding control module is arranged；Controller electronic control unit be independently arranged or with Vehicle-mounted existing electronic fuel injection device (EFI) is mainly to turn with signal of tyre burst I with a shared electronic control unit, electronic control unit is set Change signal, using the different transformational structure and pattern such as program, communication protocol and external converter, realize control of blowing out into Enter, exit, the normally conversion with blow out operating conditions and control model；Fuel injection control apparatus include fuel controller and into Air flow controller；Throttle control and fuel Injection Control can mutually replace, its two kinds controls or constitute its compound control structure；
1., fuel controller
Controller with signal of tyre burst I, blow out wheel tire pressure pri, throttle opening or/and accelerator pedal position, engine speed, sky Throughput, boost pressure signal are main input parameter signal, and with distributive value and air inflow, target, control of blowing out enter in order to control Signal iaWhen arrival, be based on the engine operational cycle period, using subtract oil, oil-break, dynamic, idle speed control pattern or its control The combination of pattern；Oil-break, idling mode are unrelated with accelerator pedal stroke or throttle opening；Subtract oil, dynamic mode and throttle to step on Plate stroke h has ready conditions correlation, according to condition limits and enters vehicle drive control of blowing out；Control entering signal of blowing out iaWhen arrival, nothing Which kind of state of a control of nominal situation is in by vehicle (including someone or automatic driving vehicle), fuel injection control apparatus terminates Former working condition enters control of blowing out；
I, subtract oily pattern；With the entering signal i that blows outaEngine Injection Mass when arrival is initial value, by the distributive value that successively decreases of setting ΔQfWith dust cycle series n, distributive value is made to be decremented to zero；
Ii, fuel cut-off mode；Entering signal of blowing out iaWhen arrival, no matter which kind of position accelerator pedal stroke is in, electricity set by controller Control unit sends out signal, terminates engine oil spout；
Iii, dynamic mode；The pattern is mainly used for the automatic driving car of manned vehicle, setting auxiliary man machine operation interface , entrance of having ready conditions under the particular state for control of blowing out, which includes mainly：Vehicle flat tire brakes anticollision, path Other specific shapes that the rear vehicle that tracks and blow out need to drive；The pattern is using fuel oil injection active control and manpower intervention control Compatibility mode；Into after dynamic mode, fuel injector stops oil spout；The fuel injection control apparatus of blowing out of one, manned vehicle Into gas pedal one, two or the dynamic control pattern of multiple stroke；In gas pedal first time stroke, no matter at gas pedal In what position, engine terminates oil spout or presses idle speed control mode tuning distributive value；When accelerator pedal operation control intervention, in oil Under door pedal is secondary or multiple Stroke Control state, fuel oil is injected into dynamic control pattern of blowing out, and tyre burst brake controls simultaneously It exits；The control parameter of dynamic mode is mainly driver to vehicle feed speed control wish characteristic parameter Wi, it is based on the parameter Logic threshold model is established, W is worked asiWhen up to setting threshold value, fuel oil is injected into dynamic control pattern；The pattern is sprayed with fuel oil The amount of penetrating QfVariable in order to control, with wheel tyre pressure pri(including the wheel detection tire pressure p that blows outraOr state tire pressure pre), gas pedal just, Negative stroke ± h is main input parameter, by pri, ± h asymmetric step function model and algorithm, determine QfTarget control value, the mould Type includes mainly：
P in formulari=pr0-Δpri、pr0For standard tire pressure, Δ pri、h、It is taken as absolute value；QfModeling structure：Qf(including Qf2、Qf1) it is tire pressure priIt is tire pressure change rate with the increasing function of accelerator pedal stroke h increment absolute valuesDecrement absolute value subtracts Function；Function Qf2、Qf1There is different change rates in any section of its positive and negative increment+Δ h ,-Δ h, i.e., it is so-called asymmetric Property；Asymmetry model or asymmetry are expressed as：In parameter h negative increments (- Δ h) interval functions Qf1Value just increases less than parameter h Measure (+Δ h) interval function values Qf2, in the positive increments of parameter h (the absolute value Q of+Δ h) interval functionsf2Less than nominal situation parameter h Section distributive value Qf3, i.e.,：
Qf1＜ Qf2＜ Qf3
Fuel injection amount QfTarget control value is determined using the control algolithm of the modern control theories such as PID, optimal, fuzzy；Its Two, the fuel injection control apparatus of blowing out of automatic driving vehicle, by speed control, the requirement of path trace, with distributive value QfFor control Variable processed, with speed ux, fore-aft vehicle anticollision control time zone taiFor parameter, vehicle traction controlling cycle is set, its parameter is established The Controlling model of increase and decrease amount：
Qf=f (Δ ux, Δ tai)
By the logic loops of controlling cycle, distributive value Q is determinedfTarget control value；When fore-aft vehicle is in Collsion proof safety time zone, tai Value is 0；Vehicle enters and rear car anticollision danger time zone, QfFor taiThe increasing function of decrement；Vehicle enters dangerous with front truck anticollision Time zone, QfFor taiThe subtraction function function of decrement；
Iv, idling mode；By Threshold Model, as engine speed ωbLess than threshold value afWhen enter idling mode, idling control System uses open loop or closed-loop control, based on air throttle, fuel injection system sensor detection parameters signal, passes through distributive value Qf、 Air inflow QnOr air-fuel ratio cfIt adjusts, makes control of engine speed in idle range；Idle speed air admission amount is mainly by being set to idling The idle speed bypass valve regulation of air intake duct；The combination of fuel Injection Control pattern includes mainly following types；One passes through the mould that successively decreases Dynamic or fuel cut-off mode are entered back into after formula；Secondly, be directly entered dynamic or fuel cut-off mode, subsequently into dynamic and fuel cut-off mode it Between mutual conversion；Signal i is exited in control of blowing oute、ifWhen Deng arriving, electronic fuel injection device (EFI) exits fuel oil spray of blowing out Control is penetrated, nominal situation fuel Injection Control is transferred to；
2., air inlet amount controller
Distributive value QfAfter target control value determines, air inlet amount controller sets air-fuel ratio cf, it is based on distributive value QfTarget control value, By engine charge computation model and algorithm, in the logic loops of controlling cycle, air inflow Q needed for engine is determinedh, solar term Door aperture DjTarget control value, computation model include mainly：
Qh=f (Qf、cf)、Dj=f (Qh、ug)
U in formulagFor throttle inflow flow velocity, ugIt is determined by intake flow sensor detected value；
3., fuel Injection Control subprogram, software
Based on fuel Injection Control structure and flow, control model, model and the algorithm of blowing out, work out fuel injection control routine or Software, using programming is structured into, fuel Injection Control subprogram is arranged：Control model conversion, fuel oil injection program mould Block mainly jointly controls submodule by subtracting oil, oil-break, dynamic, idling and constitutes；One, oil-break and idling combine Injection Control program Module：Entering signal of blowing out iaEngine fuel injection is terminated when arrival, engine speed is transferred to when reaching idling threshold value Idle speed control；Secondly, oil-break, dynamic, idling jointly control program module；Control entering signal of blowing out iaIt terminates and starts when arrival Machine fuel oil sprays, when the control of manual operation interface (including accelerator pedal operation interface) or vehicle active drive intervenes, fuel oil spray It penetrates and is transferred to dynamic control pattern；In the pattern, fuel injection amount QfWith the wheel detection tire pressure p that blows outra(or state tire pressure pre), throttle The positive and negative stroke of pedal (± h) is that the asymmetric step function model of major parameter and algorithm determine；For automatic driving vehicle, QfMesh Mark controlling value by anticollision, path trace and to parking ground vehicle travel accelerationFor the mathematical model and algorithm of major parameter It determines, whenTarget control value be 0 when, fuel oil be injected into idle speed control pattern；Air inflow controls program module：Air inflow QhTo blow out, fuel oil sprays Qf, air-fuel ratio cfIt is determined for the function model of major parameter, and thereby determines that throttle opening；Control Mode conversion module：The pattern and structure converted using program, agreement or converter, control entering signal of blowing out iaWhen arrival, Enter blow out fuel oil injection and the control of air inflow program simultaneously；
4., electronic control unit (ECU)
ECU is independently arranged or is shared with controlled vehicle-mounted electrical fuel injection system (EFI) electronic control unit isomorphism；Electronic control unit is mainly by list Piece machine, peripheral circuit structure, regulated power supply are constituted；Include mainly input, Signal acquiring and processing, CAN numbers using modularized design According to communication, MCU data processings and control, driving output, monitoring block；
5., fuel oil of blowing out spray execution unit
The execution unit is arranged fuel oil and sprays executive device, which is mainly adjusted by fuel pump, fuel filter, fuel pressure Device, fueling injection equipment, switch electromagnetic valve are constituted with air throttle and idle speed control valve；Fuel injection subsystem (EFS) controller According to EFI fuel injector structures, the types such as fuel oil single-point, multiple spot or cylinder injection of EFI and above-mentioned control model, the group of model It closes；A timing, distributive value control is kept to be converted to effective injection duration control in injection pressure；Injection Control includes mainly Time, air-fuel ratio, ignition timing control；Time control：Using simultaneously, grouping or sequential fuel injection；Air-fuel ratio controls：Using open loop Or closed-loop control；In closed-loop control, by the feedback of target and the deviation signal of actual air-fuel ratio, fuel injection pulsewidth is determined；Igniting Timing control：It include mainly ignition advance angle control；
6., fuel Injection Control structure and flow
Fuel injection control apparatus (110) is mainly made of fuel controller (111) and air inlet amount controller (112)；Controller (110) electronic control unit set by obtains the signal of tyre burst I that main controller (5) exports from data/address bus (21), obtains electronically controlled throttle valve (ETC) sensor set by (including accelerator pedal position, throttle position, engine speed sensor) (113) and fuel oil injection Sensor (114) (including throttle inflow pressure, flow sensor etc.) set by system (EFI) detects signal, and electronic control unit is micro- Controller (MCU) control module by normally with operating conditions pattern of blowing out, model and algorithm carry out data processing, output signal gm (gm1、gm2), signal gm1Control fuel oil injection executive device (115), signal gm2Control throttle valve device (116)；
I, fuel controller (111)；Control entering signal of blowing out iaWhen arrival, what no wheel throttle operation interface (pedal) is in Kind of position, fuel injection control apparatus (110) by postposition converter (117), terminate at once nominal situation engine air throttle and Fuel Injection Control；Fuel controller (111) is transferred to oily or oil-break, dynamic, the idle speed control pattern of subtracting for control of blowing out, each to control Molding block carries out data processing, output signal g by control program and softwarem1Control is mainly by oil spout (fuel oil) pump (118), fuel oil The engine fuel injection of the compositions such as pressure regulator (119), fuel injector (120), idle speed bypass valve (121), fuel tank (122) fills It sets (115), adjusts oil spout of the fuel-saving injection apparatus (115) to engine (126), realize operating mode fuel Injection Control of blowing out；
Ii, air inlet amount controller (112)；Under nominal situation, controller 112 is main ginseng with throttle operation interface (pedal) position Number, establishes the mathematical model and algorithm of its parameter, determines throttle opening；Control entering signal of blowing out iaWhen arrival, air inflow Controller (112) subtracts oil or oil-break, dynamic, idle speed control pattern based on what fuel controller (111) used, is controlled with fuel oil Measure Qf, air-fuel ratio cfFor major parameter throttle opening D is determined by establishing the mathematical model and algorithm of its parameterjTarget Controlling value Djk, and pass through DjkDetermine air input of engine by air, DjkIt is unrelated with the actual value of accelerator pedal position；DjkAfter determination, air inlet Amount controller (112) output signal gm2Control engine throttle door gear (116), adjusting engine air input；Air inflow controls Process is：Air enters engine through air inlet pipe, air cleaner (123), (air) flowmeter (124), air throttle (125) (126)；An idling air control valve (127) is set on the forward and backward bye-pass of connection throttle body, for starting and idling machine Additional-air inlet amount is adjusted；Fuel injection control apparatus (110) according to the structure and type of set electronic control unit, setting signal acquisition with Processing module (128), data processing (control) module (129), monitoring module (130), driving output (131), control model turn Block (132) is changed the mold, wherein control model conversion module uses postposition converter, fuel injection control apparatus (110) output signal control Fuel oil injection executive device (115) processed and throttle valve device (116) adjust engine (126) and export；
9) drive control of, blowing out and controller
During blowing out, there is sideslip and even breaks away in vehicle (someone and automatic driving vehicle) moment, and except carrying out, wheel, vehicle are steady Qualitative deceleration control is outer, under vehicle flat tire anticollision, addressing parking, the path trace particular state to parking position, starts vehicle It blows out drive control；During blowing out, there is sideslip and even breaks away in vehicle (someone and automatic driving vehicle) moment, except progress The control of slowing down of wheel, intact stability is outer, vehicle flat tire anticollision, addressing parking and in vehicle of blowing out to parking position Under path trace spy's state, start vehicle flat tire drive control；It blows out drive control device, based on truck mounted braking systems, starts electromechanics Air throttle (ETC) and electronic fuel injection device (EFI) are controlled, by data/address bus into row information, data exchange, realizes equipment money Source shares shared；Drive control device of blowing out includes mainly blow out drive control structure and flow, control model model and algorithm, control Processing procedure sequence and software, electronic control unit, the corresponding module of software and hardware of type and structure setting used by it, wherein electronic control unit master It to be made of microcontroller, special chip, peripheral circuit and regulated power supply；Drive control device of blowing out be based on runflat condition process, Control period of blowing out and anticollision control time zone, using sensing equipment, realize that someone or the spacing detection of automatic driving vehicle, environment know Other pattern, by blowing out, driving coordinates control model with vehicle anticollision all around, adjusts vehicle engine driving output of blowing out, and According to vehicle balance drive and wheeled vehicle stable state brake coordination control model, model and the algorithm of blowing out, control variable is determined Each drive shaft driving force (square) Qp, balance car wheel set two take turns (differential) brake force (square) Qy((including Qya、Qyb、Qyc、Qyd)；As Control each drive shaft driving force (square) Q of variablepIt can be with vehicle accelerationThrottle opening Dj, fuel injection amount Qj, driving Axis wheel angular accelerationOr slip rate SiEqual effect exchange, DpWith DjExchange using two Relationship between Parameters equivalent mould Type, through QpWith DjThe related data of field test test determines；QpWithOr SiEqual effect exchange condition be：As same parameters Wheel effectively roll RiIt is equivalent identical；In drive control of blowing out, the driving moment of engine output, through transmission device and differential Equal driving moment is passed to the wheel of drive shaft two or independent four-wheel by device；One, the nothing that human assistance operation interface is set People drives the drive control of vehicle or manned vehicle；Drive control device of blowing out is with engine driving torque Qp, air throttle opens Spend DjOr fuel Injection Control amount QjOne of variable in order to control, to detect tire pressure praOr state tire pressure pre, accelerator pedal stroke h be Major parameter determines D by the asymmetric mathematical model of its parameterj、QjTarget control value, indirect control engine driving torque Qp；Secondly, the drive control of automatic driving vehicle；Drive control device of blowing out is with vehicle drive force QpOr vehicle accelerationSolar term Door aperture DjOne of variable in order to control, Qp、DjReal-time control value is driven for automatic driving vehicle, the value is by following function models It determines：
Qp=Qpk+Qy′、Dj=Djk+Dja
Qpk=f (Qpk0, γ),Djk=f (Dja0, γ)
Or
Q in formulapk、DjkBlow out driving force, the vehicle needed for vehicle path trace that respectively vehicle central main controller determines add Speed or throttle opening, Qy' be and vehicle differential brake force QyThe driving force that balances each other,For vehicle drive force Qy' under Vehicle acceleration, DjaDriving force Q is obtained for vehicley' under the conditions of throttle opening；Qpk0、Djk0Respectively vehicle central The vehicle path trace predetermined value of blowing out that main controller determines；γ is runflat condition feature and control parameter, and parameter γ is that vehicle is horizontal Pivot angle velocity deviationBalance car wheel set two of blowing out takes turns equivalent opposite angular speed that deviation e (ωe) and angle acceleration-deceleration it is inclined DifferenceIncreasing function, the γ t of absolute value incrementaiThe increasing function of decrement；Qpk、DjkFore(ωe)、Absolutely The subtraction function of value increment and be all taiThe increasing function of decrement；(including front left, front right) vehicle bumps against before the entrance of this vehicle danger or Forbidden time zone tai, start this vehicle drive control；Drive control device of blowing out is with anticollision time zone taiFor parameter, the letter of its parameter is established Exponential model：
Qpk=f (tai)、Or Djk=f (tai)
The model modeling structure is：Qpk、DjkFor taiThe increasing function of decrement, when this vehicle exits the dangerous time zone bumped against with front truck tai, release blow out drive control or the drive control into vehicle route tracking；In speed uxThe door entered less than control of blowing out It limits in threshold range, vehicle can implement or not implement the control of wheel vehicle stable state retarding braking, or by vehicle balance driving and vehicle Coordination control model, model and the algorithm of stable state control (differential braking) adjust engine output, implement vehicle traction control System；Wheel drive torque Qy' with vehicle discuss differential braking brake force QyIt balances each other, Qy' include Qya′、Qyb′、Qyc′、Qyd′
1., setting driving, nonpowered axle vehicle drive control device of blowing out
I, drive shaft wheel is blown out；In view of the axle two wheel radius RiAnd R2, attachment coefficientOr friction coefficient μiIt is unequal, it drives Moving axis two, which is taken turns, is difficult to obtain ideal (target) and equal driving moment；It blows out during driving, drive control device of blowing out uses Drive shaft (or driving wheel) drives and the balance drive pattern of wheel additional differential braking；Drive control device blow out with DjOr Qj, it is quick-fried The non-wheel radius R that blows out of tire1And R2, blow out it is non-blow out wheel attachment coefficientOr friction coefficient μiOr and load NiMainly to input ginseng Number, establishes the two wheel drive torque Q of drive shaft of its parameterpEquivalent model；One, drive shaft of blowing out driving force QpDetermination；Driving Controller is based on each control period of blowing out, with two wheel attachment coefficientsRadius of wheel RiFor parameter, the driving of blowing out of its parameter is established Axis two takes turns (differential) brake force QyaEquivalent mathematical model, which includes mainly：
Or
Qp=Qp+Qya′、Qya'=- Qya
Q in formulapFor drive shaft driving moment of blowing out,eR(t) it is respectively to blow out, non-wheel attachment coefficient of blowing out, effectively roll Deviation between radius, Qya' be and brake force QyaEquivalent driving force, i.e. Qya' it is to take turns differential system power with drive shaft two of blowing out QyaThe driving moment to balance each other；QyaModeling structure be：QyaFor QpThe increasing function of increment iseR(t) absolute value increment Increasing function, QyaIncrease will increase the driving moment of drive shaft；Blow out early period, to axle two of blowing out take turns usually do not apply it is differential The equilibrium driving force of braking；It is true to blow out and its later each control period, differential system power is applied to the wheel of blowing out for axle of blowing out Qya, i.e. QyaParameter during the drive shaft two that is only assigned to blow out is taken turns(or μe) value is smaller, effective rolling radius RiSmaller wheel； Secondly, to non-nonpowered axle of blowing out；Drive control device applies differential braking unbalanced system to the non-wheel of nonpowered axle two blown out Power Qyb, pass through QybThe yaw moment that differential system power generates balances, balance is blown out, and drive shaft two takes turns semidiameter eR(t) it brings Uneven yaw moment of the driving moment of blowing out to vehicle centroid；Differential system power QybWith the driving wheel brake force Q that blows outyaFor The equivalent mathematical model of major parameter determines, includes mainly：
Qyb=f (Qya)、Qyb=KQya
K is coefficient in formula；Determine QybModeling structure be：QybFor QyaThe increasing function of increment, QybValue be less than QyaValue；
Ii, nonpowered axle wheel are blown out；Drive control device of blowing out is with throttle opening DjOr fuel injection amount QjVariable in order to control, Based on engine output and DjOr QjRelational model, adjust DjOr QjValue thus engine export；The driving of engine output Torque passes to drive shaft two through transmission device and differential mechanism, by equal driving moment and takes turns；Driving force (square) QpCalculating formula is： Target control value is：
Qp=Qp0+Qyc′、Qyc'=- Qyc
Q in formulap0For the target control value of driving force, Qyc' be and brake force QycEquivalent driving force；Controller or simultaneously to non- Drive shaft blows out the wheel of balance car wheel set two using the braking C controls of vehicle stable state, by the determining differential system power Q of C controlsycIt generates Yaw moment, leveling wheel are blown out the yaw moment of blowing out of generation, and realization is blown out vehicle balance drive and whole vehicle stability control； The additional yaw moment Mu that C control targe controlling values determine is by yaw rate, side slip angle deviationeβ(t) It is determined for the mathematical model of major parameter：
K in formula1(Pr)、k2(Pr) it is runflat condition feedback variable；
2., setting before and after drive shaft vehicle drive control device of blowing out
One wheel of front or rear drive shaft is blown out, and drive control device of blowing out is with throttle opening DjOr fuel injection amount QjBecome in order to control Amount, based on engine output and DjOr QjRelational model, adjust DjOr QjValue thus engine output adjust engine it is defeated Go out, the driving moment of engine output, which passes to equal driving moment through transmission device and differential mechanism, blows out and non-drive of blowing out Moving axis two is taken turns；Drive control device of blowing out uses balance drive pattern, model and algorithm to non-drive shaft of blowing out, to drive shaft of blowing out Using balance drive, non-equilibrium braking mode, model and algorithm；
I, the non-wheel of drive shaft two of blowing out obtains the equal driving moment of engine output by differential mechanism；
Ii, in view of blowing out and the non-wheel effective rolling radius R that blows outi, attachment coefficient(or friction coefficient μi) and two wheel loads are not Together, the suffered ground activation force (i.e. tire driving force) of two wheels is unequal, using the unbalanced differential pair for the wheel of drive shaft two of blowing out Braking mode, model and algorithm, the non-wheel of blowing out in being taken turns to drive shaft two of blowing out are braked, are braked by the axle imbalance Power QydBalance or compensation, (in theory) wheel that makes to blow out obtain and the non-tire driving force for blowing out equal；Brake force QydWith this The driving moment Q that drive shaft obtainsp, drive shaft two take turns effective rolling radius Ri, attachment coefficient(or friction coefficient μi), two wheel Load NiIt is determined for the equivalent function model of major parameter：
Qyd=f (Ri, μi, Ni, Qp)
Define two wheel parameter Ri、μi、NiNon-equivalent relative deviation (or ratio)：eR(t)、eN(t), and to the model into Row linearization process, ignores NiVariation, determine QycEquivalent function model include mainly：
K in formula1、k2、k3For coefficient；QydModeling structure be：QydFor deviation eR(t)、The increasing function of absolute value increment；System Power QydTarget control value need to be imitated through field test fixed, pass through coefficient k1、k2、k3Adjusting, adjust QydTarget control Value processed；The braking of driving wheel of blowing out uses closed-loop control, and when steering wheel angle is 0, blow out wheel brake force QydActual value always Its target control value is tracked, under the action of its brake force, wheel (in theory) of blowing out can get and non-equal tire of blowing out Driving force；When steering wheel angle is not 0, based on vehicle rotation direction, theory and practical yaw velocity deviation, judgement vehicle drives Deficiency or oversteering during dynamic, by adjusting the non-wheel brake force Q that blows out of drive shaft of blowing outydTarget control value, make drive Motor-car keeps a kind of slight understeer state；
3., the drive control device of blowing out of four motorized wheels vehicle
Four motorized wheels vehicle is using balance car wheel set, the driving of independent wheel and brake coordination control model or using single Drive control pattern, it is control parameter that driving, brake coordination control use, control variable and Controlling model and above-mentioned driving, non- Drive shaft vehicle is identical；
I, four motorized wheels and brake coordination control model；Include mainly：The driving and brake coordination control of above-mentioned forward and backward axle The coordination control model of system and four motorized wheels and braking；Four motorized wheels include mainly with brake coordination control model： The control model for being operated alone or applying braking again simultaneously can be used in each wheel, and (front and back or diagonal line) blows out, is non-quick-fried Two wheel drive of tire balance car wheel set, the coordination control model of braking；Under the pattern, it can apply or not apply driving force to wheel of blowing out And brake force, driving force is applied to non-wheel of blowing out or applies brake force again simultaneously；And it is obtained by non-each wheel of wheel of blowing out The driving moment identical or different to vehicle centroid, compensation blow out wheel obtained to the unbalanced driving force of vehicle centroid Square and the moment of resistance of blowing out, each wheel are essentially 0 (in theory) to the sum of vehicle centroid sideway driving moment；
Ii, four motorized wheels control model include mainly：Four motorized wheels or two balance car wheel set drive control patterns； Four motorized wheels pattern：The non-driving moment that wheel obtains of blowing out is a kind of to the unbalanced driving moment of vehicle centroid, is passed through The imbalance driving moment, compensation blow out wheel obtained to the unbalanced driving moment of vehicle centroid or the moment of resistance of blowing out；Two Balance car wheel set drive control pattern：The driving moment that balance car wheel set two of blowing out wheel obtains is a kind of to vehicle centroid imbalance Driving moment, by the imbalance driving moment, the compensation wheel of balance car wheel set two of blowing out obtains imbalance to vehicle centroid Driving moment and or the moment of resistance of blowing out, thus vehicle obtain it is each take turns to the sum of vehicle centroid sideway driving moment (in theory) Tend to be 0 or essentially 0；
4., drive control of blowing out subprogram or software
Based on drive control structure and flow of blowing out, control model model and algorithm, blow out drive control program or software are worked out； Program uses Structured Design, and wheel drive control subprogram includes mainly：Tyre burst brake and the conversion of drive control pattern are blown out Drive shaft and non-two wheel drive of drive shaft of blowing out, drive shaft of blowing out and non-the blow out braking of drive shaft wheel differential, non-non- drive of blowing out The braking of moving axis wheel differential, the driving of balance car wheel set and independent wheel and brake coordination control, four motorized wheels control journey Sequence module；For the vehicle of setting driving and nonpowered axle, the wheel of drive shaft of blowing out two passes through driver module and wheel system of blowing out The program of dynamic program module controls, and increases the equilibrium driving force for the wheel of drive shaft two of blowing out；Or and pass through non-nonpowered axle vehicle of blowing out The program control for taking turns differential braking program module, the wheel radius of blowing out for balancing drive shaft of blowing out change the imbalance generated to vehicle Yaw moment；For the four-wheel drive cars of drive shaft before and after setting, the wheel of drive shaft of blowing out two is by driver module and non-blows out The program control of retrosequence module is taken turns, balance drive axis, which is blown out, takes turns the injustice that the change of radius and attachment coefficient generates vehicle Weigh yaw moment；It is flat that the non-wheel of drive shaft two of blowing out then controls acquisition vehicle by the program of non-drive shaft driver module of blowing out Weigh driving moment；Drive control program module：Be arranged engine air throttle or with fuel oil injection program submodule；Retrosequence mould Block：Blow out wheel and non-wheel differential braking program submodule of blowing out are set；
5., electronic control unit
Electronic control unit set by drive control device of blowing out is independently arranged or is sprayed with on-board engine air throttle, fuel oil, control for brake Electronic control unit isomorphism shares；Electronic control unit is mainly arranged：Input, driving and brake parameters signal acquisition process, CAN and MCU numbers According to communication, microcontroller data processing and control, detection, driving output module；
10), deflecting roller flywheel moment control (control of abbreviation turning power) and controller
It turns round force controller and is based on vehicle mounted electric servo steering system (EPS), Electro-Hydraulic Power Steering System (EPHS), mainly Including turning power control structure and flow of blowing out, control model model and algorithm, electronic control unit, control program and software, setting Turning power of blowing out controls subprogram and corresponding program module；Electronic control unit is mainly by microcontroller, peripheral circuit and voltage stabilizing electricity Source is constituted, and corresponding structure and control module is arranged；Electronic control unit set by controller be independently arranged or with it is vehicle-mounted existing automatically controlled Servo steering system is same to set total structure；According to electronic control unit facilities, using signal of tyre burst I as conversion signal, using program, communication The different transformational structure and pattern such as agreement and external converter, realize blow out turning power control entrance, exit, normally with it is quick-fried Tire operating conditions and control model conversion；Revolution force controller includes blowing out direction determining device and controller of blowing out, controller are set Determine steering wheel torque control cycle Hn, HnFor setting value or it is steering wheel rotation angular speedFunction, i.e.,HnForAbsolutely To being worth the subtraction function of increment；Revolution force controller is using steering wheel angle, power steering square, steering-wheel torque and its jointly controls Pattern；
1., direction determining device of blowing out
Direction judging device is mainly used for blow out flywheel moment, power steering square, assist motor electric current imAnd assist motor rotation side To judgement；Power steering controller provides：Steering wheel angle δ and torque McSuffered by (or steering wheel angle and torque), deflecting roller Ground flywheel moment Mk(include mainly aligning torque Mj, flywheel moment of blowing out Mb'), steering wheel (or deflecting roller) rotary angle transmitter, The surveyed corner δ of torque sensor and torque Mc0 point be origin；It is provided based on origin：The surveyed corner of rotary angle transmitter is increased to Trace (+), corner are reduced to backhaul (-)；Origin (0 point) based on the surveyed corner δ of steering wheel angle sensor turns steering wheel Angle δ points are left-handed and dextrorotation：When corner δ is dextrorotation, it is specified that steering-wheel torque McDextrorotation is positive (+), left-handed for negative (-)；When , it is specified that steering-wheel torque M when corner δ is left-handedcLeft-handed is positive (+), dextrorotation is negative (-)；I.e. steering wheel angle δ with 0 is origin, When steering wheel or so is oppositely oriented, it is specified that steering-wheel torque positive (+), negative (-) it is opposite；It provides simultaneously：It blows out flywheel moment M′b, power steering square MaDirection provide it is identical as the regulation in the directions steering wheel angle δ, positive (+), negative (-) indicate；Base In above-mentioned regulation, for Mb' and MaDirection determining uses following various modes；One, torque direction determinating mode；Steering wheel turns Angle and torque sensor are set in the drive shaft system of steering, wherein torque sensor be set to steering wheel and steering gear it Between steering shaft on；Based on above-mentioned steering wheel angle δ and torque McOrigin regulation, the side of the above-mentioned left and right rotations of steering wheel angle δ To regulation and steering-wheel torque McRegulation, establish flywheel moment direction positive (+) of blowing out, the decision logic of negative (-), root The flywheel moment M it is judged that logic decision is blown outb' direction, and according to the flywheel moment M that blows outbPositive (+) in ' direction, negative (-), judgement Power steering square MaPositive (+) in direction, negative (-)；Secondly, outer corner difference determinating mode；Two rotary angle transmitters are set to steering Shaft torque arm both ends (i.e. steering wheel one end and steering gear one end) measure shaft torque arm both ends to the absolute of nonrotational shafting Corner and corner direction, calculate two absolute corners between relative rotation and its direction, absolute corner, relative rotation direction and its Difference is indicated with positive (+), negative (-)；Based on above-mentioned steering wheel angle δ and torque McOrigin regulation, above-mentioned steering wheel angle δ The regulation in the direction of left and right rotation, steering-wheel torque McRegulation and the surveyed corner of sensor and corner difference positive and negative rule It is fixed, decision logic is established, the flywheel moment M that blows out is judged according to decision logic judgementb' direction, and according to flywheel moment of blowing out MbPositive (+) in ' direction, negative (-), determines power steering square MaPositive (+) in direction, negative (-)；Thirdly, blow out wheel location determination mould Formula；Based on wheel position of blowing out, steering wheel angle direction, vehicle is insufficient and the judgement of negative understeer, determines the turning power M that blows outb' Direction and power steering square MaDirection；Four, Vehicular yaw determinating mode；With the direction of steering wheel angle δ, vehicle ideal with Practical yaw velocity deviationIt is positive and negative, judge the deficiency or oversteering of vehicle, thereby determine that the turning power M that blows outb′ And power steering square MaDirection；
2., controller of blowing out
Turning power of blowing out (square) control mainly uses steering wheel angle, power steering of blowing out (square) and steering wheel torque control mould Formula；
I, steering wheel angle controller；
The controller is using steering wheel angle δ as variable, with speed ux, floor synthetic friction coefficient μk, car weight NzFor major parameter, Establish δ and its derivative under runflat conditionCharacteristic parameter YkMathematical model：
The mathematical model include mainly with δ andux、uxOr and μkFor parametric function model：
Ykai=f (δai, ux, Nz)、Or
Ykai=f (δai, ux, μk, Nz)、
YkaiDetermining value is steering wheel angle target control value, YkbiDetermining value is steering wheel rotation angular speed target control Value, Ykai、YkbiValue can be determined by above-mentioned mathematical model or with field test, μ in formulakFor established standards value or real-time assessment Value, μkIt is determined by the contact to earth average or Weighted Average Algorithm of friction coefficient of deflecting roller；YkModeling structure be：Ykai、YkboFor μkIncrease The increasing function of amount, YkaiFor speed uxiThe increasing function of decrement；The serial value set u to successively decrease by speedxi[uxn......ux3、ux2、 ux1] determine corresponding steering wheel angle δ, rotational angular velocity under each speedThe set Y of target control valuekai [Ykan......Yka3、Yka3、Yka2、Yka1]、Ykbi[Ykbn......Ykb3、Ykb3、Ykb2、Ykb1]；U in the numerical value of setxnTo blow out The max speed of rear vehicle；YkaiEach value in set is：Certain speed uxi, floor synthetic friction coefficient μk, car weight NzLower vehicle The attainable limiting value of steering wheel angle δ energy institute or optimal setting, YkbiFor：Certain speed uxi, car weight Nz, floor synthetic rubs Wipe coefficient μkLower vehicle steering wheel rotation angular speedThe limit value or optimal setting that can be arrived；During blowing out, definition is certain uxi、μk、NzUnder state, automobile turning wheel corner target control value YkaiWith steering wheel angle actual rotational angle δyaiBetween deviation eyai(t), vehicle speed uxiState part under, eyai(t) it is positive (+), steering wheel angle δ at this timeyaiIn the restriction range of δ It is interior, deviation eyai(t) it is to bear (-), controller with deviation eyai(t) it is parameter, establishes and determine steering wheel power steering square Ma1Number Learn model：
Ma1=f (eyai(t))
In deflecting roller turning power (square) controlling cycle HnLogic loops in, controller determines and turns according to positive (+) of deviation, negative (-) The direction reduced to disk corner δ, the power steering square M determined by mathematical modela1, control steering assist motor and carried to steering For a limitation increased flywheel moment of steering wheel angle δ, until eyai(t) it is 0；Define uxi、μk、NzFeature under certain state Parameter YkbiAbsolute value and automobile turning wheel rotational angular velocityDeviation e between absolute valueybi(t), speed uxiState Under part, as deviation eybi(t) when being less than 0 to bear (-), controller is with deviation eybi(t) it is parameter, establishes and determine that steering wheel steering helps Torque Ma2Mathematical model：
Ma2=f (eybi(t))
In deflecting roller turning power (square) controlling cycle HnLogic loops in, based on mathematical model determine power steering square Ma2, According to deviation eybi(t) positive and negative is provided by steering assist motor and is turned by the direction that steering wheel rotation angular speed absolute value reduces To power-assisted or the moment of resistance, steering wheel rotation angular speed is adjusted, deviation e is madeybi(t) it is 0；In short, in the certain u of vehiclexiAnd μkState Under, controller presses above-mentioned control model and model, exports power steering or the moment of resistance, steering assist motor is controlled, to steering system System provides limitation steering wheel angle δ, a velocity of rotationFlywheel moment, realize vehicle flat tire stable turning control；This turn It can be independently operated, to disk corner control model and also jointly control pattern with following revolution force control mode isomorphism compositions of blowing out；
Ii, power steering of blowing out (square) controller；Torque or outer corner difference direction of the controller based on direction determining device of blowing out are sentenced Mould-fixed judges steering wheel angle δ and torque McGround flywheel moment M suffered by (or steering wheel angle and torque), deflecting rollerk(packet Include aligning torque Mj, flywheel moment of blowing out Mb') and power steering square MaDirection；One, the controller are based on steering wheel angle δ, steering-wheel torque McAnd the flywheel moment M that blows outb' direction determining, with δ, McFor main input parameter signal, turned with steering wheel Square McFor variable, with speed uxFor parameter, blow out power steering control model, model and characterisitic function are determined；First, turning To on the positive and negative stroke of disk corner δ, its variable of nominal situation M is establishedcWith parameter uxPower steering square MaControlling model：
Ma1=f (Mc, ux)
The model determines nominal situation power steering square MaCharacterisitic function and characteristic curve, characteristic curve includes straight line, broken line Or curve three types；Ma1Modeling structure and characteristic be：On the positive and negative stroke of steering wheel angle, characterisitic function and curve It is identical or different, and power steering square Ma1For parameter uxThe subtraction function of increment is all steering-wheel torque McIncrement absolute value Increasing function and be reduced absolute value subtraction function；Wherein so-called " difference " refers to：On the positive and negative stroke of steering wheel angle, Characterisitic function MaThe function model of use is different, in variable and parameter McOr and uxSame value point on Ma1Value not Together, otherwise it is " identical "；Based on each parameter calculated value, numerical value chart is formulated, which is stored in electronic control unit；Normally, it blows out Under operating mode, electronic control unit controls program by the power-assisted steering that controller uses, by look-up table, with steering-wheel torque Mc, speed ux, steering wheel rotation angular speedFor major parameter, nominal situation steering wheel power steering square M is called from electronic control unita1Target control Value processed；Secondly, controller blown out flywheel moment M using various modes determinationb′；Pattern one, using turning to, mechanics state model is true Surely turning power of blowing out Mb′；Turning power of blowing out MbAfter ' direction determining is set up, Mb' value can be by steering-wheel torque Mc, steering wheel angle Ground force M suffered by δ, deflecting rollerk, aligning torque MjOr with steering wheel (or deflecting roller) flywheel moment increment Delta McIt is main The mathematical model and steering mechanical equation of parameter determine；Determine Mb' equivalent mathematical model be：
Mb'=f (Mc, Mj, Mk, Δ Mc)
Steering mechanical equation is：
Positive force M is returned in formulajFor the function of δ, GmFor retarder reduction ratio, imFor power assisting device driving current, θmTurn for power assisting device Angle, BmFor steering Equivalent damping coefficient, jmFor power assisting device equivalent moment of inertia, jcFor steering equivalent moment of inertia； Pattern two determines M using equivalent mode and modelb′；Structure based on runflat condition, blow out control stage and steering, with Blow out wheel radius Ri(or vertical lateral rigidity), slip rate Si, load Nzi, friction coefficient μi, tire pressure pri, or it is fast with equivalent relative angle Spend ωe, angular decelerationSteering wheel angle δ, speed ux, vehicle side accelerationYaw velocity state deviation For major parameter, the turning power M that blows out of its parameter is establishedb' Equivalent Calculation Model, using PID, sliding formwork control, fuzzy, sliding formwork control Algorithm or tire burst test processed determine the flywheel moment M that blows outb' and the realizing balanced rotation power M that blows outbValue；Thirdly, controller it is attached by one Add power steering square Ma2With the flywheel moment M that blows outb' balance each other, i.e. Ma2=-M 'b=Mb；It blows out under operating mode, power steering square MaMesh Mark controlling value is steering-wheel torque sensor detected value M under blowing out operating modea1With the additional power steering square M that blows outa2The sum of：
Ma=Ma1+Ma2
Wherein MbFor the flywheel moment M that blows outb' trimming moment；In the control of deflecting roller flywheel moment, by compensation model to turning to Power-assisted square MaPhase lead compensation is carried out, EPS system response speed is improved；Four, blowing out power steering (square) controller can be only It is vertical to use, or can be constituted with above-mentioned steering wheel angle controller group and jointly control controller, in the certain speed of vehicle, definitely rub Wipe friction coefficient μkUnder state, pass through steering wheel hard-over δkOr with steering wheel rotation angular speedRestriction, effectively realize quick-fried The stable turning of tire vehicle controls；Five, controller presses torque MaWith the electric current i of motormOr voltage VmRelational model：
im=f (Ma)、Vm=f (Ma)
By power steering square MaBe converted to the control electric current i of power assisting device (including motor)maOr voltage Vma；Power steering controller Realizing balanced rotation torque of blowing out is set | Mb| power-assisted limit value ab, make in control | Mb|≤ab、abLess than flywheel moment of blowing out | Mb′| Maximum value, | Mb' | maximum value can be determined by field test；Controller uses the phase compensation based on phasing model Device, one of compensator：With DC chopped-wave (PWM) switch periods Hx(or power steering controlling cycle Hn) it is parameter, it establishes to turn to and help Power phase compensation model, model include：
In control, by compensation model to power steering square MaPhase lead compensation is carried out, the sound of deflecting roller turning power control is improved Answer speed；
Iii, steering wheel torque control device of blowing out；One, the controller, the torque based on direction determining device of blowing out or outer corner difference side To determinating mode, directly judgement turns to and helps square power MaDirection；Direction determining model is：Define steering-wheel torque target control value Mc1With the real-time detected value M of steering-wheel torque sensorc2Between deviation delta Mc：
ΔMc=Mc1-Mc2
According to deviation delta McPositive and negative (+, -), determine power steering square Ma, assist motor electric current imAnd assist motor rotation direction； As Δ McFor timing, power steering square MaDirection be power-assisted square MaIncreased direction, as Δ McWhen being negative, power steering square Ma's Direction is power steering square MaThe direction of reduction, i.e. moment of resistance MaIncreased direction；Secondly, the controller, with steering wheel angle δ For variable, with speed ux, steering wheel rotation angular speedFor parameter, establishes and determine steering wheel torque control pattern, model and spy Property function, steering-wheel torque McModel is：
Mc=f (δ, ux) or
The model determines that the characterisitic function and characteristic curve of nominal situation steering-wheel torque, characteristic curve include straight line, broken line Or curve three types；Characterisitic function McDetermining value is automobile turning wheel torque target controlling value, McModeling structure and characteristic For：On the positive and negative stroke of steering wheel angle, characterisitic function and curve identical or difference, and steering-wheel torque McBecome for ginseng Measure uxThe subtraction function of increment, McFor δ,The increasing function of increment absolute value and the subtraction function for being reduced absolute value；It is wherein so-called " no Refer to together "：On the positive and negative stroke of steering wheel angle, characterisitic function McThe function model of use is different, in variable and parameter δ or and uxSame value point on McValue it is different, otherwise be " identical "；According to characterisitic function, determine that nominal situation turns To disk torque target controlling value Mc1, it is based on each parameter calculated value, formulates numerical value chart, which is stored in electronic control unit；Normally, It blows out under operating mode, electronic control unit controls program by the power-assisted steering that controller uses, by look-up table, with steering wheel angle δ, vehicle Fast ux, steering wheel rotation angular speedFor parameter, the target control value M of steering-wheel torque is called from electronic control unitc1；Steering wheel turns Square actual value Mc2It is determined by the real-time detected value of torque sensor；Define steering-wheel torque target control value Mc1With steering-wheel torque The real-time detected value M of sensorc2Between deviation delta Mc：
ΔMc=Mc1-Mc2
Pass through deviation delta McFunction model, determine normal and operating mode steering wheel power-assisted (or resistance) the square M that blows outa：
Ma=f (Δ Mc)
Based on steering characteristic function, steering wheel torque control uses various modes；Pattern one, basic aligning torque type, are mainly adopted Use Mc=f (δ, ux) torque function model, by the specific functional form of the model including broken line curve, determine McTarget control Value M processedc1；In the arbitrary point of steering wheel angle, Mc1Derivative and Vehicular turn aligning torque MjDerivative it is almost the same, in Mj Under the action of driver obtain best or preferable steering wheel feel；Mc1In torque function model, certain speed uxUnder, Mc1With return Positive moment MjIncrease with increasing with δ, Mc1With steering wheel rotation angular speedIt is unrelated, the real-time detected value of steering-wheel torque sensor Mc2(i.e. steering wheel hand-power) is with steering wheel rotation angular speedVariation and change；Pattern two, balance aligning torque type, mainly UsingTorque function model, by the model concrete functional form, determining steering-wheel torque McTarget control Value M processedc1；In the arbitrary point of steering wheel angle, Mc1Derivative and Vehicular turn aligning torque MjDerivative it is almost the same；McTurn In moment function model, certain speed uxUnder the conditions of, Mc1Increase with δ and increases；Steering-wheel torque McTarget control value Mc1With turn To the real-time detected value M of disk torque sensorc2(i.e. steering wheel hand-power) is synchronous with steering wheel rotation angular speedIt is related；In steering wheel Each cycle H of direct torquenIn, on the positive and negative stroke of steering wheel angle δ, Mc1And Mc2In ratio different and appropriate, with ItIncrease or reduce and synchronize and increase or reduce；It is defined based on steering-wheel torque：
ΔMc=Mc1-Mc2
Establish Ma=f (Δ Mc) specific function model appropriate, steering is in power steering or resistance MaUnder the action of, nothing It is in which kind of operating mode by it, driver can get best steering wheel feel and road feel, thus increase power steering to turning to The strength of adjustment of disk torque；Thirdly, controller press steering-wheel torque and current of electric (or voltage) relational model：
imc=f (Δ Mc)、Vmc=f (Δ Mc)
By Δ McBe converted to current of electric imcOr voltage Vmc；In steering-wheel torque McUnder conditions of direction determines, each parameter Mc、 imc、VmcIt is vector；
3., flywheel moment of blowing out control subprogram or software
Based on turning power of blowing out (square) control structure and flow, control model, model and algorithm, flywheel moment control of blowing out is worked out Subprogram, the subprogram use Structured Design, main setting to turn to relevant parameter direction determining, steering wheel angle δ and rotation Angular speed, power steering square of blowing out, steering-wheel torque or and flywheel moment control subroutine module of blowing out；Direction determining module Including torque direction judgement, outer corner difference judgement, or with the direct direction determining program submodule of power steering square；Steering wheel angle δ Rotational angular velocity subroutine module：Mainly it is made of steering wheel angle and rotational angular velocity program submodule；It blows out power steering Square controls program module：Mainly closed by nominal situation power steering square E control programs submodule, power steering square and Current Voltage It is that G control submodules and flywheel moment control algolithm program submodule of blowing out are constituted；Steering wheel torque control module：Mainly by turning It is constituted to disk torque E control program submodules and power steering square torque with current-voltage correlation G control program submodules；
4., electronic control unit (ECU)
Electronic control unit set by revolution force controller of blowing out is shared with controlled vehicle-mounted electrical power-assisted steering electronic control unit isomorphism；Electronic control unit master Input, steering wheel angle, steering-wheel torque and each parameter signal acquisition process of power steering square are set, CAN and MCU data are led to Letter, microcontroller data processing and control, control monitoring, driving output module
5., electric power steering control executive device, including electric-controlled mechanical or electric-controlled hydraulic servo steering device, manual steering system System, deflecting roller, are mainly made of assist motor or hydraulic servo, deceleration mechanism, mechanical driving device；Control of blowing out enters Signal iaWhen arrival, electronic control unit carries out data processing by control program or software, and output signal controls the electricity in power assisting device Machine or hydraulic device, export power torque in defined rotation direction, power torque through deceleration mechanism or with clutch, machinery Transmission mechanism inputs steering, and in any corner position of steering wheel, power steering or the moment of resistance are provided to steering；
11), someone, the control of automatic driving vehicle active steering and controller
It is steady that manned vehicle active steering is based on vehicle-mounted active front steering system AFS (active from steering), vehicle Surely control programming system (ESP) or with four-wheel steering system FWS (four wheel steering), mainly use AFS, ESP Coordinate control model, is realized by electric-controlled mechanical active steering controller or the steering-by-wire controller that road feel controller is arranged；Control Device processed includes mainly active steering control structure and flow, control model model and algorithm, control program or software, automatically controlled list Member；When signal of tyre burst I arrives, control and control model converter using signal of tyre burst I as conversion signal, using Program transformation, association The pattern and structure of view conversion and converter conversion realize the entrance for control of blowing out and exit, nominal situation and blow out operating mode control The conversion of system and control model；Active steering controller of blowing out mainly uses electric-controlled mechanical active steering and line traffic control active steering control Two types processed；Provide pivoted wheels on vehicle corner, torque, or with steering wheel angle, torque and its direction, with positive and negative (+, -) table Show；Provide corner, 0 of torque be origin, since origin, corner and the left-handed of torque, dextrorotation be trace, with positive value (+) It indicates, otherwise backhaul be negative, with negative value (-) expression, torque, corner, motor drive current involved by controller (including Mk、 Mh、θe、izDeng) it is vector, which is suitable for someone and following automatic driving vehicles simultaneously；
1., manned vehicle active steering controller
I, blow out additional rotation angle θebDirection determining device；It is provided by 0 of above-mentioned steering wheel angle δ and direction, with positive and negative (+, -) table Show；Direction based on δ and yaw velocity deviation eωr(t) positive and negative (+, -), determines the deficiency and oversteering of vehicle, and by Steering wheel angle δ and its direction, the deficiency of vehicle and oversteering or and wheel position of blowing out, determine the control additional rotation angle θ that blows outeb Direction (+, -)；
Ii, additional rotation angle controller of blowing out；The steering wheel angle θ based on determined by steering wheelea, and to active front steering system AFS Executing agency applies one and operates determining additional rotation angle θ independent of drivereb, in the critical speed model of vehicle stable state control In enclosing, an additional yaw moment θ of generationeb, balancing vehicle blow out generate yaw moment, compensation vehicle flat tire generate deficiency or Oversteering, deflecting roller actual rotational angle θeThe steering wheel angle θ determined for steering wheeleaWith the additional rotation angle θ that blows outebVector it is linear Superposition：
θe=θea+θeb
Additional rotation angle θebWith the steering angle θ that blows outeb' relationship be：
θeb=-θeb′
Mechanical active steering controller blow out with steering transmission ratio Kh, steering wheel angle δ, servo motor rotational angle thetak, wheel speed ωi, yaw velocity ωr, or and vehicle lateral accelerationAttachment coefficientTurn to wheel slip Si, tire pressure prIt is main defeated Enter parameter, based on runflat condition parameter and its stage of determination, the adoption status method of difference or phase plane method establish each steering rotation Angle θeCorresponding independent or coordination control model, model are controlled using PID, sliding formwork control, optimum control or fuzzy control etc. are modern The theoretical corresponding control algolithm of system, determines steering rotational angle thetaeTarget control value；Electric-controlled mechanical active steering controller uses Independence jointly controls pattern；One determines deflecting roller additional rotation angle θebControl model, model and algorithm；Controller to blow out, Non- wheel construction mechanical state parameter of blowing out, vehicle status parameters are input parameter, and deflecting roller is established based on relevant parameter therein Additional rotation angle θebEquivalent mathematical model, include mainly：
Equivalent function model includes mainly：
θeb=f (eωr(t), e (ωe), λb)
θeb=f (eωr(t), pra, λb)
To the steering angle θ that blows outeb' carry out mechanical analysis, θeb' it mainly can be analyzed to θeb1′、θ′eb2、θeb3′：
θ′eb=θ 'eb1+θ′eb2+θeb3′
θ′eb3=f (M 'b)
R in formulai0、Ri, b, e (ωe)、e(Se), M 'b、ux、pri、eωr(t) it is respectively standard tire pressure radius of wheel, quick-fried Tire wheel radius, wheelspan, turn to or the non-balance car wheel set two of blowing out that turns to takes turns equivalent opposite angular speed, angle acceleration-deceleration, slip rate Deviation, deflecting roller are blown out turning power (square), vehicle lateral acceleration, speed, the ideal and practical yaw angle of wheel tire pressure, vehicle of blowing out Speed omegar1、ωr2Between deviation；Modeling structure is：θ in modelebFor balance car wheel set of blowing oute(Se) absolute value increasing The increasing function of amount, θebIt is all the wheel tire pressure decrement Δ p that blows outriIncreasing function；It is quick-fried when current or rear car wheel set a wheel is blown out Tire wheel wheel footpath reduces, and sets each wheel and makees pure rolling, vehicle generates steering angle θeb1′；When blowing out, axle balance car wheel set side The steering angle θ that blows out that is unequal to tire force, generatingeb2′；θeb2' it is parameter e (ωe)、The increasing function of increment；Deflecting roller When blowing out, flywheel moment of blowing out M 'bIt is formed, blows out the impact generation of steering system (disk) to rotational angle thetaeb3', it is needed in practical control Determine θeb3' duration te, duration teLater θeb3' value is 0；Due to vehicle and active front steering system (AFS) Inertia, the impact etc. for damping and blowing out to steering wheel, the additional rotation angle θ for generation of blowing outeb' and yaw velocity, tire pressure, steering wheel Corner δ sensors etc. detect signal existence time or phase difference, additional rotation angle θebControl or using compensation and penalty coefficient λ (λa、λb), θ is setebTime lag penalty coefficient λaWith the impact penalty coefficient λ that blows outb；Time or phase compensation factor λaWith master Controlling cycle H of the turn to actuating unit (including motor etc.)yAnd the function model that comprehensive lag coefficient v is parameter determines, it is main Including：
λa=f (Hy, v)
Parameter v is by the inertia of system associated drive means and damping, the lag time of sensor detection parameters signal, wheeled vehicle State determines relevant parameter response lag time etc., and the response speed of AFS is improved by compensation；Blow out impact penalty coefficient λb With M 'bOr anduxIt is determined for the function model of parameter, includes mainly：
Deng
In formulaFor M 'bDerivative, according to the transmission ratio of steering by θebBe converted to steering wheel additional rotation angle Δ δ；Deflecting roller Blow out balance additional rotation angle θebOr determined using certain control algolithm of its parameter, algorithm includes：
Δpri=pra0-pra
P in formulara0For standard tire pressure, pra、It, which is sensed, for tire pressure detects tire pressure and change rate, kp、kI、kDRespectively ratio, product Divide, differential coefficient, eωr(t) it is yaw velocity state deviation, k0、K1For coefficient；Secondly, active steering coordinate control model should Pattern be based on ESP (Electronics stability program system), AFS (active front steering system) or with FWS (four-wheel steering system), to adopt With ESP and AFS or with more kinds of coordination control models of FWS；Coordinate control model one, establish AFS, FWS and ESP two system and share and join Model is examined, two system is tracking target to share reference model, by active front steering system (ASSA, SBWS, SAWS) in correlation The consistent yaw moment of phase is generated on direction, determines the direction of the yaw moment for generation of blowing out, the sideway for making two system generate Torque balances each other with yaw moment of blowing out；Control model two, based on vehicle two or with the multifreedom motion differential equation, establish with Vehicle flat tire rotational angle theta 'ebThe additional steering angle θ to balance each otherebReference model, according to reference model determine dbjective state parameter with The deviation of vehicle virtual condition parameter determines the yaw moment of vehicle compensation, makes vehicle track reference model always, by a set pattern Yaw moment is then distributed into braking system yaw moment control device (DYC) and Active Front Steering System with allocation proportion (AFS) or/and FWS steering, and the frequency that Vehicular yaw DYC, AFS or/and FWS mutually switch is controlled；Control model three, Using sliding formwork control；Based on AFS sliding formwork controls and feedback of status torque-variable VTD (variable torque distribution) Distribution and control, propose fuzzy rule：Under small yaw moment, only start AFS, medium yaw moment is held jointly by AFS and VTD Load, big yaw moment are undertaken by VTD completely；Based on active front steering system structure, servo motor, mechanical steering device, angle are established Displacement superposed device and deflecting roller system dynamics model determine the dynamics such as system dynamic response, overshoot, stabilization time spy Property parameter；Controller uses steering wheel angle θeWith deflecting roller driving torque MhIt is two-parameter to jointly control pattern：Controller is to turn to Drive system ratio Kh, steering wheel angle δe, ground turning power M suffered by deflecting rollerk, deflecting roller revolution driving torque MhOr it turns to and watches The steering moment for taking motor output is main input parameter, with θe、MhVariable in order to control determines deflecting roller target rotation angle and reality Deviation between corner, deflecting roller target torque and actual torque；In Mk、MhUnder the action of, pass through revolution driving torque MhAnd turn To wheel rotational angle thetaeActive or automatic adjusument, control steering wheel angle θe, θeActual value track its target control value always, Turn to steering moment (or the M of servo motor outputh) its target control value is tracked always, pass through θeWith MhIt is two-parameter to jointly control, Realize that additional rotation angle of blowing out compensates and reduce impact of the turning power to steering wheel of blowing out；
Iii, active steering of blowing out control subprogram or software；Based on blow out active steering control structure and flow, control model, Model and algorithm work out active steering control subprogram of blowing out, which uses Structured Design, mainly by additional turn of blowing out Angular direction judgement, additional rotation angle of blowing out, steering wheel angle, blow out active steering and the ESP controls of Electronics stability program system Coordinate or is constituted with active steering revolution driving torque program module of blowing out；It blows out additional rotation angle module：It is mainly additional by blowing out Axle corner distribution program submodule is constituted before and after corner control model model and algorithm, four-wheel steering system FWS；
Iv, electronic control unit；Electronic control unit set by active steering controller of blowing out is shared with vehicle-mounted active steering electronic control unit isomorphism； Electronic control unit be mainly arranged input, wheeled vehicle relevant parameter signal acquisition process, data communication, at microcontroller data Reason and control, microcontroller minimize peripheral circuit, driving output, control monitoring modular；
V, active steering execution unit；Using electric-controlled mechanical active steering apparatus (or using setting road feel controller line traffic control turn To executive device, referring to following manned vehicle line traffic control active steering control execution unit related Sections)；Electric-controlled mechanical is actively Transfer is mainly made of mechanical steering and active steering apparatus, and active steering apparatus is generally disposed at steering Steering shaft and steering gear between, steering wheel angle θ is realized by dual planetary gear mechanismeaWith servo motor additional rotation angle θeb's Superposition, active front steering system (AFS) or with servo steering system (EPS) or be configured to combine the unit；
2., manned vehicle line traffic control active steering control and controller
The line traffic control that the controller is a kind of connection of high speed fault-tolerant bus, high-performance CPU controls and management, is controlled by steering wheel operation Steering controller；Steering-by-wire controller uses Redundancy Design, each deflecting roller line control system composite structure is arranged, using front-wheel line Control turns to, rear wheel mechanical is walked around to or four-wheel line traffic control independent steering various structures and control model, include mainly two, three or four groups Electronic control unit (ECU) or with a set of mechanical steering system, the combination settings of double or multiple software and its hardware；Steering master Clutch coupling is detached or use by steering wheel and deflecting roller module composition, two modules；Deflecting roller module by steering motor, turn Dynamic system is constituted to machinery and deflecting roller；Steering wheel module constitutes automatically controlled steering by steering wheel and line control system； System group structure turns to, road feel is fed back and turns to multiple functional rings that fail, and constitutes steering wheel angle, flywheel moment or and steering wheel Multiple feedback control loops such as power realize steering wheel angle, deflecting roller turning power self adaptive control；Machine is arranged in steering-by-wire controller The malfunction and failure control model and controller of tool steering-by-wire, each wheel differential braking yaw moment assisted diversion；Steering-by-wire control It sets up and sets information unit, controller and execution unit；Information unit mainly include steering wheel angle, torque and its direction, or and Steering wheel angle, torque and its direction sensor and each sensor detection signal processing circuit；Using X-by-wire buses, And by vehicle-mounted data bus and this controller, onboard system into row information, data exchange；Controller be mainly arranged deflecting roller, Steering response, line traffic control malfunction and failure sub-controller, electronic control unit control program and corresponding structure and function module；Turn to control Execution unit processed is a mechanical kinetics system；Controller is with steering wheel angle θe, turn to flywheel moment MkIt is turned round with deflecting roller Driving moment MhFor major parameter, the system dynamics equation is established, the equation includes mainly：
Mk=Mj+Mb′+Mm
J in formulau、BuRespectively steering equivalent moment of inertia, equivalent drag coefficient, Mb' it is blow out flywheel moment, MmTo turn to The revolution moment of friction on the suffered ground of wheel, MjFor aligning torque, MkSize and Orientation dynamically change；For electric using turning to The steering of machine, gear assembly, deflecting roller, kinetic model are：
I, steering motor model：
Tm=ktim
T in formulam、Jm、θm、Bm、G、kt、imRespectively motor torque, rotary inertia, corner, viscosity friction coefficient, rotating ratio, electricity Magnetic torque constant, electric current；TaFor pinion shaft torque, TaBy deflecting roller flywheel moment MkMathematical model determine：
Ta=f (Mk)
MkThe torque sensor parameter values for detection set by steering determines, when using equivalent model：
Ta=λaMk
λaFor equivalent coefficient, λaBy the rotary inertia J of wheel and steering mechanismmaAnd its viscosity friction coefficient and parameters is waited to determine；
Ii, steering motor and appliance model：
V in formulam、R、LmRespectively anti-electrodynamic type, armature resistance, inductance；
Iii, deflecting roller and steering mechanism's model：
T in formular、Js、BsRespectively equivalent pinion shaft steering resisting moment, deflecting roller and steering mechanism's rotary inertia, each transmission Device viscosity friction coefficient；Speeds match, the θ for ignoring motor torsion stiffness, considering motor and pinion shaftm=G θs, ignore Tr、 It carries out Laplace transformation, obtain transmission function：
Using pid control algorithm, integer, fractional order PIλDμThe transmission function of controller is：
When λ, μ value be 0 or when, be configured to integer rank PID, PI or PD control device, steering motor rotation direction determine item Under part, driving current, voltage and steering wheel angle are determined by controller；When being controlled using fractional order, system response time And overshoot is held essentially constant；The fuzzy of other modern control theories, neural network, most excellent corresponding control algolithm and control Device omits；Based on system dynamics equation, steering-by-wire controller establish it is normal, blow out, bumpy road, driver's overshoot and failure Control model, model and algorithm, using steering wheel angle θeWith deflecting roller revolution driving torque MhTwo-parameter lotus root closes control model, In steering wheel angle control, while controlling θeWith MhTwo parameters；Electronic control unit set by steering controller is controlled by steering-by-wire Pattern, model and algorithm carry out data processing, and output signal controls line traffic control mechanical steering system, realizes line traffic control active steering control System；
I, deflecting roller controller；One, steering wheel angle control；Normally, it blows out under operating mode, is based on nominal situation steering wheel angle δeaDetermining steering wheel angle θea, controller applies the additional rotation angle θ that blows out independent of driver to steeringeb, Within the scope of the critical speed of vehicle stable state control, an additional yaw moment balancing vehicle of generation, which is blown out, generates yaw moment, Compensate deficiency or oversteering that vehicle flat tire generates, steering wheel angle θeFor steering wheel angle θeaWith balance additional rotation angle of blowing out θebThe linear superposition of vector：
θe=θea+θeb
θ in formulaeaIt is nominal situation by steering wheel angle δeaDetermining steering wheel angle, θeaBy δeaWith steering transmission ratio Cn It determines, θebWith the steering wheel angle θ that blows outeb' relationship be θeb=-θeb′；Deflecting roller controller detects tire with wheel sensor of blowing out Press pra, speed ux, steering wheel angle δ, yaw rate ωr, side slip angle β be major parameter, establish its parameter Blow out additional rotation angle θebEquivalent mathematical model, model includes mainly：
θeb=f (pra, eωr(t), eβ(t), ux)
E in formulaωr(t)、eβ(t) it is respectively deviation between the ideal and practical yaw velocity of vehicle, side slip angle, e (ωe) It blows out the equivalent phase angle velocity deviation of balance car wheel set left and right wheels for deflecting roller, μiFor ground friction coefficient；Determine θebSpecific number Learning expression formula includes：
θeb=kωreωr(t)+kββ+kee(ωe)
K in formulaωr、kβ、keRespectively yaw velocity ωr, side slip angle β and e (ωe) parameter feedback factor；θebOr it uses The respective algorithms of the modern control theories such as the PID of its parameter, fuzzy determine；Set course changing control cycle Hy, HyFor setting value, Hy Or by unit interval intrinsic parameter Δ δ, fyMathematical model determine：
Hy=f (Δ δ, fy)
Δ δ is that steering wheel angle positive and negative changes frequency n in the unit time in formulaiThe sum of variation absolute value, fyFor motor or turn To system response frequency；It blows out in control, deflecting roller controller is with steering wheel angle θeVariable in order to control, with steering wheel angle δea, system steering gear ratio Cn, balance of blowing out additional rotation angle θebMajor parameter establishes the mathematical model of its parameter, determines θe's Target control system, model include mainly：
θe=f (δe, Cn)、δe=δea+δebθea=f (δea, Cn)
θeb=f (δeb, Cn)、θe=f (δea, Cn)+f(δeb, Cn)
δ in formulaebFor θebAnd CnIdentified steering wheel, which is blown out, balances additional rotation angle；Steering-by-wire controller is using two deflecting rollers Independent or same control structure, steering wheel angle θ in absolute constructioneTarget control value θe1With actual value θe2Respectively for single wheel Parameter value, θ in same control structuree1、θe2For the shared parameter value of two wheels；Non- e (ω when blowing oute)、Value is 0, quick-fried Tire entering signal iaE (ω when arrivale)、Value determined using certain algorithm by the detection parameters of aforementioned wheel；Transmission ratio Cn The dynamic value determined for constant value or by mathematical model；CnFor constant K when, Vehicular turn steady state yaw velocity gain ωr/ δ)eFor the function of speed, requirement and the burden of driver's steering are thus increased；Based on people-Che-road closed loop power model, Vehicle dynamic model determines CnKinematic function model by ux, ay, β, ωrIn one of parameter or multiple parameters mathematical modulo Type determines that model includes mainly：
Cn=f (ux)、Cn=f (ωr)、Cn=f (ux, ay, β, ωr)
Vehicle side acceleration a in formulay, vehicle centroid side drift angle β, yaw velocity ωrFor state feedback control parameters, pass through ωr、 ay, the feedback of β adjusts the C of vehiclen, the steering characteristic of vehicle is thus controlled, ω is improvedr, β response speeds and driver path with The ability of track compensates vehicle load and operating condition (including surface friction coefficient etc.) variation, makes Vehicular turn characteristic not by vehicle Fast ux, steering wheel angle δeThe influence of variation；Define steering wheel angle θeTarget control value θe1With actual value θe2Between it is inclined Difference：
e(θe)=θe1-θe2
Wherein actual value θe2It is determined by the corner or the real-time detected value of displacement sensor that are set in deflecting roller steering driving system；Base In deviation e (θe), using open loop or closed-loop control, in deflecting roller controlling cycle HyCycle in, the actual value of steering wheel angle θe2Always its target control value θ is trackede1；The rotation direction of motor is by deviation e (θe) positive (+), negative (-) determine, e (θe) it is just When motor rotation direction be θeIncreased direction, on the contrary it is the direction of its reduction；Secondly, deflecting roller revolution driving torque MhControl Device processed；Controller is with steering wheel angle δe, ground turning power M suffered by deflecting rollerk, deflecting roller revolution driving torque MhJoin for input Number, with θe、MhVariable in order to control, in Mk、MhUnder the action of, pass through driving torque MhAnd steering wheel angle θeActive or adaptive Joint is adjusted, control steering wheel angle θe, make θeActual value track its target control value always；When blowing out, revolution of blowing out is generated Torque Mb', ground effects are in deflecting roller flywheel moment MkSize and Orientation change, in steering wheel angle θeControl Meanwhile deflecting roller revolution driving torque M need to be carried out in real timehIt adjusts；Determine MhUsing both of which；Pattern one, deflecting roller with turn Into the mechanical transmission mechanism between system, setting turns to turning power or torque sensor, detects the flywheel moment M of deflecting rollerk； According to the differential equation：
Determine MhTarget control system, j in formulau、BuRespectively steering equivalent moment of inertia, equivalent drag coefficient；In view of biography The lag of the detection signal of sensor, to MkCarry out phase compensation；In course changing control cycle HyIn cycle, penalty coefficient Ge(y) it uses With steering wheel angle target control value θe1With actual value θe2Between deviation e (θe) and its derivativeTransmission device damping system NumberIt is determined for the mathematical model of major parameter：
Wherein Ge(y) it is, e (θe)、Absolute value andThe increasing function of increment；Pattern two, in course changing control cycle HyIn cycle, Controller is with e (θe)、e(ωe) it is major parameter, the equivalent mathematical model of its part or all of parameter is established, determines and turns to samsara Turn power (square) MkAnd deflecting roller revolution driving torque Mh, mathematical model includes mainly：
Using determining MhEquivalent mathematical model, mathematic(al) representation includes：
In Controlling model and formula, Ge(y) it is penalty coefficient, HyFor the course changing control period,For steering wheel angle θeTarget Controlling value θecWith actual value θedBetween deviation derivative, k1、k2For coefficient, deflecting roller is blown out the equivalent phase of balance car wheel set left and right wheels Angular speed deviation e (ωe) can be by the equivalent Relative sliding rate deviation e (S of two deflecting rollerse) substitution；Based on steering system structural, establish Steering includes the kinetic model of motor, steering mechanism's (rack-and-pinion etc.) and wheel, carries out Laplace transformation to model, really Transmission function is determined, using PID (including integer, fractional order PIλDμ), fuzzy, neural network, most excellent modern scientist reason wheel it is corresponding Control algolithm designs steering controller, and system response time and overshoot is made to be maintained at a best scope (including substantially not Become)；Steering-by-wire controller passes through desired transmission when motion transmission ratio CnControl, yaw velocity ωr, side slip angle β Etc. parameters feedback of status, steering wheel angle θeWith deflecting roller flywheel moment MkOr turn to driving moment MhControl lotus root close, determine Relevant parameter in course changing control (including yaw rate ωrDeng) dynamic response, solve overshoot, stabilization time, (quick-fried Tire) flywheel moment size, direction the technical problems such as drastically change；
Ii, road feel controller；The controller mainly include motor, magnetic rheological body, or with the novel human-machine operation such as control stick, pedal Interface use road feel controller, controlled by road feel, make driver experience wheeled vehicle over the ground attachment state, lateral deviation power and turn Back wash effect is fed back to system road feel；Road feel controller using PID, fuzzy, sliding formwork, heredity, neural network, from antidisturbance control (ADRC) etc. the respective algorithms design of modern control theories, includes the line traffic control hydraulic steering system designed based on fuzzy-adaptation PID control Road feel feedback controller；Relationship based on steering wheel angle, speed, vehicle side acceleration and steering resisting moment, using more Variable FUZZY ALGORITHMS FOR CONTROL, designs a kind of parameter and road feel data point reuse controller, which includes being based on BP neural network PID adaptive controllers adjusted etc.；Road feel controller is suitable for simultaneously using true and virtual two kinds of control models, the pattern Normally, it blows out operating mode；One, true road feel pattern；Deflecting roller revolution driving torque M is arranged in controllerh(or Mk) detection sensing Device, with deflecting roller revolution driving torque Mh(or flywheel moment M in ground suffered by deflecting rollerk), steering motor electric current isOne of for become Amount, with speed ux, face mould friction coefficient μ, yaw velocity ωr, steering wheel angle δeAnd side acceleration ayMainly to join change Amount, establishes true road feel device feedback force MwaMathematical model, include mainly：
Mwa(Mh, ux, ωr, ay, μ, δe)
Thereby determine that road feel feedback force MwaFor deflecting roller flywheel moment Mh(or Mk、is) and its parameter characterisitic function；Wherein Deflecting roller flywheel moment MkMainly by returning positive force (square) Mj, flywheel moment of blowing out Mb' and ground revolution moment of friction MmIt constitutes, and For its vector sum：
Mwa(or road feel current of electric it) modeling structure include as described below：M in modelwa(or it) it is deflecting roller flywheel moment Mk(or Mh) absolute value, friction coefficient μ, steering wheel angle δeIncrement increasing function, Mwa(or it) it is speed ux, lateral accelerate Spend ay, yaw velocity ωrSubtraction function, and surveyed deflecting roller flywheel moment M can be based onk, pass through parameter ux、μ、ωr、δeIt is right MwaCarry out linearization process；Set parameter μ, δeInterval, in μ, δeThe value of each parameter in section is to MwaWith not Same weight；Work as ayMore than limit threshold value ca1......can, work as ωrMore than limit threshold value cω1......cωn, increase ginseng step by step respectively and become Measure ωrWeight, make road feel feedback force Mwa(or it) gradient of decrement increases, until Mwa(or it) it is a constant or 0；Using turn To wheel revolution driving moment Mh(or rack pinion power) sensor detected value determines MkValue and its direction；Turn in view of line traffic control It is disconnected to the steering wheel of system with deflecting roller mechanical driving device, normally, blows out under operating mode, define deflecting roller revolution driving torque MhWith time positive force (square) Mj, ground revolution moment of friction MmBetween deviation ehj(t)：
According to ekj(t) positive and negative, determines Mwa(or it) direction；True road feel device feedback force MwaEquivalent mathematical expressions, Include mainly：
Mwa=f (ekj(t), Mj, Mm, ux, ωr, ay, μ, δe)
The meaning of each parameter is same as described above；Secondly, virtual road feel pattern；Steering-by-wire controller does not set deflecting roller torque sensing Device is based on virtual wheel, vehicle correlation model and viewer, using a variety of virtual road feel patterns；Pattern one, mainly with steering wheel Corner δe, steering-wheel torque McOr and steering (motor) current sensor detection parameters signal is, establish road feel feedback force Mwb's Model, model include mainly：
Mwb(Mkb, δe, ux, ωr, ay)
Mwb(is, δe, ux, ωr, ay)
Using certain algorithm, M is determinedwbTarget control value Mwb0；Samsara is turned in formula turns power (square) MkbValue by above-mentioned deflecting roller Turning power (square) MkOr with deflecting roller revolution driving torque MhMathematical model determine, include mainly：
Parameter θ in formulae1、θe2For steering wheel angle target control value, actual value,e(ωe),JwTitle and meaning It is adopted as previously described；Pattern two, using tire force evaluation method, frictional force is modeled as random Gass-Markov processes, design expands Open up Kalman filter, estimation deflecting roller flywheel moment Mk, it is based on MkDetermine road feel feedback force Mwb；Pattern three establishes steering system System model and the steering differential equation：
Using two degrees of freedom whole vehicle model as virtual vehicle reference model, steering wheel road feel feedback force M is determinedwb；Road feel controls During the control of device, the road feel device of road feel motor or magnetic rheological body based on road feel module, make driver pass through steering wheel, Steering arm turns to the operation interfaces such as pedal, obtain reflection road surface, wheel, vehicle running state road feel information；
Iii, steering (AFS) and deceleration of electrons stability program (ESP) system coordination controller；Based on above-mentioned manned vehicle AFS and ESP coordinates control model, controls time zone according to runflat condition, control period of blowing out and anticollision all around, coordinates control Device uses wheel stable state, balanced system power, vehicle stable state and brake force total amount (A, B, C, D) control in vehicle stable state control for brake The logical combination of type processed, the yaw moment and steering wheel angle generated by each wheel differential braking unbalanced system kinetic moment are adjusted Control coordinate, realize direction of traffic, gesture stability and path trace；
Iv, steering-by-wire fail-ure criterion device；One, fail-ure criterion device are using steering wheel angle, deflecting roller wheel corner, vehicle-state Parameter and electrical parameter fail-ure criterion pattern, the pattern is with steering wheel angle δe, steering wheel angle θe, speed ux, yaw velocity ωr, side slip angle β be major parameter, establish fail-ure criterion receptance function Zk, function includes：
Zk=f (δe, e (θe), ux)、Zk=f (e (θe), δe, ux, ωr, β)
Using the control algolithms such as PID, fuzzy, Z is determinedkFail-ure criterion value, e (θ in formulae) be steering wheel angle target control value θe1With actual value θe2Between deviation, δe, ux, ωr, the meaning of β parameters is the same；Set threshold value cwk, by Threshold Model, when ZkUp to threshold value cwkWhen, judgement brake-by-wire failure；Secondly, fail-ure criterion device it is forward and inverse to mistake using electric control gear parameter Imitate determinating mode；It is forward and inverse to refer to malfunction and failure judgement：Line traffic control control structure unit (mainly include information unit, controller, Execution unit) automatically controlled parameter transmits the process fail-ure criterion in positive and negative direction in signal；The set detection of the structural unit and control The input of the signal of parameter is not 0, and the output of relevant parameter signal is 0, is judged for positive malfunction and failure；Otherwise signal input is 0, Output is not 0, is judged for reverse malfunction and failure；It is forward and inverse to be patrolled to fail-ure criterion using 0 and non-zero logic threshold model and judgement Volume, meet as defined in model 0 and non-zero logic decision condition, then judges that line traffic control control system malfunction and failure, failed controller are defeated Go out Failure Control signal iz；
V, steering-by-wire failed controller；Manned vehicle steering-by-wire Failure Control；Retain a set of mechanical steering system, adopts With two front-wheels (two wheel independent or same) steering-by-wire and retain the control model and structure of a set of mechanical steering controller；Just Often two modules of steering wheel and deflecting roller disconnect when work, the Failure Control signal of controller output when line steering fails iz, control clutch and be closed, the mechanical connection of steering wheel and deflecting roller module is operated by driver's steering wheel, realizes Manual machine Tool turns to；
Vi, steering-by-wire of blowing out control program or software；Based on manned vehicle flat tire active steering control structure and flow, Control model, model and algorithm, work out active steering control subprogram of blowing out, which uses Structured Design, mainly set Steering wheel angle, deflecting roller revolution driving torque, active steering and the control of deceleration of electrons stability contorting programming system is set to coordinate, is main Turn controls coordination, the distribution of front and back axle steering wheel angle, steering-by-wire fail-ure criterion, steering-by-wire to stabilized driving system Failure Control, each program module of steering response；Steering wheel angle program module：Include mainly steering wheel angle and additional turn of blowing out Angular travel sequence submodule；Steering response program module：Include mainly true road feel or virtual road feel program submodule；Steering-by-wire loses Imitate control module：Include mainly steering wheel and the control of deflecting roller mechanical clutch, line traffic control Failure Control program submodule；
Vii, electronic control unit；Electronic control unit set by active steering controller of blowing out is total with vehicle-mounted active steering electronic control unit isomorphism With；The electronic control unit is mainly arranged input, wheeled vehicle state relevant parameter signal acquisition process, data communication, turns to failure Control model conversion, microcontroller (MCU) data processing and control, MCU minimize peripheral circuit, control monitoring and driving output Module；
Viii, steering-by-wire execution unit；Steering wheel, two module of deflecting roller is arranged in the execution unit；Steering wheel module mainly wraps Include steering wheel, steering column, road feel motor or magnetic rheological body fluid path sensing device, deceleration device, steering wheel angle for road feel And torque sensor；Deflecting roller module mainly by steering motor, deceleration device, transmission device (mainly include rack-and-pinion or turn To pull rod, clutch) and deflecting roller composition；
3., automatic driving vehicle blows out line traffic control active steering controller
Steering-by-wire controller is the active steering controller of a kind of connection of high speed fault-tolerant bus, high-performance CPU control and management, The controller uses Redundancy Design, and each deflecting roller line control system composite structure is arranged：It is independent using front and back axle or four-wheel line traffic control Various controls pattern and structure, two or three groups of (artificial intelligence) central primary control computers of setting, the double or triple line traffic controls such as turn to Course changing control electronic control unit, double or multiple software, the independently combinable knot of two or three groups of electronic control unit and active steering motor Structure；The controller forms line traffic control based on the dynamic system that deflecting roller, steering motor, transfer and ground force are constituted It turns to, pavement state feedback, turn to fail multiple control function rings and feedback control loop；Deflecting roller, line traffic control event is arranged in controller Barrier fails or with steering response sub-controller, and the yaw moment that differential braking generation is respectively taken turns using steering-by-wire, braking system is auxiliary The steering malfunction and failure control model of steering is helped, realizes steering-by-wire fail safe；Steering-by-wire controller uses X-by-wire Bus, and exchanged into row information and data with this controller, onboard system by vehicle-mounted data bus；Steering-by-wire controls information Unit：Steering wheel angle, torque and its direction be set, or with steering wheel angle, torque and its direction, turn to driving motor corner With torque and its direction sensor, sensor detection signal after testing signal circuit processing after input data bus；Steering-by-wire Controller：Each sensor detection signal and relevant parameter sending out signals are obtained from data/address bus, brake or drive by vehicle flat tire, Control model is coordinated in anticollision, active steering, model carries out data processing；Electronic control unit set by the controller：Export each operating mode control Signal processed controls each wheel steering-by-wire executive device, by steering kinetics steering, carries out vehicle active adaptive direction It corrects, realizes wheel and vehicle stable state, Vehicular turn, track holding, path trace and gesture stability；
I, it blows out steering controller；The controller is with Vehicular turn angle θlr(or steering wheel angle θe), deflecting roller rotary driving force Square MhVariable in order to control, the speed u that controller is determined based on central master path tracex, Vehicular turn angle θlr, turn to rotation Angle θeTarget control value passes through steering wheel angle θ by active steering control model, the model of blowing oute, deflecting roller revolution driving torque MhTwo-parameter joint (coupling) control algolithm calculates θ under runflat conditioneOr θlrTarget control value；One, steering wheel angle control Device processed；The nominal situation Vehicular turn angle θ that controller is exported based on central masterlr, steering wheel angle θeTarget control value is pressed θlr、θeValue carry out direction of traffic control；Define two class deviations of vehicle and wheel；Deviation one：The vehicle that central master determines Path planning, path trace desired steering angle θlrWith wheel actual steering angle or θe' between deviation θen(t)：
eθT(t)=θlr-θe′
Deviation two, vehicle desired steering angle θlrWith vehicle actual steering angle θlr' between deviation eθlr(t)：
eθlr(t)=θlr-θlr′
Set steering wheel angle dynamic control cycle Hθn, HθnWith speed ux, steering wheel angle deviation eθlr(t) it is major parameter Equivalent model and algorithm determine：
Hθn=f (ux, eθlr(t))
HθnModeling structure include：HθnFor ux、eθlr(t) subtraction function of absolute value increment；In steering wheel angle θeThe period of control In cycle, by reducing controlling cycle Hθn, make blow out in the unit interval vehicle driving trace deviation and the correction amount of lateral displacement More than nominal situation；In the logic loops of steering wheel angle controlling cycle, controller is with eθlr(t)、eθT(t)、θeFor parameter, Establish this period deflecting roller ideal rotational angle theta under runflat conditioneTarget control value θekControlling model and function model：
θek(eθT-1(t), eθlr-1(t), θe)、θek=f (eθT-1(t), eθlr-1(t), θe)
E in formulaθT-1(t)、eθlr-1(t) it is the parameter value of previous cycle,；Define deflecting roller ideal rotational angle thetaekWith actual rotational angle θe′ Between deviation eθ(t), steering wheel angle θeUsing closed-loop control, each controlling cycle HθnIt is interior, with 0 deviation eθ(t) mesh in order to control Mark, makes the actual value θ of steering wheel anglee' θ is tracked alwaysekTarget control value；Secondly, deflecting roller revolution driving torque control Device；Controller is with steering wheel angle θe, deflecting roller turning power (square) Mk, deflecting roller revolution driving torque MhFor major parameter, establish The steering kinetics equation of its parameter：
Deflecting roller revolution driving torque M is determined based on the equationhTarget control value Mhk, j in formulau、BuRespectively steering is equivalent Rotary inertia, equivalent drag coefficient；Blow out M during controllingkSize and Orientation dynamically change, MkValue by be set to turn To torque sensor detected value determines between wheel and steering driving motor, in tool transmission mechanism；Deflecting roller turning power (square) MkOr By steering wheel angle θe, ground friction coefficient μ, steering rotary inertia jrIt is determined for the equivalent mathematical model of major parameter：
The function expression of the model is：
M in formulamkFor the turning power moment of resistance on ground suffered by deflecting roller, MjFor aligning torque；Controller uses closed-loop control, presses and turns To wheel rotational angle thetaek, deflecting roller revolution driving torque MhTwo-parameter joint (coupling) control model, model and algorithm, normal, quick-fried Tire, bumpy road and MmkIn the state of variation, actively adjusts steering driving motor and steering wheel angle is exported to deflecting roller Target control value θekAnd revolution driving torque Mhk, make θeAnd MhAlways its target control value is tracked；
Ii, steering (AFS) and deceleration of electrons stability program system (ESP) tuning controller；The tuning controller, by above-mentioned Manned vehicle AFS and ESP coordinates control model, when being controlled based on runflat condition, control period of blowing out and anticollision all around Area, tuning controller use wheel stable state, balancing brake, vehicle stable state and the brake force total amount in vehicle stable state control for brake The logical combination of (A, B, C, D) control, the yaw moment and deflecting roller generated by each wheel differential braking unbalanced system kinetic moment The control of corner is coordinated, and realizes the braking of vehicle stable state or driving, direction of traffic, vehicle attitude control and path trace；
Iii, steering-by-wire fail-ure criterion device；One, the electric control gear parameter determined using above-mentioned steering-by-wire fail-ure criterion device Positive, reverse fail-ure criterion pattern；Secondly, using corner deviation determinating mode：With wheel desired steering angle θeWith actual steering Angle or θe' between deviation eθn(t) it is major parameter, is determining vehicle (artificial intelligence) central control computer normal work Under the conditions of, it is interior in steering wheel angle controlling cycle cycle using the Threshold Model of its parameter, calculate set n period internal reference Number eθn(t) the accumulated value ψ of absolute valueθr：
Calculate the threshold value C of deviationθlr：
Cθn=f (θen, ux)
By Threshold Model, ψθnUp to threshold value CθnThen judge that steering-by-wire fails；
Iv, steering-by-wire failed controller；One, steering-by-wire controller, electronic control unit (ECU) and sensor etc. are using fault-tolerant Design scheme；According to controller architecture, Controlling model and algorithm, based on electric control gear, wheel speed, manual operation interface, each sensing Device redundancy determines electric control gear associated with fault tolerant object, sensor, fault verification is carried out by modes such as residual errors, Fault message is stored in electronic control unit, is alarmed using sound, light crossing-signal, prompts driver's ageing treatment；Secondly, steering-by-wire lose Control model and structure of the controller using front or rear axle independent steering two wheel or line traffic control independent steering four-wheel are imitated, by automatically controlled The forward and inverse of device parameter carries out steering fail-ure criterion to fail-ure criterion pattern；Judge that wire-controlled steering system is any independent or multiple After wheel steering failure, steering-by-wire controller sends out Failure Control signal izi；Steering-by-wire failed controller, electronic control unit (ECU) or control module is to the wire-controlled steering system wheel turning angle θ that does not faileAnd deflecting roller revolution driving torque MhCarry out weight New distribution, is accepted by it and is implemented the steering-by-wire of vehicle；Thirdly, steering-by-wire global failure controller；For someone or nothing People drives vehicle, when turning to global failure, steering-by-wire global failure controller, central primary control meter set by CS central main controller Calculation machine carries out data processing by the skid steer pattern of steering-by-wire Failure Control, model and algorithm, and output signal controls hydraulic pressure Brake subsystem (HBS), electric control hydraulic braking subsystem (EHS) or electric-controlled mechanical brake subsystem (EMS) pass through each wheel injustice Weigh differential braking, and auxiliary realizes steering-by-wire Failure Control；Skid steer controller is arranged in central master, which uses Vehicle respectively takes turns differential braking and generates additional yaw moment progress vehicle assisted diversion pattern and structure, turns to Failure Control signal iz Then, controller is based on vehicle stability control system (VSC), Study on Vehicle Dynamic Control system (VDC) or electronic stability program system It unites (ESP), using the braking of wheel stable state, respectively takes turns (differential) braking of balancing brake, vehicle stable state, brake force total amount (A, B, C, D) Control model, model and the calculation of four kinds of control for brake types such as control, with vehicle ideal and practical yaw velocity, barycenter lateral deviation Deviation between angleeβ(t), vehicle (or wheel) desired steering angle θlr(or θei) and actual steering angle θlr' (or θei′) Between deviation eθl(t)、eθi(t) and speed uxTo input major parameter, use Logic Combination；By vehicle movement equation (including two degrees of freedom and multiple degrees of freedom) auto model, certain speed u is determinedxOr it is attached with ground The steering wheel angle δ under coefficient μeWith yaw rate ωrBetween relational model, calculate vehicle ideal yaw velocity ωr1With side slip angle β1, the practical yaw velocity ω of vehicler2By yaw-rate sensor the real time measure；Define vehicle reason Want the deviation between practical yaw velocity, side slip angleeβ(t)：
eβ(t)=β1-β2
Witheβ(t) it is major parameter, establishes the mathematical model of its parameter, pass through the Infinite Time state of LQR Theoretical Designs Observer determines that the lower optimal steering generated of wheel differential braking adds yaw moment Mx, establish steering-by-wire pivoted wheels on vehicle Rotational angle thetaeWith vehicle yaw moment MxBetween relational model, model mathematic(al) representation includes mainly：
θeAnd MxGeneral mathematical expression include mainly：
θe=f (Mx)
By θeMathematical model determine the target control value of steering wheel angle, k in formula1、k2For feedback of status variable or parameter, k1、k2It is determined using above-mentioned normal or operating mode active steering feedback of status variable of blowing out Controlling model and algorithm；Normally, it blows out Etc. under operating modes, optimal steering yaw moment MxEach wheel distribution use brake force Qi, angle acceleration-decelerationAngular speed negative increment Δ ωi, slip rate SiEtc. parameters distribution and control form, and its distribution and control be limited primarily to wheel braking model characteristics letter The stability region of number (curve)：
Fxi~Qi、Fxi~Δ ωi、Fxi~Si
F in formulaxiFor ground longitudinal tire force suffered by each wheel, pass through control for brakeEtc. logical groups The loop cycle of conjunction carries out steering Failure Control；It brakes and wheel active differential braking parallel work-flow state at manual operation interface Under, steering-by-wire Failure Control usesControl logic combination, B control brake force exported by manual operation interface Brake force function model determine, when have wheel enter anti-lock control when, in new H braking periodhIn, it is flat to reduce each wheel The brake force Q of weighing apparatus braking B controlsiOr reduce Δ ωi、Si, until each wheel balanced system power Q of B control distributioniOr Δ ωi、SiFor 0；By Threshold Model, work as deviation(or and eβ(t)) absolute value is less than setting threshold valueWhen, it usesBrake control logic combines, when it is more thanShi CaiyongOrBrake control logic combination, lead to Cross H braking periodhLogic loops, realize steering-by-wire global failure control and stablize slow down control；
V, steering-by-wire control subprogram or software；Environment sensing based on central master is set to navigation, path ruleization, control Decision main program processed, by active steering control structure and flow, control model, model and the algorithm of blowing out, establishment, which is blown out, actively to be turned To control subprogram, which uses Structured Design, setting steering wheel angle deflecting roller revolution driving torque, actively to turn To coordinating with braking, drive control, axle wheel or the distribution of four-wheel independent steering angle before and after four-wheel steering, turn to and collision prevention of vehicle Control, steering-by-wire fail-ure criterion, each program module of steering-by-wire Failure Control；Wherein, active steering and vehicle braking, driving Control coordinator module：Include mainly that active steering is stablized with brake electronic stability contorting program (ESP), wheeled vehicle of blowing out Control is coordinated and active steering coordinates each program submodule with driving, wheeled vehicle stability drive control of blowing out；
Vi, electronic control unit；Electronic control unit set by line traffic control of blowing out active steering controller and vehicle-mounted line traffic control active steering electronic control unit Isomorphism shares；Input, wheeled vehicle parameter signal acquisition process, data communication, microcontroller is mainly arranged in the electronic control unit (MCU), MCU minimizes peripheral circuit, control monitoring and driving output module；Wherein, microcontroller (MCU) module：In being based on Entreat computer environment perception, this vehicle speed of path ruleization determination, Vehicular turn angle, steering wheel angle, deflecting roller revolution driving The related datas such as torque and target control (value),
Vii, steering-by-wire executive device and control flow；Line traffic control active steering controller output signal, control active steering are held Luggage set in driving motor, driving motor exports steering wheel angle and revolution driving torque, through transmission and mechanical steering device, The dynamic steering FWS executive devices of vehicle line traffic control active front steering system AFS (active from steering), four-wheel are controlled, Steering wheel angle is adjusted, realizes the active steering of automatic driving vehicle；Signal i is exited in control of blowing outeWhen arrival, blows out and actively turn It is exited to control；
12) it blows out lift Suspension control and controller
The controller is based on vehicle-mounted passive, semi-active or active suspension system, setting information unit, controller and execution unit； Controller is using skyhook damping, PID, optimal, adaptive, neural network, sliding moding structure or the modern control theories phase such as fuzzy Algorithm is answered, the normal and operating mode suspension spring rigidity G that blows out is establishedv, damper damping BvAnd suspension stroke positions height SvCoordinate control model, model and algorithm, determines Gv、BvAnd SvTarget control value；Electronic control unit set by controller is independently arranged Or with vehicle-mounted existing active suspension system with total structure is set, under conditions of main controller blows out judgement establishment, that is, control of blowing out enters Signal iaWhen arrival, using major and minor Threshold Model, makees suspension and start secondary judgement, secondary judgement is set up, and controller exports suspension It blows out and controls the enabling signal i of secondary entranceva, by the enabling signal i of secondary entrancevaWith exit signal iveRealize that suspension is normal With the conversion for operating conditions pattern of blowing out；Suspension travel adjusts executive device and uses lift unit, damper and damping elastic piece Integrated composite construction；
1., suspension lift (stroke) controller
I, the entrance and exit that suspension lift controls；Controller setting is with the wheel tire pressure p that blows outr(pra、pre) (or effectively roll half and pass through Ri), vehicle side accelerationFor the Threshold Model of parameter, setting threshold value av(av1、av2)；Control entering signal of blowing out ia When arrival, by logic threshold model, work as pra(or Ri) reach main threshold value av1、Value reaches secondary threshold value av2, orUp to main door Limit threshold value av2、preUp to secondary threshold value av1Or pra、One of reach respective threshold threshold value av1、av2, vehicle, which enters, blows out suspension control It makes, electronic control unit sends out Suspension control entering signal i set by controllerva；Otherwise Suspension control of blowing out is exited, control of blowing out is exported Exit signal ive；Wherein av2For rollover threshold, av2It is determined by following mathematic(al) representations：
L in formulavFor wheel square, hkFor height of center of mass, cos γaFor gradient cosine of an angle, g be acceleration of gravity, K be equal to or more than 2 coefficient blows out control period when vehicle enters true or inflection point, adjusts K values, K is more than 2, reducesThreshold value av2；
Ii, controller；Suspension stroke positions S is arranged in information unitv, power plant output pressure pv, suspension displacement speedAdd SpeedSensor and sensor detection signal processing circuit；Controller is with suspension travel Sv, damping resistance Bv, suspension rate GvVariable in order to control, using Gv、BvAnd SvCoordinate control model, establishes Gv、Bv、SvCoordinate Controlling model, determines each wheel Gv、Bv、Sv Target control value, and calculate the amplitude and frequency being suspended in vehicle body vertical direction；Controller uses suspension travel or and suspension Rigidity shock absorption damps and its coordinates control；One, in Gv、BvAnd SvCoordinate under control model, which is adjusted with suspension travel Device input pressure pvOr/and flow Qv, load Nzi, liquid flow damping between each working cylinder of damper (or throttle valve opening kj), fluid viscosity vy, suspension displacement SvFrame velocity of displacementAcceleration(or flow velocity of the fluid stream through throttle valve, accelerate Degree), bearing spring coefficient of elasticity kx(including kxa、kxb) it is major parameter, establish the S of its parameterv、Bv、GvMathematical model：
Sv=f (pv, Nzi, Gv)、Sv=Sv1+Sv2+Sv3
Gv=f (kxa, pv) or Gv=f (kxb, hv)
S in formulav1Suspension static height parameter, Sv2For nominal situation position height adjustment parameter, Sv3It blows out suspension position height tune Save parameter, kxaAnd kxbRespectively air, helical spring coefficient of elasticity, hvFor helical spring bullet deformation length；Gas-liquid pressing spring is outstanding Frame uses air-liquid power source and servo pressure regulating device, regulated value Sv3By the wheel effective rolling radius R that blows outiOr tire pressure praFor parameter Function model determine：
Sv3=f (Ri)、Ri=f (pra)
When carrying out suspension stroke positions adjusting using air-liquid pressure lift unit, regulating device air bag, hydraulic cylinder input pressure are established pv(or/and flow Qv) and independent suspension travel position height Sv, load Nzi, suspension rate GvEtc. relational model between parameters：
pv=f (Sv, Nzk, Qv、Gv)
By each wheel suspension position height SvTarget control value be converted to regulating device input pressure pvOr/and flow QvIt is worth, in formula NzkFor wheel dynamic load of blowing out；NzkFor the load N of wheel under nominal situationziWith the load variations value Δ N for wheel of blowing outziThe sum of：
Nzk=Nzi+ΔNzi
Load variations value Δ NziWith wheel effective rolling radius Ri(or tire pressure) and Δ NziBetween equivalent function model determine：
ΔNzi=f (Ri) or Δ Nzi=f (pra)
To simplify the calculation, the load variations value Δ N that blows out is determined using experimentziWith tire pressure praCharacterisitic function, determine runflat condition Under each wheel load NziAnd its change value Δ Nzi；Set the load N under wheel nominal situationz0, detection wheel system in dynamic test Arrange the tire pressure Δ p that successively decreasesraOr effective rolling radius Δ RiUnder load change value Δ Nzi, establish parameter, Δ praOr Δ RiWith Δ Nzi Characterisitic function and tables of data, the table be stored in electronic control unit, blow out control in Δ praOr Δ RiIt is looked into for input parameter and takes Δ NziValue as SvCalculating parameter value；Define suspension position height measured value Sv' and target control value SvDeviation ev(t), lead to Cross deviation ev(t) feedback control adjusts each wheel suspension position height including wheel of blowing out, is adjusted by suspension lift, Keep car body balance and each wheel load balanced distribution；Secondly, suspension travel Sv, vibration damping resistance Bv, rigidity GvTuning controller；It builds Found each control variable Gv、Bv、SvCoordination Controlling model：
Sv(Gv, Bv)
Suspension travel SvAdjusting when, settingControlling value,Controlling value is suitable for the resistance of suspension hydraulic shock absorber Buddhist nun BvControl；For using magnetic rheological body damper suspension, damping BvIt is adjusted to minimum constant value；In Gas fluid pressure spring suspension A compound hydraulic shock absorber, in suspension travel Sv(or dashpot piston), speedAccelerationUnder conditions of certain, fluid power subtracts Shake the B of devicevIt is determined by being connected to the aperture of damping valve and vibration damping fluid viscosity set by each vibration damping hydraulic cylinder；Gas fluid pressure spring suspension In compound magnetic rheological body damper, under conditions of the aperture of damping valve is certain, BvBy adjusting automatically controlled magnetic rheological body Viscosity, realize vibration damping resistance adjusting；Air spring suspension, suspension rate GvAir bag and air are mainly adjusted by suspension lift Spring air bag the blowing pressure and coefficient of elasticity determine；The rigidity G of spiral spring suspensionvIt is true by the deflection and coefficient of elasticity of spring It is fixed；
2., blow out Suspension control program or software
Based on suspension lift control structure and flow, control model, model and the algorithm of blowing out, suspension lift control of blowing out is worked out Program, the subprogram use Structured Design, the secondary thresholding that setting vehicle flat tire Suspension control enters to blow out and non-control of blowing out Molding formula is converted, wheel suspension Gv、Bv、SvControl, wheel suspension Gv、Bv、SvControl is coordinated, (the input of suspension travel regulating device Pressure pvOr/and flow Qv) each program module of SERVO CONTROL；Wheel suspension Stroke Control module mainly by suspension static height, just Normal Working pasition height and each regulator module composition of suspension position height of blowing out；Wherein wheel suspension Gv、Bv、SvCoordinate control Structure of the program module based on suspension system and its coordinate control model, model and algorithm；
3., electronic control unit
Electronic control unit set by suspension lift control of blowing out is independently arranged or is shared with vehicle-mounted suspension electronic control unit isomorphism；This is automatically controlled Unit be mainly arranged input, suspension parameter detection sensor signal acquisition process, data communication, Suspension control pattern conversion, it is micro- Controller (MCU), MCU minimize peripheral circuit, control monitoring and driving output module；
4., suspension system (executive device)
Suspension system includes active, half active and passive suspension；Active suspension uses air spring suspension structure；Passively, half actively Suspension uses helical spring or gas-liquid pressing spring composite construction, and following two kinds of structure types are mainly arranged；
I, Gas fluid pressure spring suspension；The suspension is mainly by liquid or Pneumatic propelling plant, regulator, gas-liquid spring, damper structure At gas-liquid spring is complex as a whole with lift unit, and air-liquid presses power apparatus output compressed air or pressure fluid, is filled through servo Adjusting is set, realizes that each wheel suspension travel including wheel of blowing out is adjusted；
Ii, spiral spring suspension；The suspension is mainly made of liquid or Pneumatic propelling plant, helical spring and damper, spiral bullet Spring is complex as a whole with lift unit；The signal group g that electronic control unit exports under operating mode of blowing outv1、gv2、gv3；Signal gv1Control vibration damping Solenoid valve in piston is turned on and off the circulation passage between the upper and lower piston cylinder of connection in dashpot piston；Signal gv2Control It is set to the regulating valve on cylinder to the circulation passage of liquid storage cylinder under piston, closes circulation passage, cylinder becomes a lift cylinder under piston, Damper becomes lift unit；The signal g of electronic control unit outputv3Gas fluid pressure servomechanism installation is controlled, fluid is adjusted through servomechanism installation, Cylinder under input piston realizes that suspension position (height) is adjusted by piston and piston rod displacement, restores car body balance and each wheel weight Dynamic balance is distributed, and reduces the risk of vehicle flat tire rollover；It blows out and exits signal iveWhen arrival, the control of operating mode of blowing out suspension lift is moved back Go out；
13), the technical solution that this method uses
This method using a kind of novel automobile flat tire control theory and technical solution, cover someone, nobody drive the control that makes to blow out Chief technology in system；The technology mainly includes the control of vehicle flat tire " dual unstability ", defines and establishes detection tire Pressure, state tire pressure and the judgement of blowing out for turning to mechanics state model are blown out based on each state point of blowing out, the true of control process Point, inflection point of blowing out control singular point and anticollision and control time zone, and the control that makes to blow out is adapted with runflat condition process, realizes wheel vehicle It blows out and to control staged, time zone；This method using blow out control enter and escape mechanism, normally with operating conditions mould of blowing out Formula convert, establish wheeled vehicle blow out active control, state control and man-machine communication's adaptive control scheme；This method setting is quick-fried Tire master control, engine braking, brake, throttle opening or/and fuel oil injection, deflecting roller turning power, active steering, liter Power suspension controller, type, structure based on controller, sets corresponding controller and control module；It is total by vehicle-mounted data Line and X-by-wire new exclusive data/address bus are coordinated to carry out vehicle braking, driving, steering, deflecting roller turning power, suspension tune Section realizes normal, operating mode of blowing out, true or the non-genuine process blown out control of blowing out.
2. method according to claim 1, characterized in that automobile flat tire control mode, structure and flow are：
1., automobile flat tire overall control mode, structure and flow；
Main controller (abbreviation main controller) (5) blow out with wheeled vehicle state shape parameter signal 1, fore-aft vehicle state shape parameter or and nobody Drive the parameter signals (2) such as vehicle environmental perception, path planning, vehicle flat tire control parameter signal (3), vehicle braking, driving, It turns to manual operation interface output parameter signal (4) and manually keying parameter signal (16) of blowing out is input parameter signal, By pattern, model and algorithm that control of blowing out uses, relevant parameter calculating is carried out, determines that state tire pressure and steering mechanical state are quick-fried Loose tool formula judges, calculates characteristic value of blowing out, and completes blow out judgement, divided stages of blowing out, control and control model conversion, realizes people The coordination control of work operation and control, active control of blowing out, each controller；Main controller () blow out according to runflat condition, definition of blowing out And determinating mode carries out judgement of blowing out, output signal of tyre burst I (6) is set up in judgement of blowing out；The signal of tyre burst I6 that main controller 5 exports, Via data/address bus or control model converter (8) is directly inputted, normal and blow out operating mode and each control are carried out by converter (8) It is converted with control model；Wheeled vehicle blows out controller (7) by data/address bus or directly from related sensor or through blowing out Main controller (5) obtains each parameter signal, is based on onboard system, and each controller (7) enters independently simultaneously under the coordination of main controller (5) Row control is controlled with joint coordination, and system enters cycle in control of blowing out；In interior loop control, engine throttle door controller (9) or/and fuel injection control apparatus (10) closes solar term by throttle opening, fuel Injection Control pattern, model and algorithm Door or dynamic regulation throttle opening, terminate or the fuel oil of dynamic regulation fuel injection control apparatus (10) sprays, air throttle and combustion Engine driving control (22) is realized in oil spurts controller (9), (10) jointly；Pedal brake controller (11) is actively made by blowing out Dynamic control coordinates control model, model and algorithm with fore-aft vehicle anticollision, using wheel stable state, balancing brake, vehicle stable state and Brake force total amount (A), (B), (C), (D) control logic combines and the logic loops of controlling cycle, realizes that vehicle stabilization slows down, is whole Vehicle stable state controls；Revolution force controller of blowing out is based on servo steering system, by steering wheel angle of blowing out, power steering square or steering Disk torque control model, model and algorithm, in any corner position of steering wheel, realize blow out power steering or resistance away from dual control System；Revolution force controller of blowing out is based on servo steering system, by steering wheel angle of blowing out, power steering square or steering-wheel torque control Molding formula, model and algorithm, in any corner position of steering wheel, realize blow out power steering or resistance away from double control；Actively Steering controller (13) applies an additional rotation angle by vehicle flat tire state, blow out active steering control model, model and algorithm Steering angle balances each other with blowing out；Nominal situation deflecting roller turns round force controller (12) and active steering controller (13) is realized jointly Vehicle active steering of blowing out controls (23)；Suspension lift control (14) is assisted using suspension travel, damping damping and suspension rate Control model, model and algorithm are adjusted, is adjusted by suspension lift, reduces the body sway after blowing out, balances each wheel load, is reduced Blow out rollover probability；Vehicle flat tire control parameter signal (3) is back to main controller of blowing out (5) by controlling feedback line；System or Engine brake controller (15) is set, and engine braking control is primarily adapted for use in early period of blowing out；Main controller (5) of blowing out is ad hoc quick-fried Manually keying controller, controller output parameter signal (16) input main controller (5) of blowing out, artificial hand to tire by control line Dynamic keying control logic covers active control logic of blowing out；Active control blow out simultaneously, by means of vehicle braking, driving, steering Three personal-machine operation interfaces are controlled, realize man-machine communication's self adaptive control, the manual control logic of man-machine communication's self adaptive control Covering of having ready conditions is blown out active control logic；Under nominal situation, Vehicle Controller is by data/address bus (21) or directly from correlation Sensor obtains each parameter signal through main controller of blowing out (5) and control model converter (8), controls and controls by nominal situation Molding formula controls corresponding braking, driving, turns to, suspension executive device (17), realizes that onboard system controls outer circulation；It blows out Main controller, each controller and onboard system controller output signal into corresponding braking, drive through control model converter 8 Dynamic, steering, suspension executive device (17), realize Cyclic Rings in operating mode vehicle control of blowing out；
2., automobile flat tire actively and self adaptive control mode, structure and flow
Onboard system, sensor output signal set by main controller and each controller of blowing out are directly or by the total 21 line input master of data Control device (5), main controller (5) with wheeled vehicle state shape parameter signal (1), surrounding enviroment and fore-aft vehicle state shape parameter signal (2), Vehicle flat tire control parameter signal (3), manually keying parameter signal (16) are input parameter signal, after judgement of blowing out is set up Signal of tyre burst I (6) is exported, control of blowing out enters or exit signal I (ia, ie) (6) when arriving, each controller enters or exits quick-fried Tire controls；
I, it blows out early period, engine brake controller is based on the race of engine, speed change and exhaust brake control model, model and calculation Method actively enters or exits engine braking control by engine braking control program, software；
Ii, each control period of blowing out, engine air throttle or/and fuel injection control apparatus (9), (10) are based on air throttle or fuel oil sprays Constant, dynamic, idle speed control pattern, model and the algorithm penetrated, it is main by air throttle or/and fuel oil injection program or the software of blowing out It is dynamic to carry out air throttle or/and fuel Injection Control；For manned or setting indirect labor's operation interface automatic driving car , control model, model are coordinated in engine air throttle or/and fuel injection control apparatus (9), (10) according to fore-aft vehicle anticollision With algorithm and the output parameter and its change rate of vehicle traction control operation interface (gas pedal) (18), driver's control is determined Wish characteristic function；Controller (9) or/and (10) by fore-aft vehicle state parameter (including opposite speed, spacing etc.) and drive Member's control wish characteristic function, establish man-machine communication adaptively drive and blow out the coordination control model of active brake, model and Algorithm realizes that the active of tyre burst brake control is exited, man-machine communication adaptively drives, adaptive control of exiting and blow out returns to； In one, two and multiple stroke of gas pedal, by engine air throttle or fuel Injection Control, engine output is adjusted, Realize that the collision prevention of vehicle of man-machine communication, active brake of blowing out and the acceleration that vehicle is carried out by driver's wish control simultaneously；For Automatic driving vehicle, engine air throttle or/and fuel injection control apparatus (9), (10), the speed determined by central master, Path trace and anticollision control instruction adjust throttle opening, fuel injection amount or respectively take turns brake force, thus adjust vehicle vehicle Speed；
Iii, each control period of blowing out, brake monitor 11 is according to wheel stable state, balancing brake, vehicle stable state (differential braking), system Power total amount (A, B, C, D) control model, model and algorithm carry out data processing by tyre burst brake control program, software, realize Vehicle active brake of blowing out is coordinated to control with collision prevention of vehicle；Vehicle brake controller (11) is based on vehicle breaking operation interface (19), by the compatible control model of parallel work-flow of blowing out active brake with pedal and manually brake, with brake-pedal travel, braking Power, angular speed of wheel, slip rate and its equivalent relative parameter and vehicle deceleration, yaw velocity are main input parameter, It determines that active brake of blowing out manually brake (abbreviation two braking) compatible control logic, Controlling model and algorithm with pedal, passes through system Dynamic compatible controller, realize compatible two control for brake, operator brake control wish and active brake control of blowing out it is man-machine from It adapts to coordinate control；
Iv, each control period of blowing out, deflecting roller turn round force controller (12) and are based on vehicle mounted electric servo steering system (EPS), automatically controlled Hydraulic power-assist steering system (EPHS) is turned with the corner of Vehicular turn operation interface (steering wheel) (20) output, speed, steering wheel Square is main input parameter, normal and blow out under operating mode, according to balancing steering angle of blowing out, power-assisted steering control model, model and Algorithm determines the power steering square of any angular position of steering wheel, by blow out power-assisted steering control program, software, to EPS, Walk around square, power steering or the moment of resistance of EPHS steering wheel angles, steering wheel carries out bidirectional modulation；
V, it blows out each control period, active steering controller (13) is based on vehicle active front steering system, by applying one to deflecting roller A additional equilibrium rotational angle theta to balance each other with steering angle of blowing out and direction is oppositeeb, actively carry out Vehicular turn adjusting；Turn to rotation Angle θeFor deflecting roller actual rotational angle θ determined by steering operation interface (steering wheel) (20)eaWith additional rotation angle θebThe line of (vector) Property superposition；Active steering controller (13) is carried out steering wheel angle control, is realized by active steering control program, the software of blowing out Direction of traffic adjusts and path trace；
Under the conditions of vi, onboard system setting wire-controlled steering system, steering-by-wire controller can replace deflecting roller turning power control simultaneously Device (12) processed and active steering controller (13)；Steering-by-wire controller is based on wire-controlled steering system, it is normal, blow out and jolt Under each operating mode in road surface, with deflecting roller and vehicle determined by Vehicular turn operation interface (including steering wheel), automatic driving vehicle The parameters such as steering angle, speed are input parameter, are jointly controlled by steering wheel angle, deflecting roller flywheel moment, realize vehicle side To adjusting and path trace.
3. method according to claim 1, characterized in that control model, structure and the flow that brake monitor uses be with It is lower described；
1., vehicle environmental identification and anticollision control (abbreviation anticollision control)
I, manned collision prevention of vehicle controller；One, the anti-tracing model of rear car driver；Based on runflat condition process, blow out Each control period, anti-tracing model include response lag phase model：The model determines that rear car driver sees that front truck is blown out warning-sign Know to driver make emergency reaction between there are the lag period, lag period about 0.2s~0.3, the phase is designed as zero braking, vehicle Deceleration is close to 0；Reaction phase model：The model determines that driver emergency braking increases brake force to desired value, input time by 0 About 0.2~0.4s, vehicle make retarded motion, braking distance SbtUsing the even deceleration formula estimation of vehicle：
Spacing adjusts and retention period model：Rear car driver takes aim at model in advance by spacing, and real-time regulating brake force controls this vehicle and subtracts Speed keeps the safe distance of this vehicle and front truck, and the safe distance is by the number that the speed and relative distance of forward and backward vehicle are parameter Model is learned to determine；Front truck brake monitor of blowing out can estimate rear car emergency brake control according to the anti-tracing model of rear car driver The supplemental characteristics such as time, possible motion state, front-and-rear vehicle distance variation；Secondly, ultrasonic ranging and coadaptation anticollision coordinate to control Molding formula and controller；Brake monitor determines that this vehicle is set with rear car by ultrasonic distance-measuring sensor set by vehicle rear Maximum detecting distance；When rear car does not enter sensor detection range, front truck brake monitor of blowing out is anti-based on rear car driver Tracing model, by the logical combination of A, B, C, D control for brake model, by controlling the braking in each cycle logic cycle, actively The anti-control for brake model that knocks into the back of tracking rear car driver actively adapts to the braking of rear car and control of slowing down；It blows out when rear car enters Front truck sensor detection range, front truck tuning controller of blowing out start interconnection type anticollision and coordinate control immediately：Based on tyre burst brake The control residing stage increases forward and backward spacing L by regulating brake forcet, by the anticollision time zone t of Ben Che and rear caraiIt is limited to Zone of reasonableness between " safety and danger "；When vehicle of blowing out enters the forbidden time zone of anticollision, front truck brake monitor of blowing out releases The brake force of each wheel balancing brake B controls, keeps or reduces each wheel differential system power of vehicle stable state control C, or starts vehicle Accelerate drive control, increases front car and rear car spacing of blowing out, fore-aft vehicle is made to exit the forbidden time zone of anticollision；Thirdly, each control of blowing out The braking of phase processed and tuning controller with fore-aft vehicle anticollision；It blows out early period, blow out control signal iaWhen arrival, as Ben Che with Rear car is in safety (spacing, opposite speed) time zone, that is, zones values t when collidingaiMore than time zone threshold value ct0, each wheel useControl logic combines；It is true blow out the phase or with inflection point phase, i.e., true or inflection point signal of tyre burst ib、icWhen arrival, such as originally Vehicle is in safe time zone t with rear cara, a variety of brake control logic combinations can be used；The non-wheel of balance car wheel set two of blowing out is keptControl logic combines；Wheel of blowing out in balance car wheel set of blowing out switchs toSecondary non-of the wheel blow out wheel byIt is converted to OrControl logic combines；It blows out and takes turns knocking over control period, knocking over control Signal i processeddWhen arrival, if Ben Che and rear car are in safe time zone, releasing, which is blown out, takes turns braking, and non-wheel of blowing out is main to be usedOrControl logic combination；If fore-aft vehicle enters anticollision danger time zone or anticollision forbidden zone, wheel of blowing out is released Braking, non-wheel of blowing out useControl logic；When fore-aft vehicle enters anticollision forbidden zone, or start vehicle balance drive；When Two wheels of drive shaft are non-balance car wheel set of blowing out, and drive the wheel pair；Implement the balance drive of vehicle using two ways；Side Formula one, to blow out, it is non-blow out wheel radius determine driving force accuracy by immutable weight value as the mathematical model of parameter；Mode two, to non-driven The wheel of axis two carries out differential braking, and the yaw moment partial offset that is generated by differential braking reduces drive shaft and blows out balance car wheel set Uneven driving force, the by-produced driving moment of the leveling wheel of blowing out of drive shaft be more than the wheel of nonpowered axle two generate it is differential Braking moment, the front truck i.e. vehicle that makes to blow out exit the forbidden time zone of anticollision；Prevent by the braking for each control period of blowing out and with fore-aft vehicle The coordination for hitting control makes vehicle braking efficiency, the control of wheeled vehicle stable state and anticollision control be mutually adapted and reach and maximizes；
In the control of ii, A, B, C, D independent control or its logical combination, in each wheel brake force QiUnder the action of, establish control variableSiWith parameter αi、Nzi、μi、Gri、RiBetween the mathematical model of relationship adopted in the stability region of control for brake Linearization process is carried out with equivalent or compensation model, or to model；
2., wheel stable state A controllers
The A controls of wheel stable state include blow out wheel stable state control for brake, non-wheel braking anti-lock control of blowing out；The braking of non-wheel of blowing out It is controlled using the anti-lock of logic threshold：Based on pavement friction grade,Characteristic curve, with wheel angular decelerationFor control Variable processed and control targe determine wheel using Threshold ModelThreshold valueAnd with reference to slip rate Si, formulate with wheelFor parameter withFor the control logic of threshold value；In the cycle H of control logicjIn cycle, by brake force supercharging, subtract Pressure, the loop cycle of pressurize adjust wheel angle acceleration-decelerationMake each wheel slip rate SiIt is fluctuated near peak adhesion coefficient； Blow out wheel brake logic Threshold Model stable state control：Based on attachment coefficient under each pavement conditionsWith slip rate SiRelationship Model andCharacteristic curve determines the optimal slip ratio under maximum grip coefficient, with slip rate SiVariable and control in order to control It is expected target with optimal slip ratio for slip rate, passes through each hydraulic pressure or mechanical braking system of taking turns using continuous quantity control form Brake force QiSupercharging, decompression or pressurize, make wheel slip SiIt is fluctuated near desired value；Without wheel using which kind of pattern, model And algorithm wipes coefficient μ by non-the blow out control of wheel braking anti-lock and wheel insensitivity requirement of blowing out in certain road surface mouldi, carry Lotus NziTransfer, tire pressure Pri, wheel effective rolling radius Ri, longitudinal side vertical stiffness GriEtc. under the conditions of wheel conditions parameter change, can The problems such as solving speed estimation precision, optimal slip ratio and wheel and vehicle control stability, it is ensured that anti-blocking brake system (ABS) and wheel braking stable state control system of blowing out is not out of control, and has good robustness；Research shows that：During blowing out, making Under power effect, wheel attachment coefficientWith slip rate SiIt is the Discontinuous Function of time, with the wheel tire pressure P that blows outri, wheel Effective rolling radius Ri, rigidity GriDrastically change, on time-space domainSiThere are several singular points, carries out braking anti-lock When control, the control parameter for wheel of blowing outSiValue will generate acutely oscillation；Solution to this problem is the anti-of wheel that will blow out Braking with locked wheels control is converted to the control of wheel stable state：In H braking periodjaCyclic process in, by control variableSiReality The amplitude that value fluctuates up and down around its target control value, non-equivalent reduce control variable step by stepSiTarget control value Ski, untilSiWithSkiFor a setting value or 0, thus indirect regulating brake force Qi, make QiStep by step, non-equivalent is successively decreased directly Most 0；SkiIt is taken as absolute value, ωi、SiIncreasing decrement Δ ωi、ΔSiIt is indicated with its positive (+), negative (-)；In control for brake Make wheel control variable of blowing outSiActual value always surround its target control valueSkiUpper and lower fuctuation within a narrow range；It is so-called SkiValue step by step, non-equivalent successively decreases and refers to：Controlling cycle HjaLogic loops each time in, step by step determine target control valueSkiDecrement, the decrement bySiThe asymmetric mathematical model of fluctuation actual value determines up and down；Asymmetrical control mould Type refers to：SiControlling model in, by using the weight coefficient k of different model structure or parameteri, make control variableSiThe increment size fluctuated upwards+Δ ωi、+ΔSiWith the decrement value-Δ ω fluctuated downwardsi、-ΔSiWith different weights, Including+Δ ωiWeight be less than-Δ ωi、+ΔSiWeight be more than-Δ SiWeight；This cycle HjaIt is interior, control the mesh of variable Mark controlling valueSkiBy respectively by upper cycle Hja-1It is interiorSi-1Value and its upper and lower undulate quantity ± Δ ωi-1、±ΔSi-1 Function model determine：
Ski=f (± Δ Ski-1, Ski-1)
|Ski| ＜ | Ski-1|
When using control variableSiCombined parameters model when, jointly control variable be vi, viAbsolute value is taken as,This controlling cycle HjaIn, viTarget control value vkiBy a period in parameterSki-1It is worth and its upper and lower Undulate quantity±ΔSki-1Function model determine：
vki=f (± Δ ωki-1, ± Δ Ski-1, vki-1)、|vki| ＜ | vki-1|
When wheel of blowing out carries out stable state control, another wheel for balance car wheel set of blowing out, in the differential braking for not carrying out C control for brake Under conditions of power distribution, the wheel or it is synchronous carry out stable state control for brake, by adjusting the wheel brake force, reduce wheel control step by step VariableSiTarget control value Ski、The wheel is set to control variableSiTarget control value Ski、It is equivalent, equivalent or Close to the target control value S for wheel of blowing outki、Thus make the wheel tire force of balance car wheel set two F that blows outxiTo the torque of vehicle centroid The sum of be less than a setting value cgOr be close to 0, i.e.,：
L in formulaiFor wheel to distance, the c for crossing vehicle centroid longitudinal axisgFor constant or 0；Using wheel stable state control model, model And algorithm, when surely being controlled blow out wheel, balance car wheel set of blowing out, it can will control variable Si、Step by step, non-equivalent reduces Target control value Ski、Be converted to using logic threshold model step by step, non-equivalent reduce threshold value set cSi、 Each value in set is positive number, i.e.,：
Or
csi＜ csi-1、
The cycle H of wheel stable state controljaIn cycle, pass through logic threshold threshold value set cSi、Step by step, non-equivalent subtracts It is small, indirect control brake force Qi, and make Qi、SiActual value surround its target control value Qki、SkiUpper and lower small amplitude wave It is dynamic；Using correction model to Qki、SkiIt is modified, the Q after being correctedki、SkiEach value, can be used as the A, B that blows out, C, the practical controlling value of the state parameter actual value in D control for brake or the parameter；During wheel stable state of blowing out controls, due to braking Power QiAdjusting of successively decreasing,SiThe wheel state of blowing out characterized is stable state；The embodiment that wheel stable state controls of blowing out is following It is described；
I, logic threshold model and algorithm；One, each wheel (including wheel of blowing out) mainly use slip rate SiOr angular decelerationDan Can Number Threshold Model, Si、The major and minor Threshold Model of two ginsengs,With SiThe joint Threshold Model of parameterDeng；Set wheel Stable state control for brake cycle Hj, by Threshold Model, with nominal situationSiAnti-lock threshold value on the basis of be worth, setting control Variable Si、Corresponding decrements logical threshold value set cSi、The set of threshold value is true using following manner It is fixed；Mode one, setting constant successively decrease threshold value；Mode two sets the threshold value that dynamically successively decreases, in controlling cycle HjLogic In cycle, next control for brake cycle Hj+1Threshold value cSi+1、cωi+1、By the threshold value c in a upper periodSi、And control variable Si、To ± the Δ of the undulating value up and down ω of threshold valuei、±ΔSi、Mathematics Model determines that model includes mainly：
cSi+1=f (cSi, ± Δ Si)、
Deng
By its downward undulating value-Δ ω in the modeli、-ΔSiThe downward decrement for determining threshold value, by its upward undulating value+ΔSiIt determines upward incremental change, and there is different weights ,+Δ ω from the value fluctuated downwards upwardsiWeight be less than- ΔωiWeight ,+Δ SiWeight be more than-Δ SiWeight (coefficient), the wheel control for brake model that shows to blow out more payes attention to SiUpwards Fluctuation,Downward fluctuation amplitude successively decreases to next stage the effect of threshold value ,-Δ ωi、+ΔSiAbsolute value it is bigger, wheel of blowing out The decrement of brake force is bigger, until Si、Or SiWithThe value that jointly controls be decremented to minimum threshold threshold value (or 0)；cSi+1、 cωi+1、Value by parameterSiThe difference c of the mathematical model calculated value fluctuated up and downSi+1It determines, includes mainly：
cSi+1=cSi-f(-ΔSi,+Δ Si)
It brakes inflection point to control under the states such as later stage, the separation of tire rim, card ground, releasing, which is blown out, takes turns braking；Secondly, Comprehensive Control model and Algorithm；Mainly use wheel angular decelerationSlip rate SiModel；Controller is mainly with rate SiWithFor parameter, establish with wheel Comprehensive angular decelerationThe logical threshold control model of variable, model include mainly in order to control：
K in formulaωWeight coefficient, S for wheel angular decelerationiFor with reference to slip rate, ksFor SiWeighting coefficient；Nominal situation and It blows out early period, control logic is：
When, ABS system decompression
When, ABS system pressurize
When, ABS system supercharging
In formulaAngular deceleration threshold value (positive value) is integrated for wheel；After the true phase of blowing out, setting is blown out WheelWith SiCombined parameters decrements logical threshold value setIn threshold value set, next period decrements logical thresholding threshold ValueBy in a upper controlling cycle threshold value and undulating value determine that model includes mainly：
S in formulaiIt is taken as absolute value, k1、k2To blow out, wheel stablizes S in control for brakeiWithThe weight coefficient fluctuated above and below；It calculatesWhen, according to SiWithWeight adjust weight coefficient k1And k2；Weight coefficient k1、k2Mainly by surface friction coefficient μi, it is quick-fried Tire balance car wheel set two takes turns equivalent relative angle velocity deviation e (ωe), angular deceleration deviationMiddle relevant parameter determines；It formulates Wheel stable state of blowing out braking, braking force control and anti-lock control logic are based on thresholding mould in the cycle logic cycle of its control Shape parameter sa、Dynamic logic thresholding threshold set closesReduce the wheel brake force Q that blows out step by stepi, by Grade dynamic, which is successively decreased, adjusts sa、Threshold value；sa、Dynamic adjustment be substantially：Threshold values and wheel braking at different levels The adjusting of power, sa、Threshold value by a upper cycle HjControl variable sa、Practical undulating value determine；After inflection point control When phase or wheel rim are detached with tire, releasing, which is blown out, takes turns braking；
Ii, field test and logic threshold, fuzzy, sliding mode control algorithm；One, according to live braking anti-lock control (ABS) road Road test is tested, and determines actual speed of a wheel change curve, is based on ABS controlling cycles Hj, ginseng is solved by wheel speed peak value line in braking Examine speed ucn+1And with reference to slip rate Scn+1：
R is wheel effective rolling radius, u in formulacn+1、Scn+1、ωn+1Respectively n-th to n+1 moment reference speed, slip rate, vehicle Take turns angular speed, uwnFor n-1 to n moment wheel speed peak values, tn+1For ucn+1With uwnBetween time, Δ TnFor uwn-1With uwnBetween control week Phase HjTime interval；ucn+1、Scn+1After determination, blows out by the modern control algorithms determination such as logic threshold, fuzzy, sliding formwork, is non-quick-fried Tire wheel controls variable sa、Target control value or its logic threshold model threshold value set；To blowing out, wheel uses stable state Control mode reduces its brake force step by step by the pattern of decrements logical threshold value, until releasing brake force；Secondly, wheel of blowing out The Sliding mode variable structure control algorithm of stable state (A) control, is divided into two parts；First part, the approximation based on model on sliding-mode surface Control；Second part, the control before reaching sliding-mode surface, the control is unrelated with model, meets sliding formwork condition；Thirdly, blow out Take turns the FUZZY ALGORITHMS FOR CONTROL of stable state control (A)；Based on empirical rule and trial and error procedure, desired value is controlled, control rule is：
U=α E+ (1- α) DE
The Linguistic Value of variable, α are weighting coefficient, E and DE to U in order to control is error and the linguistic variable value of error rate in formula； Carry out anti fuzzy method processing；The integration algorithm that wheel stable state (A) of four, blowing out controls；First reference speed is determined by certain algorithm ux, slip rate Si, or by scene ABS actual road tests solution reference speed ucn+1And with reference to slip rate Scn+1；Regular one, by major and minor Threshold Model, as the wheel tire pressure p that blows outr＞ ap, balance car wheel set two of blowing out take turns equivalent Relative sliding rate deviation e (Se) ＜ ac, directly (fuzzy) controller is allowed to export：
F′i(n)=Fi(n-1)
A in formulap、acFor threshold value；Rule two, when meeting inequality pr＜ ap、e(Se) ＞ acWhen, judgement braking enters true It blows out, inflection point of blowing out control period, then：
F3' (n)=k3F3(n)、F4' (n)=k4F4(n)
P in formularFor tire pressure, e (Se) it is that front and back axle two takes turns equivalent Relative sliding rate deviation, k1、k2、k3、k4For adjustment factor, k1、 k2More than 1, k1、k2By e (Se) mathematical model f (e (Se)) determine；F′i(n) it is defeated to indicate that each wheel of i wheel n-th controllers is coordinated Go out, letter and its footnote i 1,2 and 3,4 respectively indicate blow out and non-tire bursting vehicle wheel set two wheel, by F 'i(n) braking pressure is determined The increasing of electromagnetic valve for adjusting in power regulating loop subtracts and packing state；
3., wheel balance brake C controllers
I, balanced system power total amount QbOr balanced system power QbVehicle under effect respectively takes turns comprehensive angular decelerationComprehensive slip rate Sb Distribution and control；Its distribute mathematical model include mainly：
Qb=f (pra, μb, ux)、Qb=f (pra, e (ωe), μb)、Qb=f (pre, Mk, ux)
Qb=f (e (ωe), Mk, eωr(t))
Sb=f (pra, μb, ux)、Sb=f (pra, eωr(t), μb, ux)
Sb=f (pre, eωr(t), ux)、Sb=f (Mk, eωr(t), μb, ux)
P in formulariBlow out wheel tire pressure (including pre、pra)、ωiFor each wheel angular speed, e (ωe) and e (ωa) it is leveling wheel of blowing out The equivalent non-equivalent relative angle velocity deviation of two wheel of pair, δ are steering wheel angle, eωr(t) it is yaw rate deviation, eβ(t) For side slip angle deviation, MkFor turning power of blowing out, μbFor each wheel SimMan universal patient simulator, LtFor Ben Che and front or rear vehicle spacing, ucOpposite speed, QpFor brake braking force；Each control variableΔωb、SbVehicle integrated value being averaged by each wheel parameter Or Weighted Average Algorithm determines, while time zone can be controlled according to anticollision, using corresponding modes, model, to controlling the target of variable Controlling value is modified；Determine control variable Qb、Or SbThe mathematical model of target control value is tied using following modeling Structure；One, when Ben Che and rear car are away from LtOr time zone taIn the Collsion proof safety area being in, each mathematical model and algorithm for controlling variable In include parameter Lt、uc；Secondly, when Ben Che and rear car are away from LtOr time zone taIt is each to control in anticollision in dangerous, forbidden time zone Variable Qb、Δωb、SbFor anticollision time zone taThe subtraction function of decrement, Qb、Δωb、SbWith taIncrease and decrease and increase and decrease；Thirdly, blow out before It is phase, each to control variable Qb、Δωb、SbWith the wheel tire pressure p that blows outriReduction and increase, it is substantially unrelated with speed；It is four, true quick-fried It is each to control variable Q after the tire phaseb、Δωb、SbWith the wheel tire pressure p that blows outriReduction and reduce, with speed uxReduction and increase；Its Five, inflection point control period, pri=0, each control variable and tire pressure p determined by above-mentioned mathematical modelriIt is unrelated, and be speed increment Subtraction function；Six, anticollision controls each stage of each section and tyre burst brake control, is become by each control that its mathematical model determines Amount is steering wheel angle δ, yaw velocity deviation eωr(t), side slip angle deviation eβ(t) subtraction function of increment, it is comprehensive for each wheel Close friction coefficient μbThe increasing function of increment is equivalent relative angle velocity deviation e (ωe) subtraction function；Seven, vehicle balancing brake Power QbOr angular decelerationAngular deceleration increment Delta ωb, slip rate SbIt is usually not assigned to wheel of blowing out, is only assigned to non-blow out Wheel；Qb、Δωb、SbThe value form of looking into that digit figure can be used in the target control value of each control variable determines：According to each control The mathematical model of variable determines control variable Qb、Δωb、SbTarget control value, the value are stored in system with numerical value diagrammatic form Electronic control unit set by movement controller；During tyre burst brake control, with priOr pre、e(ωe)、δ、Lt、uc、Qp、eωr(t), eβ(t)、μbIn relevant parameter be input parameter, using looking into value method, the target control of each control variable is obtained from electronic control unit Value；
Ii, each control variable Q of brakingb、ΔωbOr SbEach wheel of target control value distributes and control；One, forward and backward axle balance Wheel secondary Qb、ΔωbOr SbDistribution between the wheel of target control value；Based on wheel balance brake force total amount Qb, each comprehensive angle of wheel subtracts SpeedOr each comprehensive slip rate S of wheelbTarget control value, controller is with carload NZ, front and back axle load NZfAnd NZr, it is front and back Axle two takes turns the ratio between equivalent opposite angular speed g (ωef) and g (ωer) it is major parameter, Q is determined using nonlinear function modelbf And Qbr、WithSbfAnd SbrDispensing controller is with vehicle decelerationForward and backward axle balance car wheel set left and right wheels it is opposite or Equivalent relative angle velocity deviation e (ωkf)、e(ωkr)、e(ωef)、e(ωer), forward and backward axle left and right wheels effective rolling radius is inclined Difference | R1-R2|、|R3-R4| or detection tire pressure deviation | Pra1-Pra2|、|Pra3-Pra4| absolute value, forward and backward axle load NZf、NZr For major parameter, the distribution model that front and back axle respectively controls variable target control value is established；Model includes mainly：
Sbf=f (e (ωef), Sb)、Sbr=f (e (ωer), Sb)
To above-mentioned function model linear process：
Sbf=k1Sbg(ωef)、Sbr=k2Sbg(ωer)
NZf=NZf0+ΔNZf、NZr=NZr0+ΔNZr、
|e(ωef)|、|e(ωer) | with | R1-R2| can mutually it replace, letter and its footnote f, r indicate forward and backward vehicle respectively in formula Axis；The modeling structure and characteristic of the model be：Front and back axle respectively controls the target control value that variable distributes | e (ωef)|、|e (ωer)|、|R1-R2| the subtraction function of increment, Δ NZfForThe increasing function of absolute value increment；Variable is controlled for front and back axle Comprehensive slip rate Sbf、SbrOr and comprehensive angular decelerationDistribution can need not determine front and back axle load NZf、NZrAnd It is shifted, or using each wheel brake force parameter value or need not be not provided with brake-pressure sensor, directly by forward and backward axle Comprehensive slip rate Sbf、SbrDistribution and control, to greatest extent utilize ground attaching coefficient, effectively prevent trailing wheel to break away, adjust system Number k1、k2Rear axle wheel lock up can be made slightly to lag behind front axle wheel, g (ωef) and g (ωer) it is taken as absolute value；Secondly, blow out and The non-left and right each control variable Q of wheel of balance car wheel set of blowing outb、(Δωb)、SbIt is distributed between the wheel of target control value, using two wheels Brake force equal distribution pattern, equivalent equal distribution pattern or balanced system power allocation model；Allocation model one, non-balance of blowing out The secondary left and right each control variable allocation model of wheel of wheel；The pattern is suitable for front and back axle or diagonal line balance car wheel set, setting Left and right wheel ground friction coefficient μi, load NZiEqual, balance car wheel set or so two takes turns each control variable Qi、Si、It adopts With equal distribution pattern, i.e.,：
Qb1=Qb2、Sb1=Sb2、
The left and right each control variable allocation model of wheel of allocation model two, balance car wheel set of blowing out, including equivalent mode one and two；Deng Imitate allocation model one：It is primarily adapted for use in front and back axle or cornerwise balance car wheel set of blowing out, two wheel of wheel pair is with Qb、Or SbVariable in order to control loads N with two wheelsZi, friction coefficient μiFor parameter, the wherein left and right wheel of front axle distributes Equivalent model includes mainly：
Sb1=f (μ1, Sbf)、Sb2=f (μ2, Sbf)
Q in formulabf、Or SbfRespectively the brake force of front axle distribution, alphabetical footmark 1,2 indicate left and right respectively Two wheels, work as Qb1With Qb2、WithSb1With Sb2For NZi、μiEquivalent relative parameter when, the suffered ground of left and right two wheel is longitudinal Directed force FxiIt is equal or equivalent equal；Similarly, back axle is identical as the distribution model of the distribution of front axle；The equivalent distribution is adopted With the compensation way of parameter, control variable Q is introducedi、Si、Penalty coefficient λqi(λq1、λq2)、λsi(λs1、λs2)、 λωi(λω1、λω2)；Front axle blow out balance car wheel set it is left and right two wheel distribution model be：
Qb1=λq1Qbf、Qb2=λq2Qbf、
Sb1=λsiSbf、Sb2=λs2Sbf
λqi=f (NZi、μi)、λsi=f (μi) or λsi=f (μi, Pra)、λωi=f (μi) or f (μi, Pra)
Alphabetical footnote 1 and 2, f and r indicate left and right wheel, front and rear axle, detection tire pressure P respectively in formularaIt can be with wheel longitudinal direction Rigidity GziIt exchanges；Similarly, back axle and the wheel of diagonal line balance car wheel set two are identical as the distribution model of front axle；It is true blow out with Each control period afterwards, balance car wheel set two of blowing out wheel or not partition equilibrium brake force, non-blow out wheel or distribution and rolling resistance of blowing out The brake force that power balances each other；When wheel of blowing out carries out stable state A controls, in the loop cycle of control for brake, A controls each control variableSiTarget control valueSkiOr parameterSiLogic threshold model set threshold value cSi、Step by step, Non- equivalent is successively decreased, brake force QiIt synchronizes and successively decreases；To realize the equilibrium assignmen of balance car wheel set left and right wheels brake force, to balance of blowing out Non- wheel of blowing out in wheel pair is allocated to the non-equilibrium brake force of differential braking or synchronization reduces its parameter Q step by stepi、Si's Controlled quentity controlled variable；Equivalent allocation model two：In the left and right wheel balanced system power Q of balance car wheel set of blowing outiUnder effect, leveling wheel of blowing out Two wheel control variable slip rate S of pairi, angular decelerationDistribution use equivalent model and parameter backoff algorithm；Controller is with cunning Shifting rate Si, angular decelerationOne of variable in order to control, be based on tire model, wheel longitudinal tire force equation and momental equation：
Fxi=f (Si, Nzi, μi, Ri, Gzi), Fx1=Fx2、
Foundation is blown out two wheel slip rate S of balance car wheel setiOr angular decelerationDistribution, Controlling model；F in formulaxiFor longitudinal wheel Tire power, LiIt is left and right wheels to crossing the distance of vehicle centroid longitudinal axis, RiFor radius of wheel, μiFor the wheel of balance car wheel set two of blowing out Friction coefficient μi、NZiFor two wheel loads, GziWheel longitudinal rigidity；According to vehicle multifreedom motion equation or kinetic model, It can determine left and right wheel load NZiTransfer amount and wheel to vehicle centroid longitudinal axis distance liVariation have complementarity； The left and right equal or unequal brake force Q of wheel of vehicleiUnder effect, using NZi、μi、RiCorrection factor λ1、λ2It is longitudinal to wheel of blowing out Tire force Fx2It compensates, makes Fx1With Fx2、Fx1L1With Fx2L2Equivalent equal, the left and right wheel of balance car wheel set of blowing out is obtained to vehicle The yaw moment of barycenter balance, i.e.,Before the blowing out of (or back axle) balance car wheel set of blowing out, non-wheel of blowing out Angular decelerationOr slip rate Sb1、Sb2Distribution can be determined by following equivalent model and algorithm；It blows out early period：Front axle Balance car wheel set of blowing out is blown out and non-the distributed angular deceleration of wheel of blowing outOr slip rate Sb1、Sb2Equal to front axle The angular deceleration of wheel distributionSlip rate Sbf：
Sbf=Sb1=Sb2
It really blows out, inflection point of blowing out and knocking over control period：Front axle blow out balance car wheel set blow out wheel distribution angular deceleration Or slip rate Sb1The brake force Q applied for the control of wheel stable stateiAcquired angular decelerationOr slip rate Sb1；Based on front truck Axis balance car wheel set of blowing out is blown out wheelOr Sb1Distribution, the non-wheel slip rate S that blows out of balance car wheel set of blowing outb2Distribution under State equivalent mathematical model determination：
Sb2=f (Sb1, μ1, μ2, Nz1, Nz2, R1, R2, Gz1, Gz2) or
Sb2=f (Sb1, Gz1, Gz2, λ1, λ2)
λ1=f (Nz1, Nz2, μ1, μ2)、λ2=f (R1, R2)
λ in above formula1And λ2For the non-wheel longitudinal tire force F that blows outxb2Penalty coefficient, NZ1And NZ2To blow out, non-wheel load of blowing out, R1 And R2To blow out, it is non-blow out wheel effective rolling radius, Gz1And Gz2To blow out, it is non-blow out wheel longitudinal rigidity, the meaning of other each parameters It is adopted the same；Slip rate S based on the wheel distribution of balance car wheel set two of blowing outb1、Sb2, can by wheel slip and angular deceleration it Between relational model, determine its angular decelerationDistribution；Similarly, back axle is blown out the left and right wheel of balance car wheel setOr Sb1、Sb2Distribution it is identical as front axle；Equivalent allocation model three：By vehicle movement equation, tire model, vehicle It takes turns rotation equation and constitutes Simultaneous Equations：
Fxb=f (Si, Nzi, μi, Ri)、
Based on equation group, determine that wheel is blown out, non-balance of blowing out secondary left and right two takes turns brake force Qi(orSiOne of parameter) Distribution, the above various middle m,M、Ji、Fxi、Ri、Qi、Si、Nzi、μi、liRespectively complete vehicle quality, vehicle deceleration, each wheel The sum of tire power confrontation mental and physical efforts square, vehicle wheel rotation inertia, wheel angular deceleration, longitudinal tire force, wheel effective rolling radius, wheel The brake force of two wheel distribution of pair, the distance of slip rate, each wheel load, friction coefficient, each wheel to vehicle (crossing barycenter) longitudinal axis；Vehicle The distribution model for taking turns each wheel control variable determined by balancing brake B controls, should be quick-fried by live tire burst test or in-site modeling Tire is verified, and is modified according to parameter and model structure used by the peering model of field test, is somebody's turn to do with determining Model is to the equivalence of field test results, validity and consistency；In B controls, balance car wheel set two takes turns each control variable Qi、 Si、Distribution, substantially meet in theory vehicle balance braking requirement：
Wheel pair two takes turns tire force FxbiTorque to vehicle centroid (or cross barycenter longitudinal axis) and be 0 in theory, l in formulaiFor Wheel to cross barycenter longitudinal axis distance；
4., vehicle stable state brake (C) controller；
I, mechanics parameter Control Cooling；The type is based on vehicle-mounted braking anti-lock/antiskid system (ABS/ASR), and controller uses Each wheel differential braking generates the sideway trimming moment M that blows outuWith the yaw moment M that blows outωIt balances each other, i.e. Mu=-Mω；Determine that vehicle is quick-fried Tire is blown out yaw moment Mω' use component and total amount both of which, Mω'=Mω1′+Mω2', Mω1' to blow out, rolling resistance moment produces Raw sideway moment (referred to as blow out and roll sideway moment), Mω2' yaw moment (the abbreviation that vehicle is generated for lateral force of blowing out It blows out lateral yaw moment)；Rolling resistance blow out away from Mω1' determined using following models or PID, optimal, fuzzy scheduling algorithm；Really Surely blow out yaw moment M 'ωComponent modes；One determines Mω' model and algorithm；Determine Mω1' model and algorithm one： Based on each tire model, including UniTire, Gim, Magic Formula, power exponent, Pacejke H B, HSRI, neural network Model etc. is established with wheel slip Si, tire pressure pri, wheel weight NZi, friction coefficient μiFor the tire model of parameter, model master Including：
Fxai=f (Si, pri, NZi, μi)
The modeling structure and characteristic of model include：Rolling resistance of wheel FxaiFor Si、priThe subtraction function of increment, FxaiFor NZi、μiIncrease The increasing function of amount；P in modelriIt can be by longitudinal rigidity GxReplacement, parameter liFor wheel to the distance of (cross vehicle centroid) longitudinal axis, Blow out rolling resistance moment Mω1' be：
Determine Mω1Model and algorithm two：Using field test, reference speed u is measuredxUnder, the same low tire pressures of four wheels series PriWhen state, the corresponding deceleration of vehicleSeries of values, according to vehicle movement equation：
Determine vehicle rolling resistance Fx, ground surface resistance F suffered by the low next wheel of tire pressurexiAnd yaw moment series of values：
Mω1=dziFxi,
D in formulaziHalf wheelspan of axle, Fx0For ground surface resistance suffered by vehicle under standard tire pressure；Determine Mω1' model and algorithm Three：Using field test, mainly with tire pressure priFor variable, speed uxParameter, the ground friction coefficient under established standards state μi, carload NZDeng determining serial reference speed uxThe test value collection (conjunction) of the identical low tire pressure of lower four-wheel, measures corresponding Vehicle decelerationValue set；It is based onWith rolling resistance FxiRelational modelDetermine vehicle under the low tire pressure of series Rolling resistance FxiValue set determines that the rolling resistance under the corresponding low tire pressure of four-wheel is FxaiValue set, it is each to take turns rolling resistance wheel Fxai=Fxi/4；Correction factor λ is used under virtual conditioniTo FxaiIt is modified, correction factor λiBy parameter μ, NZCorrection model It determines：
λi=f (μi, NZ)
Under certain speed, the rolling resistance of wheel F that tire pressure is nxbinFor：
Fxbin=λiFxain
Based on momental equation, under certain speed, tire pressure is the wheel rolling yaw moment M of nω1n' be：
Mω1n'=(Fxbin-Fxbi0)li
F in formulaxbi0For the rolling resistance of wheel under standard tire pressure, liFor wheel to the distance of (crossing vehicle centroid) longitudinal axis；It determines Mω1' model and algorithm four：One axle two of vehicle wheel is set as standard tire pressure, and the two wheels rolling resistance moment is to vehicle centroid Torque is 0；One wheel of another axle (front or rear axle) is set to standard tire pressure pr0, the serial low tire pressure (packet of another wheel value Include 0 tire pressure) pri, two wheel rolling resistance Fxb0With FxbiBetween deviation exbi(Fxbi)：
exbi(Fxbi)=Fxb0-Fxbi
Based on longitudinal direction of car equationBlow out rolling resistance moment Mω1' by deviation exbi(Fxbi) function model determine：
Mω1'=f (exbi(Fxbi))
Based on testing inspection data and characterisitic function Mω1' and variable pri、uxBetween relational model, establish yaw moment Mω1' and tire pressure pri, speed uxCharacterisitic function；Parameter p is worked out according to characterisitic functionri、ux、λiAnd function Mω1' datagram Table, data drawing list is stored in electronic control unit, with tire pressure p in tyre burst brake controlri, speed ux, penalty coefficient λiFor input parameter, It is looked into fact when from electronic control unit and takes Mω1' value；Determine Mω1' model and algorithm four：It is determined, is controlled using FUZZY ALGORITHMS FOR CONTROL Device is with slip rate Si, tire pressure priFor input variable, with rolling resistance of wheel FxaiFor output variable, u is determinedx、priFuzzy subset S, Fuzzy subset U, the fuzzy language value of V and corresponding Linguistic Value, output quantity are adopted according to the fuzzy control rule of analysis and experience With fuzzy reasoning, fuzzy controller output F is obtainedxai；Rolling resistance of blowing out M 'ω1To vehicle generate yaw moment be：
Secondly, determine Mω2' model and algorithm
Mω2Using following blow out kinetic model or wheeled vehicle combined parameters models, PID, optimal, fuzzy, robust, sliding formwork knot Structure or neural network scheduling algorithm determine；Determine Mω2Model and algorithm one：Using combined parameters equivalent model, with speed ux, it is quick-fried Tire presses pri(or the wheel radius R that blows outi), wheel synthesis slip rate Sc, loading coefficient Kz, ground friction coefficient μ be main ginseng Number, establishes the equivalent model of its parameter：
J in formulazFor the rotary inertia of vehicle about the z axis, ScIt is determined using average or Weighted Average Algorithm by each wheel slip rate, in Mω2 Under the action of vehicle generation blow out sideway angular decelerationDetermine Mω2' model and algorithm two：According to kinetic model of blowing out, Ignore deflecting roller to blow out flywheel moment (referring to following related Sections herein), consideration blow out rear vehicle side hectare, side turns to just and turn To the steering angle sigma of blowing out of wheelb', it is front or rear to take turns the side drift angle β that blows outf、βrFor：
Based on the side drift angle β that blows outf、βrAnd wheeled vehicle relevant parameter estimates each wheel lateral force Ffl、Ffr、Frl、Frr, according to forward and backward Axis wheel tyre power determines M to the momental equation of vehicle centroidω2′：
Mω2'=(Ffl+Ffr)lg1+(Frl+Frr)lg2
U in formulay、uxFor lateral direction of car, longitudinal velocity, ωrFor yaw rate, lg1、lg2For forward and backward axle to barycenter Distance；Determine Mω2' model and algorithm three：Ignore δ, uxInfluence, set each wheel ground friction coefficient μiIt is identical, it establishes with vehicle Fast ux, blow out wheel tire pressure pri(or the wheel radius R that blows outbi), wheel synthesis slip rate Sz, loading coefficient KzOr it blows out back with deflecting roller Torque Mb' be parameter yaw moment Mω2' equivalent model：
Mω2'=f (ux, pri, Sz, Kz, Mb′)
S in formulazBy each wheel slip rate SiIt is determined using average, weighted average scheduling algorithm, KzPass through each wheel load NZiAnd its distribution Mathematical model is estimated：
Kz=f (NZ1、NZ2、NZ3、NZ4)
Ii, the yaw moment M that blows out is determinedωTotal amount pattern；Total amount pattern one, theoretical model and algorithm：Using vehicle and tire Combined parameters model；Ideal yaw velocity ω is determined according to two degrees of freedom auto modelr1, by vehicle multiple degrees of freedom of blowing out (including longitudinally, laterally, sideway, side hectare, four-wheel seven freedom) model determines practical yaw velocity ωr2, based on tire model Calculate each wheel longitudinal tire force FxiOr with vehicle centroid side drift angle β, wherein tire model mainly include wheel slip Si, attachment system NumberEach wheel load NziOr/and lateral rigidity GxiEtc. parameters；Total amount pattern two：Determine Mω' field test and algorithm； The vehicle of selected setting stability contorting programming system (ESP) is arranged test controller and is placed in the long-range tire pressure of wheel and releases Device implements vehicle nominal situation and simulation and blows out working condition tests under conditions of standard ground friction coefficient μ and standard car weight； Nominal situation is tested：Each wheel holding standard tire pressure, vehicle steady state ride start vehicle stabilization control programming system ESP；Controller Mainly with speed ux, steering wheel angle δ be parameter, according to the built two degrees of freedom vehicle movement differential equation and model, determine, note Record ideal (standard) the stable state horizontal swing rate (or yaw velocity gain) of vehicle：
Simulate working condition tests of blowing out：In vehicle travel process, starts vehicle stabilization and control programming system ESP, be based on scheduled system Row tire pressure decrement value continuously reduces a wheel tyre pressure step by step by long-range tire pressure bleeder, until 0 tire pressure, with speed uxAnd tire Press priFor variable, using steering wheel angle δ as parameter, be based on each measurement value sensors of ESP, calculating simulation blow out under yaw angle Speed gain value ωr/ δ estimates ideal side slip angle β by side slip angle observer1；Define nominal situation and (simulation) Deviation between the gain of operating mode of blowing out yaw velocity and side slip angle value, i.e.,
And eβ(t)=β1-β2
Controller is with deviation es(t) or and eβ(t) be parameter, using the mathematical model of its deviation, by PID or optimal, it is fuzzy, Robust or sliding moding structure relevant control algorithm determine the yaw moment M that blows outω′；Between definition theory and practical yaw velocity DeviationController is with yaw velocity deviationLongitudinal tire force FxiOr and vehicle Side slip angle β is major parameter, and the yaw moment M that blows out is determined using the wheeled vehicle conjunctive model of its parameterωAnd and Mω The sideway trimming moment M that blows out to balance each otheru, Mu=-Mω；Sideway of blowing out trimming moment MuMathematic(al) representation be：
Mu=-Mω'=,
K in formula1、k2For runflat condition feedback variable or parameter；Based on the sideway trimming moment M that blows outu, establish with pri, or and ux、δ、eβ(t) it is input parameter, with MuFor the model of characterisitic function, establishment characterisitic function MuData drawing list, will count Value chart is stored in electronic control unit；It blows out during control, with pri, or and ux、δ、And eβ(t) it is input parameter from number It is looked into value chart and takes MuValue；In brake control process, controller is with the sideway trimming moment M that blows outuFor parameter, in conjunction with brake Relevant parameter establishes each wheel differential braking distribution model, realizes the braking force distribution of each wheel sideway control for brake (DYC)；
Ii, mechanics and state parameter jointly control type；Mechanics jointly controls type with state parameter：The Control Cooling is based on vehicle Braking stabilizing control system, with stabilizing control system (VSC), Study on Vehicle Dynamic Control system (VDC) or electronic stability program System (ESP) control compatibility；The determination of one, vehicle-state；Vehicle stabilization control is with the movement of two degrees of freedom auto model State is perfect condition, according to two degrees of freedom auto model, when vehicle stable stateObtain ideal yaw velocity ωraWith side slip angle βa：
Ideal yaw velocity ωraOr it is configured and using the estimation of certain algorithm by the different of vehicle sensors；ωraEvaluation method One of：Lateral acceleration sensor is arranged in antero posterior axis, using adaptive Kalman filter or the measured value of Long Beige viewers Estimation；ωraThe two of evaluation method：According to the surveyed wheel speed signal of four-wheel wheel speed sensors, the movement based on interior foreign steamer differential signal Relationship estimation (is suitable for weak braking and weak driving)；ωraThe three of evaluation method：Four-wheel wheel speed sensors and (at barycenter) side are set To acceleration transducer, according to non-driving wheel wheel speed and side acceleration, estimation is weighted by vehicle running state；Side drift angle β (ideal and practical side slip angle βa、βb) estimation and assay method it is relatively broad, pass through vehicle sensors configuration and algorithm It obtains；One of β evaluation methods：β observers, using GPS (GPS) or based on extended Kalman filter The estimations such as observer；The two of β evaluation methods：Signal is detected by steering wheel angle and (at barycenter) lateral acceleration sensor to estimate It calculates, yaw velocity is estimated according to four-wheel wheel speed first, in this, as the measured value of Kalman filter, to estimate barycenter Side drift angle；The three of β evaluation methods：Using steering wheel angle, yaw velocity or with barycenter side acceleration as parameter, pass through it Parameter model is estimated；β calculates the four of method：Pass through vehicle side acceleration ayWith yaw velocity ωrIntegral estimation, when β very littles and When speed is constant, β determines by following formula：
To improve ayPrecision, ayIt is calculated by two degrees of freedom four-wheel car model；Secondly, the determination of optimal additional yaw moment；By (1) formula can obtain the mathematical model of automobile yaw moment control：
Δ β, Δ ω in formularDeviation respectively between the side slip angle of automobile ideal and virtual condition, yaw velocity, Mu To restore the additional yaw moment that differential braking generates needed for vehicle ideal movements state；In view of yaw velocity ωrAnd barycenter There are lotus root conjunction property by side drift angle β, it is difficult to realize or reach ideal yaw velocity ω simultaneouslyrWith side slip angle β, using the modern times The control algolithm of control theory is established with yaw velocity, side slip angle deviationeβ(t) it is the mathematics of basic parameter Model, can the optimal additional yaw moment of decision；One of optimal additional sideway power algorithm：According to LQR Theoretical Design Infinite Times State observer, system performance index J：
Q is positive semidefinite matrix, R in formulakIt it is the time for positive definite matrix, t；Design optimal control solution u*(t), ensure that J obtains minimum Value；Solve u*(t) it is represented by：
u*(t)=- Rk -1BTPx(t)
P is constant matrices in formula, can be by Riccati equation solutions
PA+ATP-PBRk -1BTP-Q=0
Final decision goes out optimal additional yaw moment Mu, MuExpression formula include mainly：
K in formula1、k1For feedback of status variable, k1、k1Mainly by Pra、ux、δ、e(ωe)、ay、μiThe mathematical model of parameter It determines, each parameter of the model is respectively：Tire pressure, speed, steering wheel angle are detected, balance car wheel set two of blowing out is taken turns equivalent opposite Angular speed deviation and angle acceleration-deceleration deviation, vehicle is indulged and side acceleration, friction coefficient；Thirdly, in view of runflat condition process On the specific function of state of motion of vehicle and its parameter and influence, use with the wheel tire pressure P that blows outr(including Pra、Pre) it is main ginseng Several feedback of status variable k1(Pr)、k2(Pr) equivalent mathematical model determine Mu, the equivalent expression of the model：
Or
State tire pressure P in formulareFor wheel condition parameter (including ωe、ωa、Se、SaDeng) and vehicle status parameters (including eβ(t)、ay) function；Wherein ωe、ωa、Se、Sa、ayBalance car wheel set two of respectively blowing out take turns equivalent, non-equivalent angular speed, Slip rate, vehicle side acceleration；Except MuOutside above-mentioned equivalent correction model and equivalent amendment type, or can be special to the part blown out Determine state parameter to be modified, mainly using runflat condition feedback, time lag and blow out impact correction model and its algorithm；It is quick-fried Tire feedback of status model and algorithm：
λ (t)=f (e (ωea)-e(ωeb)) or
Or
K in formula1、k2For feedback of status variable, kλBe wheel condition correction function for sideway modifying factor of blowing out, λ (t), λ (t) by Wheel condition parameter is determined with the mathematical model of vehicle sections state parameter,eβ(t) it is respectively vehicle ideal and reality Border state yaw velocity, side slip angle deviation, T0For initial time of blowing out, e (ωe) andBalance car wheel set two respectively Take turns equivalent relative angle velocity deviation and angle acceleration-deceleration deviation, e (ωea) and e (ωeb) it is respectively the equivalent relative angle of front and back axle Velocity deviation, ayFor vehicle side acceleration,For yaw rate deviationCorrection value, in formulaFor：
Correction term ± kλ, λ (t) it is positive and negative by blow out wheel front or rear axle location determination；Time lag correction model and calculation Method includes mainly：
Or
K in formulat(t) it is time complexity curve function, determines that controlling parameter variations value in lag time joins feedback of status by the model Number k1、k2Collective effect：
Or
Pass through correction function kt(t) to MuIt is modified, T in formulak+1、TkFor lag in the vehicle flat tire control for brake period when Between；
It blows out and impacts correction model and algorithm：
Or
To Mu3Amendment using in real time, (including phase of really blowing out, inflection point of blowing out, knocking over stage) correcting mode stage by stage, or adopt With correcting modes such as integrated values；Determine that the attack time t that blows out, t are that true blow out starts T first0To rear wheel and the vehicle of blowing out Reach the stable time, t is determined by experiment；K in formulav(t) it blows out impulse function, Grbi、Grb0To blow out, wheel under standard tire pressure Cornering stiffness；K is determined when using equivalent wayv(t) when value, kv(t) it is determined by the Weighted Average Algorithm of its parameter；Inflection point, tire Rim separation is corrected to wheel rim card：Wheel instantaneous state characteristic of blowing out after inflection point of blowing out is extremely complex, using tire model, attachment shape States model and field test determine blow out wheel vertical, horizontal acceleration-deceleration and tire force, carry out additional yaw moment MuAmendment and Compensation；It four, establishes and determines optimal additional yaw moment MuWith each wheel control variable brake force Qi, angular decelerationAngular deceleration Increment Delta ωi, slip rate SiRelational model and algorithm, the model and algorithm include mainly：Model and algorithm one, additional sideway Torque MuWheel slip SiTheory of distribution model：Based on seven freedom vehicle dynamic model, the magic of pacejka et al. Formula tire model takes turns balance car wheel set two and applies differential system power Qi, it is based on brake force QiAnd QiWheelslip under effect Rate Si, angular decelerationIt can determine the additional yaw moment M that vehicle is obtained under the Brakingu；It is made as the near front wheel applies Power, the brake force that off-front wheel applies are 0, and the near front wheel is vertical, lateral tire force Fxfl、Fyfl：
F in formulazThe tire force obtained by revolver under differential braking force effect,Respectively the wheel is vertical, laterally attachment is Number；Additional yaw moment variation delta MuWith wheel slip rate variation delta SiFunctional relation be：
According to above-mentioned Δ MuWith Δ SiRelational expression, in wheel slip variation delta SiUnder the action of, determine that vehicle adds sideway power Square increment Delta Mu；Optimal additional yaw moment Mu, slip rate SiTo set in a upper controlling cycle or t0Moment its initial value Mu0、 Si0With its increment value Δ Mu、ΔSiThe sum of：
Mu=Mu0+ΔMu, Si=Si0+ΔSi
Model and algorithm two, to simplify the calculation, are based on brake efficiency factor ηi, braked wheel radius Ri, respectively take turns longitudinal rigidity Grai, half wheelspan d of axlezi, wheel lateral force acting factor λi(αi), ground friction coefficient μi, wheel weight NziFor parameter, build Vertical additional yaw moment MuWith each control variable brake force Qi(including pressure of wheel cylinder Δ pi), angle acceleration-deceleration(including angle Acceleration-deceleration increment Delta ωi), the S of slip ratei(include the S of slip rateiIncrement Delta Si) parameter equivalent mathematical model, it is main to wrap It includes：
Or
ρ in formulaiFor parameter μi、NziModifying factor, s (i) is positive and negative symbol, s (i) is by the location determination of wheel, kai、kbi、 kci、kdiFor coefficient；Based on MuWith wheel Qi、The S of slip rateiRelational model (including equivalent model) and algorithm, It can determine additional yaw moment MuWheel differential brake force or wheel Δ ωi、SiEach wheel of parameter distributes；
5., vehicle braking force total amount (D) control and D controllers
D control objects are all wheels；Vehicle single-wheel of the D controls based on longitudinal single-degree-of-freedom or longitudinal direction and revolution two degrees of freedom Model；Single-degree-of-freedom single-wheel auto model is：
F in formuladx、Jd、Rd、mdRespectively the wheel synthesis longitudinal tire force of single-wheel auto model, angular deceleration, rotation Inertia, the radius of gyration, longitudinal direction of car acceleration-deceleration, complete vehicle quality；Vehicle is reduced to brake force Q by the modeld, longitudinal tire force Fdx, lateral tire forcesVehicle gravity NdThe vehicle for acting on a single-wheel is used in combination vehicle single-wheel to integrate angular deceleration Angular speed negative increment Δ ωd, slip rate Sd, vehicle decelerationCharacterize state of motion of vehicle, parameterSd、By Each wheel angular decelerationAngular speed negative increment Δ ωi, slip rate SiUsing true including the models such as average and weighted average and algorithm It is fixed；The D controls of brake force total amount are with QdOrSd、Variable in order to control passes through wheel stable state A controls, balancing brake B The loop cycle control of control and the combination of vehicle stable state C control logics is realized；The brake force total amount Q of D controlsdFor A controls, B controls The braking force value Q that system, C are controlleda、Qb、QcThe sum of：
Qd=Qa+Qb+Qc
Wheel braking force QiUsually by the target control value Q of the wheel stable state or ANTI LOCK controlkiValue substitution；Based on QiWith SiRelational model, respectively take turns QiTarget control value QkiBy control parameterOr SkiDetermining QdThe door that value or Threshold Model determine Limit threshold value cSi、It is determined using certain algorithm, the target control value Q of D controlsdMainly controlled by each wheel balancing brake B The brake force total amount Q of systembAdjusting realize, QcFor the sum of the differential system power target control value of each wheel distribution of stable state C controls； Brake monitor is by between the control variable target control value of D controls and the target control value of A, B, C control of each wheel distribution Deviation determines and adjusts vehicle D controlsΔωd、SdTarget control value, thus adjust vehicle brake force total amount D control indirectly The target control value of system；The control variable of D controlsΔωd、SdTarget control value is by each wheel A, B, C controlΔωi、 SiTarget control value is determined using average or weighted average scheduling algorithm；The control variable actual value of D controls is controlled by each wheel A, B, C 'sΔωi、SiSurveyed actual value determines；It defines D and controls each control variable Qd、Δωd、Sd、Target control value and actual value Between deviation eQd(t)、eωd(t)、esd(t)、Feedback by deviation and closed-loop control, adjusting control variable Δωd、SdValue realizes vehicle brake force total amount QdOr vehicle decelerationBe controlled, directly or indirectly；It needs to control vehicle deceleration DegreeWhen, it pressesWith the wheel synthesis longitudinal tire force F of single-wheel auto modeldx, wheel integrate angular decelerationVehicle braking Power total amount QdBetween relational model, determine Qd、Or the target control value of slip rate Sd, and with Qd、Or SdTarget control Value processed determines that each wheel of A, B, C control controls variable in turn as a reference valueΔωiOr SiTarget control value, pass through Each wheelΔωiOr SiDistribution and adjusting, realize vehicle decelerationControl；
6., braking compatible controller
In control for brake cycle HhLogic loops in, when active brake of blowing out and brake pedal parallel work-flow, brake compatible control Device uses control for brake compatible processing model, and compatible processing, warp are carried out to the output signal of blow out active brake and pedal brake After controller compatible processing, the brake force total amount Q of outputda, wheel integrate angular decelerationComprehensive slip rate SdaEach control becomes Target control value is measured, includes mainly：
Qda=f (Qd, Δ Qd, γ, tai)
Sda=f (Sd, Δ Sw', γ, tai)
Q in formulada、SdaRespectively Δ Qd、ΔSdThe increasing function of increment, Qda、SdaRespectively γ increments subtract letter Number and taiThe subtraction function of decrement；Its linear process formula includes mainly：
γ is runflat condition control parameter, t in formulaaiTime zone, S are controlled for anticollisionw′、ΔSw' it is respectively brake pedal displacement (row Journey) and its variation,For a cycle H on control for brakeh-1To this cycle HhVehicle integrates angular decelerationChange value, Qd、SdRespectively brake monitor carries out the brake force total amount determined before compatible processing, wheel synthesis angular deceleration, synthesis Slip rate, each parameter are taken as absolute value；Qda、SdaThe respectively braking after compatible processing of brake monitor output The compatibility correction value of power total amount, wheel synthesis angular deceleration, comprehensive slip rate, k1、k2、k3For positive value coefficient；Qda、SdaBy The asymmetric step function model of the positive and negative stroke of gas pedal determines；Its modeling structure includes：The coefficient on the positive and negative row of gas pedal k1Value is different, and the value of positive stroke k1 is less than the value of negative stroke, Δ Qd、ΔSw' increment is that the increment of positive stroke is taken as Just, it otherwise is taken as bearing；γ is taken as positive value and with runflat condition deteriorates to increase；When Ben Che and fore-aft vehicle are in Collsion proof safety Area's coefficient k3It is taken as 0, when vehicle enters anticollision forbidden zone k3It is taken as setting value；ΔQd、ΔSw' datum point be pedal system Data point when power is equal with initiative brake of blowing out；Parameter, Δ Sw' can be with Δ Qd、ΔωdIt exchanges；Phase is arranged in electronic control unit The braking compatible modules answered, the module is by braking compatibility mode, the model that compatible controller uses is braked, to active brake of blowing out With pedal brake control signal compatibility processing；
7., control for brake pattern, structure and flow
I, control for brake pattern；In one, control of blowing out, brake monitor 70 is based on wheeled vehicle kinetics equation, main to wrap Vehicle (longitudinal direction) equation, tire model, vehicle wheel rotation equation are included, each control variable Q is establishedi、Si、Between transformation model； Each wheel brake force QiUnder the action of, set control variableSiWith main relevant parameters αi、Nzi、μi、Gxi、RiBetween Relational model include mainly：
Si(Qi, αi、Nzi, μi, Gxi, Ri)
α in formulaiFor each wheel side drift angle, GxiFor wheel longitudinal rigidity, NziFor wheel weight, μiFor friction coefficient, RiFor wheel half Diameter；In the stability region of control for brake, linearisation and equivalent process are carried out to model, can be obtained：
Si=kaQi+kb
kb=f (Nzi, μi, Ri)
kc=kc1Nzi+kc2μi+kc3Gxi+kc4RiDeng
K in formulaaFor coefficient, kbFor Nzi、μi、RiThe compensation model of each parameter, kc(including kc1、k2、kc3、kc4) it is that relevant parameter is mended Repay model, side drift angle αiIt can be by comprehensive side drift angle αaSubstitution, αiIt can be determined by the function model f (δ) of steering wheel angle δ, f (δ) warps Linearization process exports：
αa=kiδ
The model is mainly used for usingΔωi、SiEqual parametric forms add yaw moment M to vehicle of blowing outuCarry out each wheel point Match, implements the sideway control (DYC) of vehicle；In each wheel brake force QiUnder the action of, withΔωi、SiMiddle parameter it is one or more A parameter is variable, with Nzi、μiFor parameter, wheel condition parameter is establishedΔωi、SiWith vehicle acceleration-decelerationLetter Exponential model, model include mainly：
Or
S in formulad、Nd、μdSlip rate, comprehensive angle acceleration-deceleration are integrated for each wheel, respectively take turns total load, floor synthetic friction system Number, value are determined by each wheel parameter value using average or weighted average scheduling algorithm；Secondly, controller using wheel stable state braking, Four kinds of Control Coolings such as each wheel balancing brake, (differential) braking of vehicle stable state, brake force total amount (A, B, C, D) control, with vehicle Longitudinal decelerationEach wheel angle acceleration-deceleration(or angular speed negative increment Δ ωi) slip rate SiOne of variable in order to control, pass throughSiThe control form of parameter, indirect control respectively take turns brake force Qi；By runflat condition, the not same order of control for brake The control time zone of section and collision prevention of vehicle is combined using corresponding control logic, includingDeng association Capable active brake of blowing out is transferred in coordinate to control with collision prevention of vehicle；It blows out early period, antero posterior axis balance car wheel set respectively takes turns useControl logic combines；In control for brake cycle HhIn cycle, each wheel is balanced the angular deceleration of braking B controls (angular speed negative increment Δ ωi) or slip rate SiTarget control value distribution, while each wheel angle of vehicle stable state C control is subtracted SpeedOr slip rate SiTarget control value be allocated, the target control value of each wheel distribution is B and two classes of C are braked The sum of control targe value；And when vehicle enters anticollision danger time zone or any wheel reaches braking anti-lock threshold value, at once Terminate the cycle Hh'sControl logic recycles, and control for brake enters next cycle Hh+1The logic loops of control；Hh+1 In period, reduce or terminate the balanced system power of each wheel B controls, the wheel up to braking anti-lock threshold value enters or moves back automatically Go out braking anti-lock control；It really blows out the phase, balance car wheel set of blowing out usesControl logic recycles, and wheel of blowing out enters steady State A control, balance car wheel set of blowing out it is non-blow out wheel based on the actual braking force that wheel obtains of blowing out enter the balance car wheel set or VehicleControl logic recycles, and wheel brake force of blowing out is released when vehicle enters the forbidden time zone of anticollision；Inflection point of blowing out control Phase processed releases the brake force for wheel of blowing out in balance car wheel set of blowing out, non-wheel and the non-balance car of blowing out of blowing out of balance car wheel set of blowing out Two wheels of wheel set are recycled using the differential braking control logic of C controls；When vehicle enters the forbidden time zone of anticollision, while releasing and blowing out It takes turns and blows out the brake force of wheel homonymy wheel, the logic that the homonymy wheel of non-blow out wheel and non-wheel of blowing out enters vehicle C control is followed Ring；Wheel rim detaches the phase, while releasing blow out wheel or the brake force with wheel homonymy wheel of blowing out, non-wheel or/and the non-wheel of blowing out of blowing out Homonymy wheel enters the logic loops of vehicle C controls；For the vehicle for active front steering system of blowing out is arranged, is respectively blowing out and blowing out Each control period, especially in inflection point and the wheel rim separation phase control period of blowing out, while vehicle enters stability control for brake It carries out active steering and coordinates control, blown out to deflecting roller application one by active front steering system and balance additional rotation angle θeb, realize vehicle Wheel, vehicle stabilization slow down and whole vehicle stability control；A, the control of the independent control of B, C, D or its logical combination is based on tire bursting vehicle Model, tire model, the equation of motion, wherein tire model are determined by the corresponding mechanics of wheel and motion state parameters；It establishes each Take turns brake force QiWith wheel angle acceleration-decelerationSlip rate SiRelational model between equal state parameters, determines each control variable Qi With other control variablesSiBetween quantitative relationship, realize QiWithSiThe conversion of parameter；A, B, C, D independent control or its In the control of logical combination, each wheel brake force Q is establishediEach control variable under effectSiWith parameter αi、Nzi、μi、 Gri、RiBetween mathematical model, realize each wheel angular decelerationSlip rate SiWheel between distribute and control；Control for brake Device respectively controls variable and uses closed-loop control, definition control variable Qi、SiIt is inclined between target control value and actual value Poor eqi(t)、eΔωi(t)、esi(t), brake monitor is to control the Q of variablei、Δωi、SiParametric form, by deviation eqi(t)、 eΔωi(t)、esi(t) or determined by the mathematical model of its deviation it is worth, in the cycle in control for brake period, control is held braking and held Luggage is set, and each wheel Q is madei、Δωi、SiActual value track its target control value always, realize each wheel brake force QiOr other ginsengs Number Δ ωi、SiDistribution and control, wherein parameter Qi、ΔωiActual value by brake-pressure sensor, wheel steering angle sensor Detected value determination, parameter SiActual value by definition by speed ux, radius of wheel RiAnd angular velocity omegaiMathematical expression determine：
Ii, brake control architecture and flow；Brake monitor (70) is based on vehicle-mounted braking anti-lock, anti-skidding, electronic stability control Programming system (ABS), (ASR), (ESP), setting nominal situation brake monitor I (71), operating mode of blowing out brake monitor II (72)；Brake monitor (70) obtains following all kinds of parameter signals from data/address bus CAN (21)：Car wheel structure state parameter, vehicle State parameter, vehicle environment state parameter, driver's operation interface control parameter signal；Blow out main controller (5) or braking control Device II (72) processed is based on above-mentioned input parameter, determines runflat condition process, carries out judgement of blowing out, and judgement of blowing out exports quick-fried when setting up Tire controls signal I (6)；Brake monitor I (71), II (72) isomorphism share an electronic control unit, using Program transformation structure and Pattern；Under nominal situation, brake monitor I (71) presses braking anti-lock, anti-skidding, vehicle stabilization controls programming system (ABS), (ASR), the control models such as (ESP), model and algorithm carry out data processing, output brake control signal group ga, control braking and hold Luggage is set (73), realizes vehicle nominal situation braking anti-lock, anti-skidding, vehicle stabilization control (74)；Brake monitor II (72) Using vehicle braking and anticollision, active brake of blowing out is compatible with pedal brake, active brake of blowing out and driver's gas pedal are driven Dynamic coordination and adaptive control scheme, according to the type and structure of electronic control unit set by brake monitor, main setting input, Parameter calculating, judgement of blowing out, control model conversion, anticollision, data processing (control), braking compatibility, output, monitoring, power supply etc. Module (76), (77), (78), (79), (80), (81), (82), (83), (84), (85)；Input module (76) is from data/address bus (21) each parameter signal is obtained, signal processing is carried out, processed signal is divided into two-way, all the way input parameter computing module (77), another way enters data processing module (81)；It is related that parameter calculating module (77) calculates the wheeled vehicles such as speed, slip rate Parameter；Input module (76), parameter calculating module (77) output signal enter judgement of blowing out, control model conversion, data processing Module (78), (79), (81)；Determination module (79) of blowing out carries out judgement of blowing out, and judgement of blowing out, which sets up output and blows out to control, to be entered Signal ia；Control entering signal of blowing out iaWhen arrival, control model conversion module (79) terminates nominal situation brake monitor at once I (71) inputs the control signal of braking executive device (73), calls control model conversion routine, realize it is normal and with blow out Operating conditions and control model conversion；Data processing module (81) is mainly with brake force Qi, longitudinal direction of car add and (subtract) speedRespectively Wheel angle adds and (subtracts) speedEach wheel angle adds and (subtracts) speed increment Δ ωi, slip rate SiOne of parameter or multiple parameters become in order to control Amount, passes throughΔωi、SiParametric form, using the wheel stable state for operating mode of blowing out, balancing brake, vehicle stable state, brake force Total amount (A, B, C, D) 75 control and control model, based on runflat condition and control the stage, vehicle flat tire anticollision control it is each when Area carries out the loop cycle of each logical combination control of braking A, B, C, D, by the control model for control program use of blowing out, model Data processing is carried out with algorithm, output signal carries out braking compatible processing through braking compatible modules (82), by output module (83) Output control signal group gz；Signal group gzBraking executive device (73) is controlled, the distribution and adjusting of each wheel brake force is carried out, realizes Wheel stable state, vehicle stablize deceleration and vehicle stabilization control；It blows out in control, brake monitor (70) is dynamic based on wheeled vehicle Mechanical equation, including vehicle (longitudinal direction) equation, tire model, vehicle wheel rotation equation etc.
8., electric control hydraulic braking executive device control structure and flow
I, the overall control architecture of braking executive device；Braking executive device is using braking anti-lock/anti-skidding (ABS/ASR), electricity The integration of sub- braking force distribution (EBD), electronic stability program (ESP) system (including VSC, VDC), active executive device of blowing out Design；As a kind of manned pedal of vehicles braking and tyre burst brake, automatic driving vehicle braking and active brake of blowing out Executive device, electric control hydraulic braking executive device is with each wheel brake force Qi, the positive and negative increment Delta ω of angular speediOr slip rate SiFor control Variable processed, in the cycle H of each control for brakehCycle in, pass through Qi、ΔωiOr/and SiThe control form of parameter is controlled indirectly Make each wheel brake force Qi；According to wheel stable state braking (A) of blowing out, respectively wheel balancing brake (B), vehicle stable state (C) differential braking, braking The logical combination of power overall control is based on Qi、ΔωiOr/and SiTarget control value, in each cycle HhComplete primary each wheel Qi、ΔωiOr/and SiThe distribution and control of parameter；Electric control hydraulic braking executive device (referred to as the device) using circulation cycle or Variable capacity brakes pressure regulation pattern, and mutually independent convertible hydraulic brake circuit I, II is arranged, collectively forms nominal situation pedal Brake, operating mode of blowing out active brake, compatible, the brake fade protection of braking etc. independently of each other or the work system coordinated；The device Servo-actuated brake pedal brake apparatus (300) with vacuum servo, power supply device (301), braking regulator (302) and four are set Take turns wheel cylinder (303)；It brakes regulator (302) and control valve I (304) and control valve II (305) is set；Control valve I (304) Do not power on normal open, control valve II (305) do not power on it is normally closed；The pressure fluid of the forward and backward hydraulic cylinder output of master cylinder (314) is through control Valve I (304) is divided into two-way, and regulator is connected on the normal open road all the way through control valve I (304), another way is through control valve I with braking (304) normally closed road links with pedal sense simulator (316)；Control valve II (305) does not power on normally closed, power supply device (301) normally closed pipeline of the pressure fluid exported through control valve II (305) links with braking regulator, on control valve II (305) It is a pressure limiting valve when electric-opening；Commutation (on and off) of the regulator (302) by control valve I (304), II (305) is braked, it is real The conversion of existing pedal brake and active brake two hydraulic circuit I, II；Control valve I (304), control valve II (305) generally use two Position threeway or 3-position-3-way electromagnetism；Pedal brake is arranged and active brake parallel work-flow control model of blowing out in braking executive device Regulator is braked, control valve II (305) set by regulator 302 is braked or the solenoid valve of 3-position 4-way can be used；Energy supply dress It is a precompressed power supply device, including pre- press pump and motor (315) to set (301), and active brake pressure is provided for normal and operating mode of blowing out A pressure sensor (317) is arranged in the output end of power liquid, precompressed power supply device；Brake the liquid of each balance car wheel set of regulator It presses on brake circuit, the pressure regulation power supply device of setting, including motor (307), booster pump (308), low pressure is returned liquid chamber (309), delayed Room (310) and several check valves (311) are rushed, the hydraulic pressure that balance car wheel set two takes turns same control or four-wheel independent control is collectively formed Brake circuit；It brakes regulator (302) and eight high-speed switch electromagnetism (bi-bit bi-pass), including four liquid feed valves (312) is set Liquid valve (313) is returned with four, constitutes the pressure adjusting structure and mode of circulation cycle, wherein liquid feed valve (312) control pedal braking dress Set master cylinder (314), pre- press pump (306) and motor (315) in (300), booster pump (308) inputs balance car wheel set or list The pressure fluid of hydraulic brake circuit is taken turns, the pressure fluid of liquid valve (313) control hydraulic brake circuit or wheel cylinder output, braking are returned Pressure fluid in wheel cylinder passes through back liquid valve (313), low pressure returns liquid chamber (309), reflux check valve (311), booster pump (308), buffering Room (310) is recycled to the output end of hydraulic brake circuit liquid feed valve (312), by the opening and closing of high-speed switch electromagnetic valve and each wheel or The increasing of hydraulic brake circuit is taken turns with leveling wheel pair two, is subtracted and pressurize adjusting, the distribution and adjusting of each wheel brake force of realization, feed liquor Valve (312) and time liquid valve (313) use two-position two-way solenoid valve；In control for brake, electronic control unit set by brake monitor exports Signal group gz(including gza、gzb、gzc、gzd、gze、gzf), into braking executive device；
Ii, braking executive device classification control structure and flow；One, vehicle traction anti-sliding control (ASR)；Electronic control unit exports Control signal, signal gza1The pre- of power supply device 301 is controlled by the energy supply demand (or storage pressure state with accumulator) of braking The operation and stopping of 306 motor 315 of press pump；Signal gza2Control valve I (304), II (305) are controlled, electromagnetic valve I (304) powers on pass It closes, electric-opening on II (305), it is established that each wheel hydraulic brake circuit II；Signal gza3It is needed by the energy supply of hydraulic brake circuit I, II It wants, controls the opening and closing of booster pump；Signal gzbBy forward and backward axle balance car wheel set and the brake force Q of each wheel distributioni, angle DecelerationOr slip rate SiTarget control value the feed liquor in hydraulic brake circuit is controlled with pulse width modulation mode Valve (312) and return liquid valve (313), by hydraulic brake circuit supercharging, decompression and pressurize, carry out indirectly forward and backward axle two wheel or The distribution (EBD) and adjusting of four-wheel pedal brake power, realize that vehicle traction is anti-skidding, and deficiency when driving steering or excessive turn To control；Secondly, nominal situation pedal brake power distribution (EBD) and vehicle stabilization control (ESP) under pedal brake, control System；Electronic control unit exports each control signal, signal gza2It is 0, as powers off, control valve I (304) powers off normal open, master cylinder (314), braking regulator (302) and each wheel cylinder constitute hydraulic brake circuit I；Master cylinder (314) forward and backward hydraulic cylinder The pressure fluid of output enters each braked wheel through braking the normal open road of regulator (302) each control valve (304), liquid feed valve (312) Cylinder (303), pipeline of the precompressed power supply device (301) through control valve I (304) to braking regulator (302) are closed；Signal gza3 It is needed by the energy supply of hydraulic circuit I, control is set to the booster pump (308) in hydraulic brake circuit I and opens and closes, and is hydraulic pressure Brake circuit I provides required pressure fluid；Control signal gzcWith brake force Qi, slip rate SiOr/and angular speed negative increment Δ ωi The integration objective controlling value of parameter carries out the distribution of forward and backward axle balance car wheel set brake force, control signal gzcOr press SiOr/and ΔωiThe target control value of parameter carries out four-wheel braking power distribution；Signal gzcWith pulse width modulation mode, hydraulic brake circuit is controlled In liquid feed valve (312) and return liquid valve (313), by hydraulic brake circuit supercharging, decompression and pressurize, realize forward and backward axle or The EBD and ESP of the pedal brake power of four-wheel are distributed and are adjusted, and reach that wheel braking is anti-skidding and vehicle stabilization control is (including anti- Only vehicle whipping, deficiency or oversteering) target；The control is front and back axle and split friction system under pedal brake state The stability control (ESP) of vehicle differential braking under the braking force distribution (EBD) and pedal brake state on number road surface；Thirdly, Pedal brake anti-lock controls；Under nominal situation, it is based on hydraulic brake circuit I, the forward and backward hydraulic cylinder output of master cylinder (314) Pressure fluid enter each wheel cylinder (303) through braking the normal open road of regulator (302) each control valve 304, liquid feed valve 312, Pipeline of the precompressed power supply device (301) through control valve I (304) to braking regulator (302) is closed, signal gza3By hydraulic pressure system The energy supply of dynamic circuit I needs to control booster pump (308) opening and closing being set in hydraulic brake circuit I, is hydraulic braking Circuit I provides required pressure fluid；When wheel reaches braking anti-lock threshold value, electronic control unit terminates the other control signals of the wheel Output, output braking anti-lock signal gzd, with Qi、Si、Pulsewidth modulation (PWM) mode of parametric form and signal, control Liquid feed valve (312) in hydraulic brake circuit and time liquid valve (313), pass through the supercharging, decompression and pressurize of hydraulic brake circuit, adjust The brake force for saving the wheel realizes that its braking anti-lock controls, and presses the wheel brake force height choosing or low of front and back axle balance car wheel set two The pattern of choosing is balanced braking force distribution and control to another wheel of wheel pair；Four, under nominal situation, vehicle electric The ESP controls of stability program system (including VSC, VDC etc.)；Electronic control unit exports each control signal, signal gza1By the confession of braking Energy demand (or storage pressure state with accumulator) controls the operation and stopping of pre- press pump 306, motor 315；Signal gza2Control Control valve I (304) control valve II (305) control valve I (304) powers on commutation and closes, and makes electric-opening on control valve II (305), controls Valve II (305) processed is all a pressure limiting valve, and control valve II (305) is connected within the scope of pressure limiting, is set up in braking executive device Hydraulic brake circuit II and respectively take turns hydraulic brake circuit；Pre- press pump (or and accumulator) (306) output pressure liquid is through control valve II (305) enter braking regulator (302), master cylinder (314) is through control valve II (305) to braking regulator (302) Fluid pressure line is closed, to the pipeline conducting of pedal brake simulator (316), and braking executive device enters ESP state of a controls；gze For the initiative brake target control value signal of vehicle stable state C controls：When pedal brake is with ESP active brake parallel work-flows, electricity It controls unit and compatible processing is carried out to pedal brake power and ESP initiative brakes, using each wheel balancing brake B controls and vehicle stable state The logical combination of C controls, the brake force target control value that each wheel distributes control partition equilibrium for B and have braked power and C control distribution The sum of differential braking unbalanced system power target control value；Based on hydraulic brake circuit II, signal gzeWith brake force Qi, sliding Rate SiOr angular speed negative increment Δ ωiParametric form controls the liquid feed valve (312) in hydraulic brake circuit by pulse width modulation mode With time liquid valve (313), recycled by hydraulic brake circuit supercharging, decompression and holding pressure control, indirectly two balance car wheel sets two of adjusting Braking force distribution is taken turns and respectively takes turns, the wheel of balance car wheel set two uses same or independent control, realizes vehicle stabilization control；Five, Blow out wheel and blow out vehicle stable state control；Electronic control unit exports each control signal, signal gza1By braking energy supply demand (or and The storage pressure state of accumulator) control pre- press pump (306), motor (315) operation and stopping；Signal gza2Control control valve (305) it powers on commutation to open, control valve (305) is a pressure limiting valve, and control valve (305) is connected within the scope of pressure limiting, holds in braking Luggage sets up each wheel hydraulic brake circuit II in setting；Pre- press pump (or and accumulator) (315) output pressure liquid is through control valve II (305) enter braking regulator (302), master cylinder (314) is through control valve I (304) to the liquid of braking regulator (302) Pressure pipe road is closed；When active brake of blowing out and pedal brake parallel work-flow, the pressure fluid of master cylinder (314) output enter pedal The hydraulic cylinder of brake simulator (316), braking executive device enter active brake of blowing out control compatible with pedal brake；Signal gzf(including gzf1、gzf2、gzf3) it is blow out each wheel braking force distribution of control, Regulate signal, signal of tyre burst ia、ib、icWhen Deng arriving, By runflat condition, control period (including really blow out, inflection point, the control for brake phase such as knocking over) and anticollision control time zone, controller institute If electronic control unit terminates each wheel nominal situation control for brake at once, it is transferred to operating mode control for brake pattern of blowing out, electricity set by controller Unit is controlled with each wheel brake force Qi, slip rate Si, angular decelerationVariable in order to control realizes each wheel, blows out and non-balance of blowing out Wheel is secondary and wheel pair two takes turns QiDirectly distribution or Si、Distribution indirectly；Control entering signal of blowing out iaWhen arrival, no wheel Which kind of nominal situation state of a control wheel of blowing out is in, which terminates at once, and wheel of blowing out enters stable state A controls, root According to parameter Si、Threshold Model and Controlling model, signal gzf1High-speed switch electromagnetic valve in control braking regulator, by Grade reduces the wheel brake force Q that blows outi, the wheel is made to be in stable state brake area；When inflection point of blowing out later stage or wheel rim detach, releasing is blown out Wheel braking, makes the wheelSiTend to 0；In signal iaThis cycle H to arrivehOr next cycle Hh+1, electronic control unit is using wheel of blowing out The logical combination and controlling cycle H of stable state A controls, each wheel balancing brake B controls, the C controls of vehicle stable statehLogic loops, it is defeated Go out to blow out operating mode vehicle steady state control signal gzf2, with A controls, C controls or with folded B control logics combination, carry out each wheel, quick-fried Tire, non-balance car wheel set braking force distribution of blowing out；Signal gzf2With brake force Qi, slip rate SiOr angular speed negative increment Δ ωiGinseng Number form formula controls the liquid feed valve (312) in hydraulic brake circuit and returns liquid valve (313), by hydraulic pressure system by pulse width modulation mode Dynamic circuit supercharging, decompression and holding pressure control cycle directly or indirectly adjust two balance car wheel sets, the wheel of balance car wheel set two and each wheel Braking force distribution；Pedal brake and blow out active brake parallel work-flow when, electronic control unit by pedal brake power and blow out actively make Dynamic compatibility mode is handled, using the logical combination of each wheel balancing brake B controls and the C controls of vehicle stable state, each wheel distribution Brake force target control value is the differential braking unbalanced system power target control of the balancing brake and C control distribution of B control distribution The sum of value processed；Six, in hydraulic brake circuit I, II, one is included at least by master cylinder (314) or power supply device (301) extremely The normal open fluid pressure line of wheel cylinder, solenoid valve, hydraulic valve in the fluid pressure line are set as normal open (unlatching), i.e., solenoid valve not on It opens when electric, or is commutated by differential pressure control valve, when braking executive device is without control electric signal input, master cylinder (314) Or the pressure fluid of power supply device (301) output can be directly entered each wheel wheel cylinder (303)；
9., electric-controlled mechanical braking system is using no self energizing effort or self energizing effort device；Pass through electric machine built-in, electricity without self energizing effort device Machine, feed screw nut, planetary gear train integration etc. optimize machine system；Self energizing effort structure includes mainly voussoir, lever etc.；It adopts The rotation of motor is converted into translation with planet and worm gear mechanism；Brake pedal feel simulator and mechanical system are set Dynamic pedal malfunction and failure protective device, the same brake pedal of two devices, two devices are configured as one；Simulation is felt in pedal brake Device is made of series connection twin-stage spring, and when braking makes driver obtain " braking feel "；Electric-controlled mechanical braking system is used for nobody When driving vehicle, brake pedal feel simulator is not set；
10., electro-hydraulic and electric-controlled mechanical brake fade judgement and control
I, malfunction and failure judges；One, fail-ure criterion, electronic control unit fail-ure criterion module integrate angular deceleration with each wheelIt steps on Plate stroke Sw, brake-pressure sensor detection signal PwOr automatically controlled parameter signal is input parameter signal, is based on fail-ure criterion device, It fails to fail-ure criterion pattern, model judgement EHB control for brake by wheeled vehicle state parameter or the forward and inverse of automatically controlled parameter, it is defeated Go out fail safe signal il；Secondly, brake fade control；Fail safe signal ilWhen arrival, system enters Failure Control, signal ilElectric-controlled mechanical braking executive device or/and brake pedal auxiliary machinery, vacuum servo, hydraulic servo are controlled, is each wheel Brake force is provided, realizes brake-by-wire fail safe；EMB or setting stand-by power supply are automatically controlled machine when system primary source failure Tool braking executive device is powered；After the completion of thrashing control, when electronic control unit resets second of startup, auxiliary electric control device is When export Failure Control ring off signal；Fail safe signal ilTwo kinds of signals, two kinds of signals are entered and exitted including Failure Control Direction on the contrary, direction refers on the contrary：The signal is positive and negative, opposite in phase, opposite to the effect of actuator；Fail-ure criterion and control Parameter signal include：The input signal of each sensor signals, the signal of electronic control unit processing, execution unit, mainly by electricity Each electrical parameter signal such as stream, voltage, frequency, modulation is constituted, wherein 0 and non-zero logic threshold judge using logic circuit it is low, High level or digital signal；The combination configuration of ii, brake monitor and braking executive device and Failure Control；It mainly uses following Combination configuration：One, electronic control unit+brake fluid system (HBS)+hydraulic emergency brake protection device；Normally, it blows out operating mode Under, electronic control unit exports QiOrΔωi、SiEach wheel braking force distribution signal of one of parameter or multiple parameters controls hydraulic pressure Braking executive device adjusts each wheel brake force, and by before and after brake piping or diagonal line separate configurations and active brake are lost The various patterns of automatic switching on of back pedal brake hydraulic line and wheel cylinder are imitated, braking system faults fail safe is carried out；Its Two, major and minor electronic control unit+major and minor (or two independences) hydraulic braking executive device；Main electronic control unit or/and main hydraulic braking are held When one of independent brake device that luggage is set, front and back axle or X are diagonally arranged fails, secondary electronic control unit is slowed down with the comprehensive angle of each wheel Degree(or), pedal travel SwOr detect signal P with brake-pressure sensorw(or other automatically controlled parameters) is input signal, Fail-ure criterion device is controlled by wheeled vehicle state parameter or the forward and inverse of automatically controlled parameter to fail-ure criterion pattern, model judgement EHS brakings System failure, secondary electronic control unit output fail safe signal il, the secondary hydraulic braking executive device of control (or the another set of liquid not failed Press braking executive device), it is commutated by the electromagnetic switch valve on solenoid valve and accumulator output pipe, by accumulator output pressure Liquid, establishes the hydraulic coupling of emergency brake on the hydraulic circuit of each wheel cylinder, carry out braking system faults fail safe or and ABS is controlled；Thirdly, using electronic control unit+auxiliary electric control device+electric-controlled mechanical braking executive device+major-minor power configuration；In electricity It controls mechanical braking system (EMB) setting structure and functionally strictly divides the major and minor electronic control unit (ECU) defined, major-minor power supply Using vehicle power supply, super capacitor or lithium battery combination etc.；The electronic control unit of EMB line control systems and the control of auxiliary electric control device Chip, data transmission, monitoring, is arranged for electric installation, supply line, fault-tolerant processing software and hardware input and output independently of each other, assists Electric control gear is relatively easy, does not have electronic control unit primary structure and control function；Blow out, it is non-blow out under each operating mode, it is all kinds of Braking system realizes that vehicle stabilization slows down, stable state control and the anticollision of environmental harmony control by brake fault fail safe； Iii, electronic hydraulic brake system EHS, the brake arrangement of electric-controlled mechanical braking system EMS and brake fade protective device；EHS、 EMS is using electronic control unit and the configuration mode of auxiliary electric control device+power supply and accessory power supply electricity (energy memory element)；Electronic control unit Auxiliary electric control device is used when failure, and accessory power supply is used when power failure；Power supply and accessory power supply are made of multiple assembled battery And structure, it accessory power supply or is made of the power storage elements such as power management module, super capacitor in electronic control unit；Electronic control unit When with power supply global failure, power management module controls electric current, the voltage that power storage element provides the certain time-delay time, immediately The electric control elements such as solenoid valve, relay are triggered, electric-controlled hydraulic and electric-controlled mechanical conversion equipment are started, control normal brake application and failure The conversion of Failure Control；One, control solenoid valve commutation, the brake force that artificial pedal is exported through master cylinder is directly inputted respectively Wheel cylinder, or by hydraulic servo regulator, each wheel cylinder is made to obtain the system consistent with master cylinder hydraulic pressure variation Power；Secondly, control electric-controlled mechanical device pedal machines brake force is amplified through mechanical device or mechanical accumulation installation, effect In EMB braking clamp bodies；Iv, braking executive device are independently arranged using front and back axle or diagonal line wheel and two electronic control unit are independent Control mode, wherein another set of when a set of brake apparatus malfunction and failure independently undertake braking function；V, brake pedal feel is set Simulator and brake pedal malfunction and failure protective device, two devices are configured as one with brake pedal；Pedal brake Feel that simulator is made of series connection twin-stage spring, when braking makes driver obtain " braking feel "；When brake-by-wire fails, lead to It crosses power conversion device and pedal force is transferred to mechanically or hydraulically brake fault abating protection device；Mechanical pedal malfunction and failure is protected For protection unit using lever augmented, brake force is passed to engine shaft by the pedal force of boosting lever output via tension wire Seize braking clamp body；Hydraulic brake failure abating protection device uses pedal force hydraulic servo servo-actuated power assisting device, with spare storage Energy device is as power source；Vi, electro-hydraulic brake subsystem (EHS)；EHS uses electrical-control hydraulic brake fade protective device； Two input terminals of two-position five-way solenoid directional control valve with respectively master cylinder (master cylinder) and accumulator output end connect, electromagnetic switch Three output ports of valve are connect with two input terminals of the input terminal of pedal sense simulator, hydraulic servo device respectively； When EHS line control systems work normally, solenoid directional control valve works hard in glove with the pipeline of master cylinder and pedal sense simulator, will brake Two intake lines of master cylinder, accumulator and hydraulic servo device are closed, and driver obtains the pedal sense of normal brake application；EHS EHS enters fault mode, the defeated brake fade protection signal i of electronic control unit when line control system failslSolenoid valve transposition is controlled, is blocked Hydraulic tube access between master cylinder and pedal sense simulator, by master cylinder, accumulator to hydraulic servo device Two connecting lines are worked hard in glove with, and the pressure fluid of master cylinder and accumulator output enters hydraulic servo device, accumulator output simultaneously Servo of the pressure fluid through hydraulic servo device adjust, input each wheel cylinder, each wheel cylinder obtains the change with master cylinder Change consistent and amplification brake force.
4. method according to claim 1, characterized in that deflecting roller flywheel moment control model, structure and flow are following It is described；Deflecting roller turns round force controller, is based on electric boosting steering system (EPS) or Electro-Hydraulic Power Steering System (EPHS), according to the structure of electronic control unit, type, corresponding control module is set；
1., controller use basic model and algorithm
Controller be based on electric boosting steering system EPS, establish steering wheel, steering gear, rack and pinion drive, deflecting roller, Motor force aid system kinetic model determines steering response characteristic according to kinetic model, overshoot, stabilization time, returns Torque exports motor power-assisted square M under nominal situation, operating mode of blowing outa, ground flywheel moment M suffered by operating mode of blowing out deflecting rollerk, it is quick-fried Tire flywheel moment Mb′：
Under each operating mode such as normally, blow out, power steering square (or moment of resistance) MaFor nominal situation motor power-assisted square Ma1It is flat with blowing out Weigh power-assisted square Ma2The sum of：
Ma=Ma1+Ma2、Ma2=-Mb′
G in formulamFor retarder reduction ratio, kmFor motor torque coefficient, imFor armature power-assisted electric current, θm(θm1, θm2) it is motor Corner, BmFor machine shaft Equivalent damping coefficient, McFor steering-wheel torque, jmIt is that steering wheel turns for machine shaft rotary inertia, δ Angle, jcFor steering steering wheel equivalent moment of inertia, BcFor steering equivalent directions disk damped coefficient；
2., power steering controller
Power steering controller (141) works out control program or software according to power steering control model, model and algorithm, if Set electronic control unit；
I, direction determining device (142)；Flywheel moment of blowing out Mb' forming process it is consistent with true process of blowing out, in Mb' formed In the process, work as Mb' reach by steering wheel angle δ, steering-wheel torque Mc(or steering wheel angle and torque) and its critical point in direction When an identified critical condition (critical value), steering wheel (or deflecting roller) corner δ, torque M can be passed throughcDirection and its judgement Logic decision Mb' direction, direction determining device (142) are based on the flywheel moment M that blows out made by the resolution principle, decision logicb' Direction determining has uniqueness；Power steering controller provides：With steering wheel angle δ and torque Mc(or steering wheel angle and turn Square), deflecting roller flywheel moment Mk(including aligning torque Mj, flywheel moment of blowing out Mb', steering resisting moment etc.), steering wheel (or turns To wheel) rotary angle transmitter, the surveyed corner δ of torque sensor and torque Mc0 point be origin；It is provided based on origin：Rotation angular sensing The trace (corner increase) of the surveyed corner of device is positive (+), backhaul (corner reduction) is negative (-)；Based on steering wheel angle δ (or turn To wheel corner), the origin (0 point) of the surveyed corner of sensor, by steering wheel angle, δ points are left-handed and dextrorotation (counter-clockwise and up time Needle)：When corner δ is dextrorotation, it is specified that steering-wheel torque Mc(or the surveyed torque of torque sensor) dextrorotation is positive (+), left-handed is Negative (-)；When corner δ is left-handed, it is specified that steering-wheel torque McIt is positive (+) that (the surveyed torque of sensor) is left-handed, dextrorotation is negative (-)；That is when steering wheel angle δ with 0 is origin, steering wheel or so is oppositely oriented, it is specified that steering wheel (or torque sensor institute Surveying) positive (+) of torque, negative (-) be opposite；It provides simultaneously：Flywheel moment of blowing out M 'b, power steering square MaDirection regulation and turn to The regulation in the directions disk corner δ is identical, and corresponding positive (+), negative (-) is used in combination to indicate；One, torque direction determinating mode；Based on upper State steering wheel angle δ and torque MCOrigin provide, steering wheel angle δ rotates left and right the regulation in direction, steering-wheel torque MCSide To and MCIncrease decrement Δ MCThe regulation of positive (+) negative (-) and the flywheel moment M that blows outb' direction and power steering square MaDirection is just (+) negative (-) regulation, establishes the flywheel moment M ' that blows out when steering wheel angle δ dextrorotation (or deflecting roller right-hand rotation)b, power steering square Ma The decision logic of (-) is born in direction positive (+), which can be shown by the logical diagram of following " torque direction determinating modes ", According to the logical diagram of decision logic, the flywheel moment M that blows out is determinedb' and power steering square MaDirection；
Torque direction determinating mode：δ dextrorotation logical diagrams
Torque direction determinating mode：The left-handed logical diagrams of δ omit；Based on steering wheel angle δ and torque MCOrigin regulation, steering wheel When corner δ left-handed (or deflecting roller left-hand rotation), positive (+) of steering-wheel torque (or the surveyed torque of sensor), negative (-) provides and steering Positive (+) negative (-) regulation when disk corner δ dextrorotation (or deflecting roller right-hand rotation) is just the opposite；When left-handed according to steering wheel angle δ just (+) negative (-) regulation, can establish steering wheel angle δ it is left-handed when blow out flywheel moment M 'b, power steering square MaWalking direction logic, In addition to positive (+) negative (-) the regulation difference used except above-mentioned steering wheel angle δ rotation directions are different, direction when steering wheel angle δ is left-handed Parameter, structure, determination flow and the mode that decision logic and logical diagram use (are turned to above-mentioned steering wheel angle δ dextrorotation Wheel is turned right) when used parameter, structure, determination flow it is identical with mode；Secondly, outer corner difference direction determining pattern；Based on upper State steering wheel angle δ torque MsCOrigin regulation, steering wheel angle δ left-right rotaries (or deflecting roller left/right rotation) regulation, steering system turn round Positive (+) negative (-) regulation, the corner difference for the absolute corner δ (to nonrotational reference system) that two sensors set by power bar both ends measure The regulation of positive (+) negative (-) and the flywheel moment M that blows outb' direction and power steering square MaPositive (+) in direction, negative (-) regulation, Determine that positive (+) of the surveyed corner difference DELTA δ of two sensors is negative (-), positive (+) negative (-) of corner difference DELTA δ, which essentially indicates, to be turned To disk torque MCPositive (+) of direction of rotation is negative (-), establishes the revolution of blowing out when steering wheel angle δ dextrorotation (or deflecting roller right-hand rotation) Torque M 'b, power steering square MaThe decision logic in direction positive (+) negative (-), which can be by following " outer corner difference direction determinings The logical diagram of pattern " is shown, according to the logical diagram of direction decision logic, determines the flywheel moment M that blows outb' and turn to help Torque MaDirection；
Outer corner difference direction determining pattern：Difference letter Δ δ is positive steering wheel dextrorotation logical diagram
Outer corner difference direction determining pattern：Difference DELTA δ is that the negative left-handed logical diagram of steering wheel omits；Based on steering wheel angle δ and torque MC Origin regulation, when steering wheel angle δ left-handed (or deflecting roller left-hand rotation), positive (+) of steering-wheel torque (the surveyed torque of sensor) Negative (-) regulation and positive (+) negative (-) regulation when steering wheel angle δ dextrorotation (or deflecting roller right-hand rotation) are just the opposite；According to the left sides its δ Positive (+) negative (-) regulation when rotation, can establish steering wheel angle δ it is left-handed when the flywheel moment M ' that blows outb, power steering square MaDirection Decision logic, in addition to positive (+) that above-mentioned steering wheel angle δ rotation direction differences use negative (-) regulation is different, steering wheel angle δ is left Parameter, structure, determination flow and the mode that walking direction logic and logical diagram use when rotation are right with above-mentioned steering wheel angle δ It is identical with mode to revolve used parameter, structure, determination flow when (or deflecting roller right-hand rotation)；It blows out in above-mentioned each table flywheel moment M′bNominal situation is indicated for 0, is not blown out；Pass through the flywheel moment M ' that blows outbPositive (+) or negative (-) can be determined whether that wheel is quick-fried Tire；Flywheel moment of blowing out M 'bM ' is indicated for positive (+)bIt is directed toward the direction of steering wheel angle δ traces, power steering square M in directionaSide To 0 of direction δ；Flywheel moment of blowing out M 'bM ' is indicated for negative (-)bIt is directed toward the direction of steering wheel angle δ backhauls, turns to and helps in direction Torque MaDirection be directed toward δ trace direction；Wherein Δ McShow ground effects in the turning power M of deflecting roller for 0kWith steering Disk torque is in dynamic balance state, and MkChange rate be 0；Thirdly, according to blow out wheel position and field test judgement Mb' side To：Front axle wheel is blown out, flywheel moment of blowing out Mb' direction be directed toward blow out wheel position same direction side (left or right)；Together Reason, blows out for rear axle wheel, according to wheel position, steering wheel angle direction and the field test of blowing out, can determine that suffered by deflecting roller Flywheel moment of blowing out Mb' direction；Four, Vehicular yaw determinating mode；After vehicle flat tire, the understeer and right-hand rotation of left turning vehicle The oversteering of vehicle shows that off-front wheel is blown out, and the oversteering of right-turning vehicles understeer and left turning vehicle shows that the near front wheel is quick-fried Tire；According to the directions steering wheel angle δ and the deficiency or oversteering of vehicle, it equally can determine that deflecting roller caused by trailing wheel is blown out is quick-fried Tire flywheel moment Mb' direction；Ii, power steering square controller；The controller (141) includes E controller (143) and G controllers (144)；Steering-wheel torque sensor detection parameters signal Mc2Through phase compensator (146) input E controller (143)；E controller (143) with steering-wheel torque McFor variable, with speed uxFor parameter variable is established on the positive and negative stroke of steering wheel angle δ McWith parameter uxNominal situation power steering square Ma1Characterisitic function (156)：
Ma1=f (Mc, ux)
On the positive and negative stroke of steering wheel angle, Ma1Characterisitic function is two not exactly the same or different functions, " different Function " is expressed as：On the positive and negative stroke of steering wheel angle, any point on two function curves, parameter McAnd uxValue phase Function M togethera1Value and curve near tangent slope it is different, the curve of characterisitic function uses broken line form (Figure 15)；Based on spy Property function, calculate parameter uxUnder the conditions of each value, variable McAnd function Ma1Between respective value, formulate parameter ux, variable Mc Function respective value Ma1Numerical value chart, which is stored in electronic control unit；It normally and blows out under operating mode, is controlled by power-assisted steering Program, controller is with steering-wheel torque Mc, speed uxIt calls nominal situation to turn to using look-up table for parameter from electronic control unit and helps The target control value M of torquea1；It blows out under operating mode, E controller (143) mainly determines turning power of blowing out using following both of which Square Mb′；Pattern one：Mb' reach by steering wheel angle δ, steering-wheel torque McDetermining critical point, and the turning power M that blows outb' square side To it has been determined that Mb' value can be by steering-wheel torque Me, steering wheel angle δ, aligning torque Mj, steering wheel (or deflecting roller) turning power Square increment Delta McIt is determined for the mathematical model and steering mechanical equation of parameter；In each parameter using the control of this flywheel moment Under coordinate system, origin and the rated condition in direction, the kinetics equation of electric boosting steering system (EPS) determines that the when of blowing out turns To flywheel moment M in ground suffered by wheelk：
When the equation does not include motor mechanical system, system dynamics equation is：
M in formulakIncluding aligning torque Mj, flywheel moment of blowing out Mb', vehicle wheel rotation moment of resistance Mg, the meaning of each primary and secondary with it is above-mentioned The mechanical equation of EPS system is identical, Mk、Mc、Mj、M′bDirection determined by the actual direction of each parameter in a coordinate system；Pattern Two：Structure based on runflat condition, blow out control stage and braking system, E controller (143) is with the wheel radius R that blows outi(or it is vertical Lateral rigidity), slip rate Si, load Nzi, friction coefficient μi, tire pressure pri, or take turns with deflecting roller balance car wheel set two equivalent opposite Angular velocity omegae, angular decelerationSteering wheel angle δ, speed ux, vehicle side accelerationYaw velocity state deviationFor main input parameter signal (155), the turning power M ' that blows out of its parameter is establishedbEquivalent Calculation Model, using PID, The respective algorithms of the modern scientists reason wheel such as sliding formwork control, fuzzy, sliding formwork control determine M with tire burst testb' value, it is attached by one Add power steering square Ma2With the flywheel moment M that blows outb' balance each other：
Ma2=-M 'b==Mb
M in formulabFor realizing balanced rotation torque of blowing out；For the vehicle of vehicle stabilization control programming system (ESP) is not arranged, before blowing out It phase and really blows out the phase, mainly the following equivalent function models of use determine Mb′：
Mb' or determined by the empirical equation of tire burst test；For the vehicle of ESP is arranged, blows out and early period and really blow out the phase, adopt M is determined with following equivalent modelsb′：
Inflection point of blowing out and knocking over control period, withωe、Or anduxFor major parameter, following equivalent moulds are mainly established Type determines Mb′：
M in formulab' it is each nonlinearity in parameters function；It is calculated to simplify, mainly uses MbThe correction model of ' relevant parameter：
Mb'=f (pri, Si, Nzi, λ1)、
λ in formula1、λ2For correction factor；It blows out under operating mode, G controllers determine power steering square target control value Ma, MaFor normal operating mode Power steering square target control value Ma1With the power steering square M that blows outa2The sum of (147)：
Ma=Ma1+Ma2
M in formulaa2For the flywheel moment M that blows outb' trimming moment；G controllers are by torque and current of electric or voltage relationship model 148 by MaBe converted to current of electric imcOr voltage Vmc：
imc=f (Ma)、Vmc=f (Ma)
Power steering controller (141) presses power steering square target control value MaCarry out power-assisted steering control of blowing out；Iii, steering help Power controls electronic control unit；Electronic control unit (145) data processing and control module include mainly microcontroller (MCU) and periphery electricity Road, setting signal adjusting, pressure limiting, driving submodule (149), (150), (151), based on power steering control model, the mould of blowing out Type and algorithm carry out data processing by control program or software；Signal Regulation submodule (149) presses PID modulation systems, and passes through Pressure limiting submodule (150) pressure limiting, output DC chopped-wave signal (PWM)；The signal inputs mainly by driver and output interface structure At driving submodule (151)；Driver (151) is mainly by driving circuit, FET-H electric bridges, current sensor (152), electric currentBackfeed loop is constituted；Sensor (152) detects the electric current for flowing through armatureElectric currentThrough circuit feedback to adjusting The current input terminal of submodule (149)；Electronic control unit (145) is by the power-assisted steering current target controlling value of outputWith electric current The actual current value of sensor (152) detectionDifference operation is carried out, deviation signal is obtained
Target currentWith actual currentClosed loop is constituted, deviation signal is based onBy Current Negative Three-Point Capacitance, electric current is realized Negative feedback closed loop controls；Iv, power steering apparatus and control flow；Electronic control unit (145) output signal, controls electric boosted dress The assist motor in (153) is set, assist motor exports power steering square, through machine driving and deceleration device, into steering (154), normal, blow out under operating mode, power steering apparatus (141) realizes power-assisted steering control；
3., steering wheel torque control device
I, steering wheel torque control device (160)；The controller setting direction judging device (161) defines steering-wheel torque target control Value M processedc1With the real-time detected value M of steering-wheel torque sensorc2Between deviation delta Mc；Power steering square is determined according to positive and negative (+, -) Ma, assist motor electric current imAnd assist motor rotation direction；As Δ McFor positive (+) when, power steering square MaDirection be MaIncrease Direction, MaAs a power steering square；As Δ McWhen to bear (-), power steering square MaDirection be MaThe direction of reduction, MaThen As a steering resisting moment；By the closed-loop control of steering wheel torque control device, make steering-wheel torque actual value (measured value) Mc2 Always its target control value M is trackedc1；Steering wheel torque control device (160) includes E controller and G controllers (162)；E controller (162) with steering angle δ (164) for variable, with speed ux(165), steering wheel rotation angular speed(166) it is parameter, uses Steering wheel torque control pattern establishes steering-wheel torque McCharacterisitic function and function curve：
λ is in formulaPenalty coefficient, f (δ, ux) using linearly or nonlinearly form, include mainly broken line type Figure 16, according to broken line Type function determines nominal situation steering-wheel torque target control value Mc1；Numerical value chart, the chart are formulated based on each parameter calculated value It is stored in electronic control unit；Normally, it blows out under operating mode, electronic control unit controls program by the power-assisted steering that controller uses, to turn to Disk corner δ, speed ux, steering wheel rotation angular speedSteering wheel is called to turn from electronic control unit by look-up table for major parameter The target control value M of squarec1；Define steering-wheel torque target control value Mc1With the real-time detected value M of steering-wheel torque sensorc2It Between deviation delta Mc：
ΔMc=Mc1-Mc2
Based on deviation delta Mc, establish the operating mode power steering square M that blows outaCharacterisitic function：
Ma=f (Δ Mc)
MaWhen using linear model：
Ma=k Δs Mc
K is coefficient in formula；G controllers are by torque and current of electric or voltage relationship model, by MaBe converted to current of electric imcOr Voltage Vmc：
imc=f (Ma)、Vmc=f (Ma)
Steering wheel torque control device (160) presses power steering square target control value MaCarry out power-assisted steering control of blowing out；Ii, steering Disk direct torque electronic control unit；Electronic control unit (163) data processing and control module include mainly microcontroller (MCU) and periphery Circuit, setting signal adjusting, pressure limiting, driving submodule (167), (168), (169), based on steering wheel torque control mould of blowing out Formula, model and algorithm carry out data processing by control program or software；Data processing and control module are by steering-wheel torque Target control electric currentElectric current is detected in real time with steering-wheel torque sensorDifference operation is carried out, offset current is obtainedPartially Spill currentFor assist motor target control electric current；Offset currentIt is adjusted, is obtained by the PID of Signal Regulation submodule 167 DC chopped-wave signal (PWM), pwm signal are handled through pressure limiting submodule (168) pressure limiting, input driving submodule (169)；Driving Module (169) is mainly made of driving circuit, FET-H electric bridges, current sensor (171) and detection circuit etc., and each circuit is micro- The minimum peripheral circuit of controller (MCU)；Microcontroller (MCU) uses closed-loop control, the electric current of armatureFlow through electricity Flow sensor (171), then the input terminal through circuit feedback to microcontroller (MCU), target currentWith actual currentStructure At closed loop, pass through armature electric currentTo its target control electric currentInto line trace, make steering wheel actual torque Mc2Always Track its target control value Mc1；Regulated power supply (173) uses vehicle-mounted control power supply, power-assisted steering to control signal by drive module (169) it exports；Iii, steering-wheel torque power assisting device and control flow；Electronic control unit drive module (169) exports power-assisted steering Signal controls the assist motor (170) in electric booster, power-assisted electricity in the logic loops of power-assisted steering controlling cycle The power steering square of machine (170) output carries out power-assisted steering control through machine driving, deceleration device, input steering (172) System；
4., steering wheel angle and steering-wheel torque jointly control pattern and controller
It blows out and turns in turning power control, united controller jointly controls pattern by it, with steering-wheel torque McAnd steering wheel angle δ variables in order to control, using steering-wheel torque McWith steering wheel angle δ and rotational angular velocityThe coordination of two-parameter coupling controls, and leads to Steering assist motor is crossed, power steering or the moment of resistance ± M are provided to steering in positive and negative both directiona；Simultaneously by steering Disk corner control model controls the assist motor in power steering apparatus and power assisting device, thus controls steering-wheel torque Mc, turn Angle δ and rotational angular velocityIt is two-parameter, under certain speed and ground friction coefficient, limits, adjusts steering wheel or deflecting roller most Big corner or best corner limit, adjust the maximum rotation angular speed or optimum rotation angular speed of steering wheel or deflecting roller；
5., deflecting roller turning power control structure and flow
I, electric boosting steering system (174) setting mechanical steering device (175) and electric booster (176)；Mechanical steering Device (175) includes mainly：Steering wheel (177), steering column (178), torque arm (179), steering gear (180), machine driving dress Set (rack and pinion drive mechanism) (181), wheel (182)；Electric booster (176) mainly by：Rotary angle transmitter (183), Torque sensor (184), electronic control unit (185), steering assist motor (186), transmission and deceleration device (or and clutch) (187) it constitutes；Deflecting roller turns round electronic control unit set by force controller with speed, steering-wheel torque and direction, current of electric, motor Rotating speed, motor torque sensor detection signal are input parameter signal, setting input, data processing and control, power supply, monitoring, Output, postposition conversion module, wherein input module include input interface, sensor signal processing circuit, and output module includes driving Dynamic and protection circuit；Based on each input parameter signal, data processing and control module judgement deflecting roller flywheel moment, power steering Current of electric direction and rotation direction are carried out by the program or software of the establishment of power steering control model of blowing out, model and algorithm Data and control process control signal and are exported by output module；It controls signal and control model turn is carried out by postposition conversion module It changes, output deflecting roller is blown out flywheel moment control signal ga, signal gaControl the power steering electricity in electric booster (176) Machine (186), assist motor (186) export power steering square in regulation rotation direction, and power steering square is through transmission, deceleration device (or and clutch) (187) input mechanical steering device (175), in any angular position of steering wheel, provide steering Power steering or the moment of resistance realize normal, control of the operating mode of blowing out to steering-wheel torque and power steering square；Ii, electric-controlled hydraulic Power-assisted steering executive device；The device is based on Electro-Hydraulic Power Steering System (EPHS), by mechanical steering system and automatically controlled liquid Force aid system is pressed to constitute；Mechanical steering system includes motor, pump, steering control valve, power cylinder, mechanical driving device, solenoid valve Deng using flow or hydraulic power control structure and mode：Including classes such as flow, hydraulic cylinder shunting, pressure feedback and valve characteristics Type；Electronic control unit output control signal gb1And gb2；Signal gb1Control EPHS flow-control modules in servo motor rotating speed or Control the solenoid diverter valve aperture in hydraulic cylinder flow dividing structure or the electro-control converter in control pressure structure and reaction force electricity Magnet valve adjusts the flow or pressure of fluid in input hydraulic pressure power cylinder；Signal gb2Control two chamber of fluid power cylinder input or it is defeated Solenoid directional control valve replaces set by outlet pipe road, realizes the input of two chamber of fluid power cylinder or the switching of output flow direction, and By the change in fluid power cylinder inner piston rod power output direction, provide what direction determined in any angular position of steering Power steering or the moment of resistance.
5. method according to claim 1, characterized in that lift suspension controller and executive device are based on vehicle-mounted suspension system System, according to controller, the type and structure of electronic control unit, is arranged corresponding control module；
1., suspension lift control (190)
Controller (190) is with tire pressure (or wheel effective rolling radius), suspension position height, liquid (gas) pressure and flow, suspension position The shifting sensors detection parameters signal such as speed and acceleration is main input parameter signal, based on Suspension Construction Parameters (including bullet Property element rigidity Gv, damping, wheel weight etc.), by field test, establish normal, operating mode of blowing out suspension lift control Pattern, model and algorithm, determine in real time it is normal, blow out under each operating mode, it is each to take turns suspension position height target control value SvAnd actual measurement Value Sv′；Input, control model conversion, suspension rate adjusting, suspension vibration damping resistance regulation, suspension is mainly arranged in controller (190) Stroke adjustment, coordination, monitoring, output module (191), (192), (193), (194), (195), (196), (197), (198)；Control Mode conversion module (192) processed uses Program transformation control model, control entering signal of blowing out iaWhen arrival, control of blowing out is called Subprogram；Coordination module (196) to suspension rate, vibration damping resistance, suspension travel adjust three modules (193) (194) (195) into Row coordinates control, into blow out control when, Coordination module (196), which at once terminates to blow out, takes turns damping control module (194) It adjusts, is allowed to be 0 or up to a setting value；Each wheel suspension that suspension rate control module (193) is adjusted including wheel of blowing out is rigid Degree；Each wheel of the suspension travel adjustment module (195) including wheel of blowing out enters suspension travel shaping modes of blowing out：With wheel of blowing out Effective rolling radius, wheel load of blowing out transfer amount are major parameter, establish the mathematical model of its parameter, determine that respectively wheel is outstanding after blowing out Rack position regulated value Sv3And each wheel suspension position height target control value Sv；According to suspension position height measured value Sv' and target Controlling value SvDeviation ev(t), pass through deviation ev(t) feedback control realizes that each wheel suspension position including wheel of blowing out is high The adjusting of degree；
2., lift suspension executive device
I, suspension position height, which is adjusted, uses air spring suspension (199)；Suspension lift unit 200 is mainly by compression pump, accumulation of energy Device, air pressure and flow regulator are constituted, and the suspension travel adjustment module (95) of suspension lift control (190) is with suspension lift Input pressure pv, flow QvFor major parameter, its parameter and suspension stroke positions height S are establishedv, load Nzi, suspension rate Gv Between relational model, based on the model carry out data processing, output module (198) export suspension lift Regulate signal, control Lift air bag of the lift unit (200) into air spring inputs air mass flow, the pressure adjusted via lift unit (200), To adjust suspension position height；Ii, suspension lift unit and damper constitute compound suspension frame；Iii, automatically controlled air lift device With air spring, damper forming composite structure, the interior setting lift air bag of air-spring bellows and air-spring bellows double bolloon Structure, and it is compound with hydraulic damper；Iv, electric-controlled mechanical lift unit and air spring, hydraulic damper forming composite structure, Wherein electric-controlled mechanical lift unit is mainly made of motor, the devices such as increasing square, rack-and-pinion or planetary gear that slow down；Electronic control unit Output signal gl1、gl2、gl3It controls each device and realizes suspension rate, damping damping and the adjusting of position height.
6. method according to claim 1, characterized in that the embodiment that this method uses includes mainly following I and two kinds of II Type；
Embodiment I；This method is based on vehicle-mounted braking, engine air throttle and automatically controlled servo steering system, adoption status tire pressure or The determinating mode of blowing out for turning to mechanical state, it is inclined to take turns equivalent, non-equivalent Relative sliding rate, yaw velocity with balance car wheel set two Difference, power steering square deviation are recognition mode of blowing out, the model of major parameter with steering wheel angle deviation, blow out sentencing It is fixed；By vehicle-mounted CAN data/address bus or direct physical routing, the data transmission of this control and onboard system control is realized；We Method uses the control translative mode of communication protocol, by the active for control of blowing out, coordinates the pattern for entering and exiting, model, setting Braking, engine air throttle, steering-wheel torque torque controller；Based on controller, the type of electronic control unit, structure, phase is set The control module answered；Control flow is：Onboard system and 210 detection parameters signal of sensor set by controller of blowing out pass through master control 5 input brake controller of device, engine air throttle, steering wheel torque control device, controller carry out data processing, output signal control Electric control hydraulic braking arrangement, engine throttle door gear and automatically controlled servo steering system processed realize vehicle flat tire indirect control；
1., blow out master control and brake monitor
Main controller of blowing out uses integrated design (abbreviation brake monitor), the tyre burst brake of brake monitor with brake monitor Control is compatible with vehicle-mounted braking anti-lock/antiskid system (ABS/ASR), the electronic braking force distribution control for brake of EBD systems, system The main arrange parameter calculating of movement controller, judgement of blowing out, control model conversion, collision prevention of vehicle is adaptively coordinated, blow out control master It is dynamic, coordinate to enter and exit controller, exit, adaptively exit and control of blowing out returns to controller, vehicle with artificial control of blowing out is set Each wheel braking force distribution and controller, active compatible controller；Judging device adoption status tire pressure of blowing out blow out pattern-recognition into Capable judgement of blowing out；Control model converter uses the control model conversion regime of communication protocol；According to really blowing out, blow out and turn Point, wheel rim separation, control singular point, control conversion critical point set up early period of blowing out, true phase, inflection point of blowing out and the wheel rim point of blowing out From the phase；By control period and the anticollision control time zone of blowing out, carried out using the pattern of braking A, B, C, D control and its logical groups, model It blows out and control is coordinated in anticollision；Based on electronic control unit (ECU) (211) set by set controller, input/output (figure is mainly set In do not mark), data acquisition and procession, communication, control model conversion, data processing, braking compatibility, monitoring, regulated power supply etc. Module (214), (215), (216), (217), (218), (219), (220)；When signal of tyre burst I arrives, control model modulus of conversion Block carries out normal, operating conditions pattern of blowing out conversion, and data processing module carries out data processing, braking by control program or software Compatible modules carry out compatible processing to brake control signal, and power module is that all the sensors, electronic control unit and executive device carry For regulated power supply；Signal is controlled through driving output module output mainly by hydraulic power supply and accumulator (221), master cylinder (222), the braking executive device (225) that regulator (223), wheel cylinder (224) are constituted；Braking executive device is helped with automatically controlled Power transfer sets shared hydraulic power supply and accumulator together；Electronic control unit output signal is in a manner of pulsewidth modulation (PWM), stream The pressure adjusting structure of logical cycle and pattern, continuous control are respectively taken turns the high-speed switch electromagnetic valve in regulator and brake circuit, are passed through The regulative mode of voltage-regulating system supercharging, decompression and pressurize, adjusts the hydraulic coupling in wheel cylinder, carry out each wheel braking force distribution with It controls, realization is blown out, and wheel stable state controls, non-blow out wheel braking anti-lock, driving wheel are anti-skidding, each wheel electric control power distributes and vehicle It blows out and non-stability control of blowing out；
2., throttle controller
Throttle controller (212) is based on vehicle electronics air throttle (ETC), is arranged or shares accelerator pedal position, solar term with ETC The sensors (231) such as door aperture；Throttle control module (226), through data/address bus (21), control of blowing out is arranged in controller (212) Entering signal i processedaWhen arrival, which calls air throttle to blow out and controls subprogram, be transferred to It blows out throttle control, adjusts engine output indirectly；Controller (212) successively decreased using air throttle, constant, dynamic, idle Speed jointly controls pattern；After blowing out control subprogram into air throttle, air throttle enters constant pattern, and closes throttle body (227) air throttle (228) in, or set idling regulator valve (229) on air throttle idle speed air admission road is adjusted, indirect control is started Machine fuel oil sprays or terminates oil spout, and air throttle dynamic control pattern is converted in the secondary stroke of gas pedal, using oil The asymmetric dynamic function mode and model of the door positive and negative stroke of pedal, dynamic regulation throttle opening, the injection of indirect control fuel oil The distributive value of system (230), coordinate engine driving and blow out active brake when throttle control；When engine is patrolled up to idling When collecting thresholding, it is transferred to idle speed control pattern, the aperture that regulation and control air throttle idling mode determines, engine enters idle speed control；It is quick-fried Tire exits signal ieWhen arrival, ETC returns to nominal situation throttle control；
3., deflecting roller turning power (square) controller
Deflecting roller turns round force controller (213) and is based on vehicle mounted electric power-assisted or Electro-Hydraulic Power Steering System, using steering wheel Torque control model, model and algorithm；Steering wheel torque control device (213) setting direction judging device (240) and controller (241)；I, direction determining device；Direction determining device (240), using steering-wheel torque determinating mode, directly judgement turns to and helps square power MaDirection, define steering-wheel torque target control value Mc1With the real-time detected value M of steering-wheel torque sensorc2Between deviation delta Mc：ΔMc=Mc1-Mc2；According to deviation delta McPositive and negative (+, -), determine power steering square Ma, assist motor electric current imAnd power-assisted electricity Machine rotation direction；As Δ McFor timing, power steering square MaDirection be power-assisted square MaIncreased direction, as Δ McWhen being negative, turn To power-assisted square MaDirection be power steering square MaThe direction of reduction, i.e. moment of resistance MaIncreased direction；Ii, controller；Controller (241) it is blown out control model, model and characterisitic function using steering-wheel torque, setting E and G controllers (242), (243), setting Steering wheel torque control cycle Hn, E controller (242) using steering wheel angle δ as variable, with speed ux, steering wheel rotation angular speedFor main parameter, steering-wheel torque M is establishedcModel, characterisitic function：Mc=f (δ, ux) or And function Curve graph, function curve include straight line, broken line or curve three types；E controller 242 determines just according to characterisitic function model Normal operating mode steering-wheel torque target control value Mc1, numerical value chart is formulated based on each parameter calculated value, which is stored in automatically controlled list Member；Normally, it blows out under operating mode, electronic control unit presses the control program that controller uses, with steering wheel angle δ, speed ux, steering wheel Rotational angular velocityThe target control value M of steering-wheel torque is called from electronic control unit by look-up table for parameterc1；Determine Mc1With The real-time detected value M of steering-wheel torque sensorc2Between deviation delta Mc, pass through deviation delta McFunction model, determine it is normal and Operating mode of blowing out steering wheel power-assisted (or resistance) square Ma：Ma=f (Δ Mc), G controllers (243) press torque MaWith the electric current i of motormOr Voltage VmRelational model, by MaBe converted to the control electric current i of power assisting device (including mainly motor) (244)maOr voltage Vma；Electricity It controls unit and uses closed-loop control, microcontroller (MCU) is with imaOr VmaFor primary parameter signal, by adjusting submodule to motor Target control electric currentAnd row PID modulation, DC chopped-wave signal (PWM) is obtained, pwm signal is inputted through pressure limiting submodule and driven Device, driving submodule output signal control assist motor in electric boosting steering system 245, and the torque of assist motor output is through machine Tool transmission device and steering (245) provide the power steering or the moment of resistance that direction determines to steering (245), realize Deflecting roller turning power of blowing out controls；This method is controlled by braking, air throttle or with deflecting roller turning power, realizes that vehicle of blowing out is steady Fixed deceleration and stability control；
Embodiment II；The control of this method be based on vehicle-mounted braking, engine fuel injection, steering-by-wire or and suspension system, vehicle Loading system and sensor detection signal set by controller (250) input data bus (21) of blowing out；Controller of blowing out is using detection The determinating mode of blowing out of tire, with detect tire pressure and balance car wheel set two to take turns equivalent, non-equivalent opposite angular speed, yaw velocity inclined Difference is major parameter, and the detection tire pressure of foundation is blown out pattern-recognition, the judgement of blowing out of progress；By vehicle-mounted CAN data/address bus or Direct physical routing realizes the data transmission of this method control and onboard system control；By the control of program or external converter Pattern conversion regime is blown out, non-blow out control model conversion and the conversion of each control model of control period of blowing out；This method is adopted With the active for control of blowing out, coordinate the pattern for entering and exiting, model, setting brake, engine braking, engine combustion Oil spurts, steering-by-wire or with the independence of suspension, tuning controller；Control model of blowing out, model and algorithm based on controller It programs or corresponding control module is arranged by the type of electronic control unit, structure in software；Control flow is：Blow out control institute If sensor detection parameters signal, engine braking is inputted by data/address bus or physical routing, artificial or active brake, is started The injection of machine fuel oil, steering-by-wire and suspension controller, controller carry out data processing, output signal control electric control hydraulic braking or Line traffic control mechanical brake device, fuel-injection device for engine, steering-by-wire or with suspension executive device, realize the vehicle of vehicle of blowing out Take turns stable state, vehicle stabilization deceleration (or acceleration), intact stability control；
1., main controller of blowing out
Main controller (5) arrange parameter of blowing out calculating, the estimation of state tire pressure, judgement of blowing out, control model conversion, information of vehicles are mutually handed over Tuning controller, it is same to set manual control, adaptively exit and return to and coordinate sub-controller；According to the knot of set electronic control unit Corresponding control module is arranged in structure and type, and control model, model and the algorithm used by master controller programs acute or soft Part；
2., engine brake controller
Its controller (251) is based on engine (256) air throttle, fuel injection equipment (FIE), automatic transmission (257), passes through data Bus (21) obtains engine speed, air throttle, each sensor detection signal of fuel injection system and main controller (5) output Signal of tyre burst I；Entering signal of blowing out iaWhen arrival, no matter which kind of position gas pedal or air throttle are in, and controller 251 is eventually The only fuel Injection Control of engine (256) nominal situation, by the race of engine, speed-changing braking control model, into engine Control for brake；Engine brake controller is with the gear ratio k of automatic transmission (257)aIn order to control variable, with throttle opening Dj For parameter, pass through adjusting gear ratio kgOr with throttle opening Dj, engine brake force is controlled, and limit engine highest and turn Speed；When meeting exit criteria as defined in engine braking, i.e., when engine braking respectively exits signal arrival, engine braking moves back Go out；
3., brake monitor
Controller (252) is based on vehicle-mounted braking anti-lock/anti-skidding (ABS/ASR) system, electronic braking force distributes (EBD) system, Stabilizing control system (VSC), Study on Vehicle Dynamic Control system (VDC) or electronic stability program system (ESP), it is steady using wheel State respectively takes turns the logic loops that balancing brake, vehicle stable state, brake force total amount (A, B, C, D) control (258) type and combinations thereof； According to really blowing out, the separation of inflection point of blowing out, wheel rim, control singular point, controlling conversion critical point, determines early period of blowing out, really blows out Phase, inflection point of blowing out and wheel rim detach the phase；By control period and the anticollision control time zone of blowing out, in each controlling cycle HhA, B, C, D control It makes in (258) logic loops, using the signal of fore-aft vehicle anticollision and control period of respectively blowing out as conversion signal, realizes each control for brake The conversion of logical combination；Brake control logic combines：Deng, and by corresponding Control model, model and algorithm blown out and anticollision coordinate control；Number is mainly arranged in electronic control unit set by controller (252) According to acquisition and processing, communication, control model conversion, data processing, monitoring, the compatible, power supply of braking, output module；Signal of tyre burst I When arrival, electronic control unit output signal controls line traffic control mechanical braking executive device；Electronic control unit output signal or control mainly by The liquid that master cylinder, regulator, hydraulic power supply and accumulator, wheel cylinder (259), (260), (261), (262) are constituted Braking executive device (263) is pressed, with pulsewidth (PWM) modulation system, the pressure adjusting structure and control mould of circulation cycle or variable volume The high-speed switch electromagnetic valve in brake circuit is respectively taken turns in formula, continuous control, passes through the adjusting side of voltage-regulating system supercharging, decompression and pressurize Formula adjusts the hydraulic coupling in wheel cylinder, carries out each wheel braking force distribution and control；Realization is blown out and ABS/ASR, EBD, VSC, VDC or ESP control compatibilities；
4., fuel injection control apparatus
Fuel injection control apparatus (253) be based on controlled vehicle-mounted electrical fuel injection system (EFI), electronic throttle system (ETC), and with Realization device resource share it is shared；Fuel controller (264) and air inlet amount controller (265) is arranged in controller (253)；Spray Fuel-flow controller (265) is using fuel-injected constant, dynamic, idling and jointly controls pattern, model and algorithm, not decremented Control model is directly entered constant, dynamic, idling and jointly controls；Control entering signal of blowing out iaWhen arrival, (253) controller Calling is blown out fuel Injection Control subprogram, and no matter which kind of position is gas pedal be in, and terminates nominal situation fuel Injection Control, The fuel oil injection of fuel controller 264 is transferred to control model of blowing out；In gas pedal is secondary or multiple stroke, controller (253) asymmetric step function pattern, the model of the positive and negative stroke of gas pedal, coordination is used to carry out blow out each control period, fore-aft vehicle Blow out active brake and the engine-driven fuel Injection Control of anticollision；Air inlet amount controller 265 is based on fuel Injection Control The parameters such as distributive value, air-fuel ratio, engine structure determine throttle opening and air input of engine by air；It blows out in control, controls Device (253) output signal controls air throttle and mainly by structures such as fuel pump, fuel pressure regulator, fuel injector, idle speed bypass valves At fuel oil injection executive device (266), realize normal, operating mode of blowing out fuel Injection Control；Fuel Injection Control of blowing out can be with Throttle control mutually replaces；
5., steering-by-wire controller
Manned vehicle line traffic control steering controller (254), is based on vehicle-mounted line traffic control active front steering system, and the setting of controller 254 turns To wheel, road feel, malfunction and failure controller (270), (271), (272)；Controller (254) presses the type and knot of set electronic control unit Corresponding control module is arranged in structure, and deflecting roller module (274) and Steering wheel module is arranged in line traffic control active steering executive device 273 (275)；I, normal, blow out under operating mode, which is based on deflecting roller (or steering wheel) actual rotational angle θea, controlled in vehicle stable state Critical speed range, deflecting roller controller applies an additional rotation angle θ independent of driver to steeringeb, balance Vehicle flat tire generates yaw moment, compensates the deficiency or oversteering of vehicle flat tire；The control mould used based on controller (254) Formula, model and algorithm program or software, controller (254) each control module by program or software into row coefficient according to processing, Output signal controls the steering motor in deflecting roller module (274), and steering motor output torque, corner through machine driving and subtract Speed variator controls wheel turning angle and torque；Steering wheel module (275) is detached with deflecting roller module (274), turning power of blowing out Impact will not be generated to steering wheel power；When carrying out active steering control using steering-by-wire controller, it is not necessary to which setting turns to samsara Turn force controller；Ii, deflecting roller module (274) pass ground steering drag, the impact force for turning power of blowing out and its mechanical state Road feel controller (271) is passed, road feel controller (271) uses true road feel pattern, establishes road feel feedback force model, is based on road Control model, model and the algorithm that sense controller uses program or software；Road feel controller (271) output signal, control The steering wheel of Steering wheel module (275), driver obtain from steering wheel including normal and blow out operating mode road surface, wheel, vehicle etc. The road feel feedback information of transport condition.
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CN115257686B (en) * 2022-09-30 2023-01-24 上海拿森汽车电子有限公司 Single-tube failure diagnosis method and storage medium of brake system

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