CN108909705B - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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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
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/18—Braking system
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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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/22—Suspension systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/18—Roll
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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Abstract
The application provides a vehicle control method and device, wherein the method comprises the following steps: firstly, acquiring induction parameters detected by a sensor mounted on a vehicle, wherein the induction parameters are used for reflecting the running state of the vehicle; then, calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values; further, when the calculated rollover evaluation value exceeds a preset threshold value, calculating an additional rotation angle of a driving front wheel, four-wheel braking force and four-wheel suspension control force according to the induction parameters and the vehicle attribute value; and finally, adjusting the running state of the vehicle according to the calculated additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force. Through the mode, the influence caused by model uncertainty and external interference during mathematical model building and controller design can be reduced, the fault tolerance of the system is improved, and vehicle rollover can be effectively prevented.
Description
Technical Field
The present application relates to the field of automatic control technologies, and in particular, to a vehicle control method and apparatus.
Background
Vehicles play a vital role in public transportation, and with the development of the transportation industry, traffic accidents caused by automobiles are frequent, so that great life and property losses and severe social influences are caused. According to the statistics of the National Highway Traffic Safety Administration (NHTSA), about 33% of dead cases caused by traffic accidents are caused by vehicle rollover. Therefore, the active safety of the vehicle is improved, the rollover prevention capability of the vehicle is enhanced, and traffic accidents can be effectively prevented.
In the aspect of active rollover prevention control in the prior art, proportional-Integral-Derivative (PID) control and fuzzy control are mainly used, however, when mathematical model building and controller design are performed, both the control and the fuzzy control cannot effectively eliminate model uncertainty and external interference caused by inaccurate parameters or inaccurate mathematical model building, such as vibration of the ground, lateral wind interference and the like. How to effectively eliminate the influence caused by model uncertainty and external interference is a problem which people want to solve.
Disclosure of Invention
In view of this, an object of the present application is to provide a vehicle control method and apparatus, so as to reduce the influence caused by model uncertainty and external interference when building a mathematical model and designing a controller, and effectively prevent a vehicle from rolling over.
In a first aspect, an embodiment of the present application provides a vehicle control method, including:
acquiring induction parameters detected by a sensor mounted on a vehicle, wherein the induction parameters are used for reflecting the running state of the vehicle;
calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values;
when the calculated rollover evaluation value exceeds a preset threshold value, calculating an additional rotation angle of a driving front wheel, four-wheel braking force and four-wheel suspension control force according to the induction parameters;
and adjusting the running state of the vehicle according to the calculated active front wheel additional rotation angle, the four-wheel braking force and the four-wheel suspension control force.
With reference to the first aspect, an embodiment of the present application provides a first possible implementation manner of the first aspect, where the sensing parameter includes at least one of the following parameters:
a lateral speed of the vehicle body detected by a lateral speed sensor of the vehicle body, a roll angle speed and a yaw speed of the vehicle body detected by a gyroscope disposed in the vehicle, a roll angle of the vehicle body, a longitudinal speed of the vehicle body detected by a longitudinal speed sensor, a steering wheel angle detected by a steering wheel angle sensor, and a vertical speed of a wheel center detected by a vertical speed sensor;
the vehicle attribute values include: suspension stiffness, suspension damping, wheel track, wheel vertical stiffness, and vehicle mass.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present application provides a second possible implementation manner of the first aspect, where calculating a rollover evaluation value according to the sensing parameter and the vehicle attribute value includes:
calculating a difference in longitudinal displacement between the left and right suspensions according to the longitudinal vehicle speeds detected by longitudinal vehicle speed sensors mounted on the left and right suspensions, and calculating a difference in vertical variation between the left and right tires according to the vertical speeds detected by vertical speed sensors mounted on the wheel center;
and calculating the rollover evaluation value by using the vehicle body roll angle, the vehicle body roll acceleration, the left and right suspension longitudinal displacement difference, the left and right tire vertical change difference, the vehicle attribute value, a preset model uncertainty parameter and a preset left and right suspension control force difference.
With reference to the first aspect or the first possible implementation manner of the first aspect, an example of the present application provides a third possible implementation manner of the first aspect, where the calculating an active front wheel additional rotation angle, a four-wheel braking force, and a four-wheel suspension control force according to the sensing parameters includes:
according to the induction parameters, a state space equation under a continuous time state is constructed, and a coefficient matrix of the state space equation is determined, wherein the state space equation is used for representing the incidence relation between the induction parameters and the additional turning angle of the front wheels, the four-wheel braking force and the four-wheel suspension control force;
converting the state space equation in the continuous time state into a state space equation in a discrete time state;
constructing a robust controller based on the state space equation in the discrete time state;
and calculating to obtain the additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force according to the robust controller.
With reference to the first aspect, the present embodiment provides a fourth possible implementation manner of the first aspect, wherein the adjusting the driving state of the vehicle according to the calculated active front wheel additional rotational angle, four-wheel braking force and four-wheel suspension control force includes:
adjusting the current front wheel rotation angle of the vehicle according to the driving front wheel additional rotation angle; adjusting the current four-wheel braking force of the vehicle according to the four-wheel braking force; and adjusting the current suspension control force of the vehicle according to the suspension control force.
In a second aspect, an embodiment of the present application further provides a vehicle control apparatus, including:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring induction parameters detected by a sensor arranged on a vehicle, and the induction parameters are used for reflecting the driving state of the vehicle;
the first calculation module is used for calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values;
the second calculation module is used for calculating an additional rotation angle of the driving front wheel, four-wheel braking force and four-wheel suspension control force according to the induction parameters when the calculated rollover evaluation value exceeds a preset threshold value;
and the state adjusting module is used for adjusting the running state of the vehicle according to the calculated additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force.
With reference to the second aspect, the present application provides a first possible implementation manner of the second aspect, where the sensing parameter includes at least one of the following parameters:
a lateral speed of the vehicle body detected by a lateral speed sensor of the vehicle body, a roll angle speed and a yaw speed of the vehicle body detected by a gyroscope disposed in the vehicle, a roll angle of the vehicle body, a longitudinal speed of the vehicle body detected by a longitudinal speed sensor, a steering wheel angle detected by a steering wheel angle sensor, and a vertical speed of a wheel center detected by a vertical speed sensor;
the vehicle attribute values include: suspension stiffness, suspension damping, wheel track, wheel vertical stiffness, and vehicle mass.
With reference to the first possible implementation manner of the second aspect, an embodiment of the present application provides a second possible implementation manner of the second aspect, where the first calculating module, when calculating the rollover evaluation value according to the sensing parameter and the vehicle attribute value, is specifically configured to:
calculating a difference in longitudinal displacement between the left and right suspensions according to the longitudinal vehicle speeds detected by longitudinal vehicle speed sensors mounted on the left and right suspensions, and calculating a difference in vertical variation between the left and right tires according to the vertical speeds detected by vertical speed sensors mounted on the wheel center;
and calculating the rollover evaluation value by using the vehicle body roll angle, the vehicle body roll acceleration, the left and right suspension longitudinal displacement difference, the left and right tire vertical change difference, the vehicle attribute value, a preset model uncertainty parameter and a preset left and right suspension control force difference.
With reference to the second aspect or the first possible implementation manner of the second aspect, this application example provides a third possible implementation manner of the second aspect, where the second calculating module, when calculating the active front wheel additional rotation angle, the four-wheel braking force, and the four-wheel suspension control force according to the sensed parameters, is specifically configured to:
according to the induction parameters, a state space equation under a continuous time state is constructed, and a coefficient matrix of the state space equation is determined, wherein the state space equation is used for representing the incidence relation between the induction parameters and the additional turning angle of the front wheels, the four-wheel braking force and the four-wheel suspension control force;
converting the state space equation in the continuous time state into a state space equation in a discrete time state;
constructing a robust controller based on the state space equation in the discrete time state;
and calculating to obtain the additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force according to the robust controller.
With reference to the second aspect, the present embodiment provides a fourth possible implementation manner of the second aspect, wherein the state adjustment module, when adjusting the driving state of the vehicle according to the calculated active front wheel additional rotation angle, the four-wheel braking force and the four-wheel suspension control force, is specifically configured to:
adjusting the current front wheel rotation angle of the vehicle according to the driving front wheel additional rotation angle; adjusting the current four-wheel braking force of the vehicle according to the four-wheel braking force; and adjusting the current suspension control force of the vehicle according to the suspension control force.
In a third aspect, an embodiment of the present application further provides an electronic device, where the electronic device includes: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating via the bus when the electronic device is running, the machine-readable instructions being executable by the processor to perform the steps of the vehicle control method described above in the first aspect and any possible implementation manner of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the vehicle control method described above in the first aspect and any possible implementation manner of the first aspect.
According to the vehicle control method and device provided by the embodiment of the application, the induction parameters detected by the sensor arranged on the vehicle are obtained, wherein the induction parameters are used for reflecting the running state of the vehicle; then, calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values; further, when the calculated rollover evaluation value exceeds a preset threshold value, calculating an additional rotation angle of the driving front wheel, four-wheel braking force and four-wheel suspension control force according to the induction parameters; and finally, adjusting the running state of the vehicle according to the calculated driving front wheel additional rotation angle, the four-wheel braking force and the four-wheel suspension control force. The rollover evaluation value is calculated in the mode, the influence caused by model uncertainty and external interference during construction of a mathematical model and design of a controller can be reduced, and when the running state of the vehicle is adjusted, the additional turning angle of the front wheels, the four-wheel braking force and the four-wheel suspension control force are adjusted at the same time.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic diagram illustrating an architecture of a vehicle control system provided by an embodiment of the present application;
FIG. 2 is a flow chart illustrating a vehicle control method provided by an embodiment of the present application;
FIG. 3 illustrates a specific implementation process for implementing a vehicle control method provided by an embodiment of the present application;
FIG. 4 is a diagram illustrating simulation results of the present application provided by an embodiment of the present application;
fig. 5 shows a schematic architecture diagram of a vehicle control device 500 provided in an embodiment of the present application;
fig. 6 shows a schematic structural diagram of an electronic device 600 provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
With the development of the transportation industry, in the case of automobile traffic accidents, the traffic accidents caused by the rollover of the automobile account for a large proportion, and the traditional rollover prevention research cannot eliminate the model uncertainty caused by inaccurate parameters or inaccurate mathematical model building and the influence caused by external interference such as vibration of the ground, side wind interference and the like. In order to solve the above problems, embodiments of the present application provide a vehicle control method and apparatus.
First, referring to fig. 1, a schematic diagram of a possible vehicle control system provided in an embodiment of the present application is shown, where the vehicle control system includes: a sensor module, an Electronic Control Unit (ECU), and a state adjustment module. The sensor module can be used for detecting sensing parameters of a vehicle, and specifically comprises a vehicle body transverse speed sensor, a gyroscope, a vertical speed sensor, a longitudinal vehicle speed sensor and a steering wheel corner sensor; the ECU can acquire sensing parameters of the vehicle from each sensor in the sensor module and calculate the additional rotation angle of the active front wheel, the four-wheel braking force and the active suspension control force according to the sensing parameters and the vehicle attribute value; the state adjusting module is deployed in the vehicle, and can respectively adjust an active steering system, a pneumatic/hydraulic braking system and an active suspension system of the vehicle by utilizing the calculated active front wheel additional rotation angle, four-wheel braking force and active suspension control force.
For the understanding of the present embodiment, a vehicle control method disclosed in the embodiments of the present application will be described in detail first.
Example one
Referring to fig. 2, a schematic flow chart of a vehicle control method provided in the embodiment of the present application includes the following steps:
s201, acquiring induction parameters detected by a sensor installed on a vehicle.
In this step, the sensing parameter includes at least one of the following parameters:
the vehicle body lateral speed detected by a vehicle body lateral speed sensor, the vehicle body roll angle speed and the vehicle body yaw angle speed detected by a vehicle-mounted gyroscope, the vehicle body roll angle, the vehicle body longitudinal vehicle speed detected by a longitudinal vehicle speed sensor, the steering wheel angle detected by a steering wheel angle sensor, and the vertical speed of the wheel center detected by a vertical speed sensor.
And S202, calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values.
In this step, the vehicle attribute values include: suspension stiffness, suspension damping, wheel track, wheel vertical stiffness, and vehicle mass.
In a specific implementation, when the rollover evaluation value is calculated according to the sensing parameters and the vehicle attribute values, the longitudinal displacement difference of the left and right suspensions can be calculated according to the longitudinal vehicle speed detected by the longitudinal vehicle speed sensors arranged on the left and right suspensions, and the vertical variation difference of the left and right tires can be calculated according to the vertical speed detected by the vertical speed sensors arranged on the wheel centers.
Specifically, when calculating the difference in longitudinal displacement between the left and right suspensions, the longitudinal acceleration of the left and right suspensions may be calculated based on the speed detected by the longitudinal speed sensors mounted on the left and right suspensions, the longitudinal acceleration of the left and right suspensions may be integrated to obtain the longitudinal displacement of the left and right suspensions, and the longitudinal displacement of the left and right suspensions may be subtracted from the longitudinal displacement of the left suspension to obtain the difference in longitudinal displacement of the left and right suspensions.
Specifically, when the vertical variation difference of the left tire and the right tire is calculated, the vertical acceleration of the left tire and the vertical acceleration of the right tire can be calculated according to the vertical speed detected by the vertical speed sensors arranged on the wheel centers of the left tire and the right tire respectively, then the vertical displacement of the left tire and the right tire is obtained by integrating the vertical acceleration of the left tire and the right tire respectively, and finally the vertical displacement of the right tire is subtracted by the vertical displacement of the left tire to obtain the vertical variation difference of the left tire and the right tire.
Specifically, when the roll acceleration of the vehicle body is calculated, the roll acceleration of the vehicle body may be obtained by deriving the roll angular velocity of the vehicle detected by a gyroscope disposed in the vehicle.
Further, the rollover evaluation value can be calculated by using the roll angle of the vehicle body, the roll acceleration of the vehicle body, the longitudinal displacement difference between the left suspension and the right suspension, the vertical variation difference between the left tire and the right tire, the vehicle attribute value, the preset model uncertainty parameter and the preset difference between the left suspension control force and the right suspension control force, and the calculation formula is as follows:
in the above formula, LTRmIn order to be an evaluation value of the rollover,
for body roll angle, p is body roll acceleration, K is 1/4 suspension stiffness, C is 1/4 suspension damping, T is track width, K istFor vertical stiffness of the wheel, Zul-ZurFor difference in longitudinal displacement of left and right suspensions, Zrl-ZrrD is a preset model uncertainty parameter, delta F, for the difference between the vertical variation of the left and right tirescIs a predetermined difference between the right and left suspension control forces.
In a possible embodiment, the value range of the model uncertainty parameter d is [ -0.01,0.01], but in practical applications, the model uncertainty parameter may also be adjusted and set according to practical requirements. In the present application, uncertainty parameters are used to replace errors caused by model uncertainty due to parameter inaccuracies or inaccurate mathematical model building.
And S203, when the calculated rollover evaluation value exceeds a preset threshold value, calculating an additional rotation angle of the driving front wheel, four-wheel braking force and four-wheel suspension control force according to the induction parameters.
In a possible embodiment, the preset threshold may be, for example, 0.9, or may be adjusted according to actual requirements.
In one example, if
Because the range of the model uncertainty parameter is [ -0.01,0.01 [)]，0.895+0.01＝0.905，0.905>0.9，0.895-0.01＝0.885，0.885<0.9, in which case rollover prevention control is still required. Therefore, the influence of errors on the accuracy of the rollover evaluation value can be reduced by setting uncertain parameters.
In a specific implementation, when the active front wheel additional corner, the four-wheel braking force and the four-wheel suspension control force are calculated according to the sensing parameters, a state space equation in a continuous time state can be constructed according to the sensing parameters, and a coefficient matrix of the state space equation is determined, wherein the state space equation is used for representing the incidence relation between the sensing parameters and the front wheel additional corner, the four-wheel braking force and the four-wheel suspension control force. Further, the above state space equation in the continuous time state may be converted into a state space equation in a discrete time state. And then, constructing a robust controller based on the state space equation in the discrete time state. And finally, calculating to obtain the additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force according to the robust controller. The above-mentioned specific calculation process will be described in detail in the second embodiment, and will not be described herein again.
And S204, adjusting the running state of the vehicle according to the calculated driving front wheel additional rotation angle, the four-wheel braking force and the four-wheel suspension control force.
The running state of the vehicle includes a front wheel steering angle of the vehicle, a magnitude of four-wheel braking force, and a magnitude of suspension control force.
In specific implementation, the adjustment can be performed in the following manner: adjusting the current front wheel rotation angle of the vehicle according to the additional rotation angle of the driving front wheel; adjusting the current four-wheel braking force of the vehicle according to the four-wheel braking force; and adjusting the current suspension control force of the vehicle according to the suspension control force.
The rollover evaluation value is calculated by adopting the mode, so that the influence caused by model uncertainty and external interference during the construction of a mathematical model and the design of a controller can be reduced. And when the running state of the vehicle is adjusted, the additional turning angle, the four-wheel braking force and the four-wheel suspension control force of the front wheels are adjusted at the same time, and under the condition that any one adjustment mode fails, the other two adjustment modes can effectively prevent the vehicle from rolling over, so that the fault tolerance of the system is increased, and the vehicle is effectively prevented from rolling over.
Example two
For the first embodiment, a specific calculation procedure for calculating the active front wheel additional rotation angle, the four-wheel braking force and the four-wheel suspension control force according to the sensed parameters is described in detail in this embodiment for convenience of understanding.
First, a state space equation under a continuous time state is established, and in a possible embodiment, the state space equation under the continuous time state can be obtained by establishing a vehicle dynamic model with a degree of freedom N (in an example, N can be 7) under the continuous time, wherein the dynamic model integrates active rotation, differential braking and active suspension, and the dynamic model comprises parameters such as a transverse vehicle speed, a yaw rate, a vehicle body roll angle, vehicle body roll acceleration, a left and right suspension longitudinal variation difference, a left and right suspension longitudinal speed difference, a left and right tire vertical variation, a steering wheel angle and the like.
According to the vehicle dynamic model, a state space equation is established, wherein the state space equation is as follows:
wherein the content of the first and second substances,
in the above formula (1-2), VyTransverse vehicle speed, gamma yaw angular speed,
For the roll angle of the body, p for the roll acceleration of the body, Zul-ZurThe longitudinal variation difference of the left and the right suspension frames,
For the longitudinal speed difference, Z, of the left and right suspensionrl-ZrrFor the difference of vertical variation of left and right tires, thetaswIs the steering wheel angle, deltafFor adding steering wheel angle, delta MγFor adding a yaw moment,To add roll moment;
wherein the longitudinal speed difference of the left and right suspensions is the longitudinal speed difference of the left and right suspensions detected by longitudinal speed sensors mounted on the left and right suspensions of the vehicle; the additional turning wheel angle, the additional yaw moment, and the additional roll moment are obtained by calculation.
In the above formula (1-2), the lateral vehicle speed, yaw rate, vehicle roll angle, vehicle roll acceleration, difference in longitudinal variables of the left and right suspensions, and difference in longitudinal speeds of the left and right suspensions collectively constitute a state variable X, and the change in the values thereof changes with the change in the running state of the vehicle; the difference in vertical variation between the left and right tires, the steering wheel angle, the additional yaw moment, and the additional roll moment constitute a disturbance variable w, and the control variable u,
is the derivative of X.
A is a system state matrix, B1Inputting a matrix, B, for system disturbances2For the system control input matrix, a coefficient matrix A, B that can be used to arrive at a state space equation is calculated based on the lateral and longitudinal kinetic equations and the state variables X, disturbance variables w, and control variables u of the system1、B2The method comprises the following steps:
whereinKf、KrRespectively front and rear wheel side deflection stiffness, ktFor the vertical rigidity of the tire, h is the vertical distance from the roll center of the sprung mass to the center of mass of the whole vehicle, mu、msRespectively the whole vehicle mass, unsprung mass and sprung mass, IzThe yaw moment of the vehicle, Ix the moment of inertia of the sprung mass, a and b the distances from the front and rear axles to the center of mass of the whole vehicle, and the parameters are pre-measured values which can be regarded as known inputs.
Because the signal output by the sensor is a discrete signal, the state space equation in the continuous time state is discretized, and the discretized state space equation is as follows:
X(k+1)＝A1X(k)+B11u(k)+B12w(k) (1-3)
at the same time, the coefficient matrix A, B of the state space equation1、B2Discretizing, wherein the discretizing process is as follows:
then a robust controller is designed, which in one possible embodiment can be H2/H∞Robust controller, wherein H2/H∞The method is a calculation method of the controller, and the design of the robust controller is as follows:
u(k)＝KX(k)(1-4)
wherein K is a feedback gain vector matrix; the relationship between Z (k) and w (k) is required to satisfy | | Z (k) | purple2<η1||w(k)||2||Z(k)||∞<η2||w(k)||2，||Z(k)||2Is the norm 2 times of Z (k); wherein eta is1Is H∞Disturbance rejection level and η2Is generalized H2A level of disturbance rejection;
when eta1And η2If the system becomes progressively more stable, the following inequalities are satisfied, and the control input u for making the system progressively more stable is determined:
in the above formula, P is a symmetric matrix, I is a unit matrix, and the order of P is equal to A1The number of rows of (c) is kept consistent.
The value of the feedback gain vector matrix K can be determined according to the relationship between z (K) and w (K) in the formula (1-5), which is as follows:
K＝YM-1 (1-6)
wherein the matrices Y and M may be calculated by the following inequality:
wherein omega1、Ω2Is a positive definite symmetric parameter matrix and satisfies omega1 -1＝P1Ω2 -1＝P2；
The feedback gain vector matrix K is calculated by the formula (1-6), and is taken into the formula (1-3), and is multiplied by x (K) to obtain u (K) which is the obtained additional steering wheel angle, additional yaw moment and additional roll moment.
Further, an active front wheel additional corner, four-wheel braking force and four-wheel suspension control force are respectively obtained through calculation of the additional steering wheel corner, the additional yaw moment and the additional roll moment, and then anti-rollover processing is carried out on the automobile according to the active front wheel additional corner, the four-wheel braking force and the four-wheel suspension control force obtained through calculation.
EXAMPLE III
With reference to the description of the first embodiment and the second embodiment, a specific implementation process for implementing vehicle control is provided, and with reference to fig. 3, the specific implementation process includes the following steps:
and S301, inputting induction parameters obtained from the sensors.
In this step, the sensing parameter includes at least one of the following parameters:
the vehicle body lateral speed detected by a vehicle body lateral speed sensor, the vehicle body roll angle speed and the vehicle body yaw angle speed detected by a vehicle-mounted gyroscope, the vehicle body roll angle, the vehicle body longitudinal vehicle speed detected by a longitudinal vehicle speed sensor, the steering wheel angle detected by a steering wheel angle sensor, and the vertical speed of the wheel center detected by a vertical speed sensor.
And S302, calculating the current roll index according to the induction parameters and the vehicle attribute value.
In this step, the vehicle attribute values include: suspension stiffness, suspension damping, wheel track, wheel vertical stiffness, and vehicle mass.
Calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values, wherein the rollover evaluation value comprises the following steps:
calculating the longitudinal displacement difference of the left and right suspensions according to the longitudinal vehicle speed detected by longitudinal vehicle speed sensors mounted on the left and right suspensions, specifically: calculating the longitudinal acceleration of the left and right suspensions according to the speed detected by longitudinal speed sensors mounted on the left and right suspensions, integrating the longitudinal acceleration of the left and right suspensions to obtain the longitudinal displacement of the left and right suspensions, and subtracting the longitudinal displacement of the suspension from the longitudinal displacement of the left suspension to obtain the displacement difference of the left and right suspensions;
and calculating a difference in vertical variation of the left and right tires based on the longitudinal vehicle speed detected by a longitudinal vehicle speed sensor mounted on the wheel center, specifically: the vertical acceleration of the left tire and the vertical acceleration of the right tire are calculated according to the vertical speed detected by the vertical sensors arranged on the wheel centers of the left tire and the right tire respectively, then the vertical acceleration of the left tire and the vertical acceleration of the right tire are integrated to obtain the vertical displacement of the left tire and the right tire, and finally the vertical displacement of the right tire is subtracted from the vertical displacement of the left tire to obtain the vertical variation difference of the left tire and the right tire.
And calculating the rollover evaluation value by using the vehicle body roll angle, the vehicle body roll acceleration, the left and right suspension longitudinal displacement difference, the left and right tire vertical change difference, the vehicle attribute value, a preset model uncertainty parameter and a preset left and right suspension control force difference.
And S303, judging whether the calculated current rollover evaluation value is larger than a preset threshold value.
If the value is smaller than the preset threshold value, returning to the step 301, inputting the induction parameters again, and calculating a rollover evaluation value; if the threshold value is larger than the threshold value, the step 304 is executed to perform rollover prevention processing.
And S304, performing rollover prevention control.
Firstly, establishing a vehicle dynamic model according to parameters of a current sensor, and organizing the dynamic model into a state space equation under a continuous time signal; because the output signal of the sensor is a discrete signal, the state equation under the continuous time signal is discretized; designing a robust controller considering noise interference and model uncertainty, and outputting and calculating an additional corner of the driving front wheel, a yaw stability moment and a roll stability control moment through inputting the induction acquisition number of the sensor according to the discretized state equation; and finally, distributing the control force difference according to the geometric parameters of the vehicle to obtain the additional rotation angle of the driving front wheel, the four-wheel control force and the four-wheel active suspension control force.
And S305, adjusting the vehicle running state.
And adjusting the running state of the vehicle according to the calculated additional turning angle of the movable front wheel, the four-wheel control force and the four-wheel active suspension control force.
Specifically, the current front wheel rotating angle of the vehicle is adjusted according to the driving front wheel additional rotating angle; adjusting the current four-wheel braking force of the vehicle according to the four-wheel braking force; and adjusting the current suspension control force of the vehicle according to the suspension control force.
Referring to fig. 4, a simulation result diagram of the present application is shown:
the curve 3 and the curve 1 are comparison groups, the curve 3 represents the roll index of the vehicle with the integrated rollover prevention system, the curve 1 represents the roll index of the vehicle without the integrated rollover prevention system, and the comparison group vehicle is always in a normal state; curve 2 is an experimental group showing a vehicle equipped with an integrated rollover prevention system, the vehicle of the experimental group fails in the active steering actuator at 3s, the active suspension actuator at the left front wheel at 4.5s, and the brake actuator at the right rear wheel at 6s, and the roll indexes under the three conditions are recorded as shown in fig. 4.
As can be seen from fig. 4, at 3s, the active steering control system fails, but curve 2 is always close to curve 3, indicating that the integrated system has excellent compensation effect when a single system fails. After 4.5s, the active suspension control system failed, and curve 2 deviates slightly from curve 3. After 6s the differential brake control system fails and the extent to which curve 2 deviates from curve 3 remains small. At any instant, LTR of curve 2mValue much less than LTR of curve 1mThe value shows that when one or more systems fail, the systems still have good control effect, the integrated system has good compensation effect, the fault tolerance of the system is increased, and the probability of rollover accidents is reduced.
Example four
Referring to fig. 5, the vehicle control apparatus 500 provided in the embodiment of the present application is schematically configured, and the apparatus 500 includes an obtaining module 501, a first calculating module 502, a second calculating module 503, and a state adjusting module 504.
Specifically, the acquiring module 501 is configured to acquire an induction parameter detected by a sensor mounted on a vehicle, where the induction parameter is used to reflect a driving state of the vehicle;
a first calculating module 502, configured to calculate a rollover evaluation value according to the sensing parameters and the vehicle attribute values;
a second calculating module 503, configured to calculate an active front wheel additional rotation angle, a four-wheel braking force, and a four-wheel suspension control force according to the sensing parameter when the calculated rollover evaluation value exceeds a preset threshold;
and a state adjustment module 504 for adjusting the driving state of the vehicle according to the calculated active front wheel additional rotational angle, the four-wheel braking force and the four-wheel suspension control force.
In one possible embodiment, the sensed parameter comprises at least one of the following parameters:
a lateral speed of the vehicle body detected by a lateral speed sensor of the vehicle body, a roll angle speed and a yaw speed of the vehicle body detected by a gyroscope disposed in the vehicle, a roll angle of the vehicle body, a longitudinal speed of the vehicle body detected by a longitudinal speed sensor, a steering wheel angle detected by a steering wheel angle sensor, and a vertical speed of a wheel center detected by a vertical speed sensor;
the vehicle attribute values include: suspension stiffness, suspension damping, wheel track, wheel vertical stiffness, and vehicle mass.
In one possible implementation manner, when the first calculating module 502 calculates the rollover evaluation value according to the sensing parameter and the vehicle attribute value, the first calculating module is specifically configured to:
calculating a difference in longitudinal displacement of the left and right suspensions based on the longitudinal vehicle speeds detected by longitudinal vehicle speed sensors mounted on the left and right suspensions, and a difference in vertical variation of the left and right tires based on the longitudinal vehicle speeds detected by the longitudinal vehicle speed sensors mounted on the wheel center;
and calculating the rollover evaluation value by using the vehicle body roll angle, the vehicle body roll acceleration, the left and right suspension longitudinal displacement difference, the left and right tire vertical change difference, the vehicle attribute value, a preset model uncertainty parameter and a preset left and right suspension control force difference.
In one possible embodiment, the second calculating module 503, when calculating the active front wheel additional rotation angle, the four-wheel braking force and the four-wheel suspension control force according to the above sensing parameters, is specifically configured to:
according to the induction parameters, a state space equation under a continuous time state is constructed, and a coefficient matrix of the state space equation is determined, wherein the state space equation is used for representing the incidence relation between the induction parameters and the additional turning angle of the front wheels, the four-wheel braking force and the four-wheel suspension control force;
converting the state space equation in the continuous time state into a state space equation in a discrete time state;
constructing a robust controller based on the state space equation in the discrete time state;
and calculating to obtain the additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force according to the robust controller.
Further, in a possible embodiment, the state adjustment module 504, when adjusting the driving state of the vehicle according to the calculated active front wheel additional rotation angle, four-wheel braking force and four-wheel suspension control force, is specifically configured to:
adjusting the current front wheel rotation angle of the vehicle according to the driving front wheel additional rotation angle; adjusting the current four-wheel braking force of the vehicle according to the four-wheel braking force; and adjusting the current suspension control force of the vehicle according to the suspension control force.
EXAMPLE five
As shown in fig. 6, a schematic structural diagram of an electronic device 600 provided in the fifth embodiment of the present application includes: a processor 601, a memory 602, and a bus 603;
the memory 602 stores machine-readable instructions executable by the processor 601 (for example, including corresponding execution instructions of the obtaining module 501, the first calculating module 502, the second calculating module 503, and the status adjusting module 504 in fig. 3), when the electronic device 600 runs, the processor 601 communicates with the memory 602 through the bus 603, and when the processor 601 executes the following processes:
acquiring induction parameters detected by a sensor mounted on a vehicle, wherein the induction parameters are used for reflecting the running state of the vehicle;
calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values;
when the calculated rollover evaluation value exceeds a preset threshold value, calculating an additional rotation angle of a driving front wheel, four-wheel braking force and four-wheel suspension control force according to the induction parameters and the vehicle attribute value;
and adjusting the running state of the vehicle according to the calculated active front wheel additional rotation angle, the four-wheel braking force and the four-wheel suspension control force.
Further, in the operation processed by the processor 601, the sensing parameter includes at least one of the following parameters:
a lateral speed of the vehicle body detected by a lateral speed sensor of the vehicle body, a roll angle speed and a yaw speed of the vehicle body detected by a gyroscope disposed in the vehicle, a roll angle of the vehicle body, a longitudinal speed of the vehicle body detected by a longitudinal speed sensor, a steering wheel angle detected by a steering wheel angle sensor, and a vertical speed of a wheel center detected by a vertical speed sensor;
the vehicle attribute values include: suspension stiffness, suspension damping, wheel track, wheel vertical stiffness, and vehicle mass.
In addition, the processing executed by the processor 601, which calculates the rollover evaluation value based on the sensing parameters and the vehicle attribute values, includes:
calculating a difference in longitudinal displacement of the left and right suspensions based on the longitudinal vehicle speeds detected by longitudinal vehicle speed sensors mounted on the left and right suspensions, and a difference in vertical variation of the left and right tires based on the longitudinal vehicle speeds detected by the longitudinal vehicle speed sensors mounted on the wheel center;
and calculating the rollover evaluation value by using the vehicle body roll angle, the vehicle body roll acceleration, the left and right suspension longitudinal displacement difference, the left and right tire vertical change difference, the vehicle attribute value, a preset model uncertainty parameter and a preset left and right suspension control force difference.
Further, the processing executed by the processor 601, which calculates the active front wheel additional rotational angle, the four-wheel braking force and the four-wheel suspension control force according to the sensed parameters, includes:
according to the induction parameters, a state space equation under a continuous time state is constructed, and a coefficient matrix of the state space equation is determined, wherein the state space equation is used for representing the incidence relation between the induction parameters and the additional turning angle of the front wheels, the four-wheel braking force and the four-wheel suspension control force;
converting the state space equation in the continuous time state into a state space equation in a discrete time state;
constructing a robust controller based on the state space equation in the discrete time state;
and calculating to obtain the additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force according to the robust controller.
In addition, the process executed by the processor 601 for adjusting the running state of the vehicle based on the calculated active front wheel steering angle, four-wheel braking force and four-wheel suspension control force includes:
adjusting the current front wheel rotation angle of the vehicle according to the driving front wheel additional rotation angle; adjusting the current four-wheel braking force of the vehicle according to the four-wheel braking force; and adjusting the current suspension control force of the vehicle according to the suspension control force.
EXAMPLE six
Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the steps of the vehicle control method in any of the above embodiments.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, and the like, and when a computer program on the storage medium is run, the steps of the vehicle control method can be executed, so that the influence caused by model uncertainty and external interference when a mathematical model is built and a controller is designed is reduced, the fault tolerance of a system is improved, and vehicle rollover can be effectively prevented.
The computer program product for performing the vehicle control method provided in the embodiment of the present application includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and details are not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (7)
1. A vehicle control method characterized by comprising:
acquiring sensing parameters detected by a sensor mounted on a vehicle, wherein the sensing parameters are used for reflecting the driving state of the vehicle;
calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values;
when the calculated rollover evaluation value exceeds a preset threshold value, calculating an additional rotation angle of the driving front wheel, four-wheel braking force and four-wheel suspension control force according to the induction parameters and the vehicle attribute value; adjusting the running state of the vehicle according to the calculated additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force;
the sensing parameter comprises at least one of the following parameters:
a lateral speed of the vehicle body detected by a lateral speed sensor of the vehicle body, a roll angle speed and a yaw speed of the vehicle body detected by a gyroscope disposed in the vehicle, a roll angle of the vehicle body, a longitudinal speed of the vehicle body detected by a longitudinal speed sensor, a steering wheel angle detected by a steering wheel angle sensor, and a vertical speed of a wheel center detected by a vertical speed sensor;
the vehicle attribute values include: suspension stiffness, suspension damping, wheel track, wheel vertical stiffness and vehicle mass;
calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values, wherein the rollover evaluation value comprises the following steps:
calculating a difference in longitudinal displacement between the left and right suspensions based on the longitudinal vehicle speeds detected by longitudinal vehicle speed sensors mounted on the left and right suspensions, and a difference in vertical variation between the left and right tires based on the vertical speed detected by a vertical speed sensor mounted on the wheel center, and a roll acceleration of the vehicle body based on a roll angular velocity of the vehicle body detected by a gyro provided in the vehicle;
and calculating the rollover evaluation value by using the vehicle body roll angle, the vehicle body roll acceleration, the left and right suspension longitudinal displacement difference, the left and right tire vertical change difference, the vehicle attribute value, a preset model uncertainty parameter and a preset left and right suspension control force difference.
2. The method of claim 1, wherein said calculating an active front wheel additional steering angle, a four wheel braking force and a four wheel suspension control force based on said sensed parameters comprises:
according to the induction parameters, a state space equation in a continuous time state is constructed, and a coefficient matrix of the state space equation is determined, wherein the state space equation is used for representing the incidence relation between the induction parameters and the additional turning angle of the front wheels, the four-wheel braking force and the four-wheel suspension control force;
converting the state space equation in the continuous time state into a state space equation in a discrete time state;
constructing a robust controller based on the state space equation in the discrete time state;
and calculating to obtain the additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force according to the robust controller.
3. The method according to claim 1, wherein said adjusting the running state of the vehicle based on the calculated active front wheel additional rotational angle, four-wheel braking force and four-wheel suspension control force comprises:
adjusting the current front wheel rotation angle of the vehicle according to the driving front wheel additional rotation angle; adjusting the current four-wheel braking force of the vehicle according to the four-wheel braking force; and adjusting the current suspension control force of the vehicle according to the suspension control force.
4. A vehicle control apparatus characterized by comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring induction parameters detected by a sensor arranged on a vehicle, and the induction parameters are used for reflecting the driving state of the vehicle;
the first calculation module is used for calculating a rollover evaluation value according to the induction parameters and the vehicle attribute values;
the second calculation module is used for calculating an additional rotation angle of the driving front wheel, four-wheel braking force and four-wheel suspension control force according to the induction parameters when the calculated rollover evaluation value exceeds a preset threshold value;
the state adjusting module is used for adjusting the running state of the vehicle according to the calculated additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force;
the sensing parameter comprises at least one of the following parameters:
the vehicle body lateral speed detected by a vehicle body lateral speed sensor, the vehicle body roll angle speed and the vehicle body yaw angle speed detected by a vehicle-mounted gyroscope, and the vehicle body longitudinal speed detected by a vehicle body roll angle through a longitudinal vehicle speed sensor, the steering wheel angle detected by a steering wheel angle sensor, and the vertical speed of the wheel center detected by a vertical speed sensor;
the vehicle attribute values include: suspension stiffness, suspension damping, wheel track, wheel vertical stiffness and vehicle mass;
the first calculation module is specifically configured to, when calculating the rollover evaluation value according to the sensing parameter and the vehicle attribute value:
calculating a difference in longitudinal displacement between the left and right suspensions based on the longitudinal vehicle speeds detected by longitudinal vehicle speed sensors mounted on the left and right suspensions, and a difference in vertical variation between the left and right tires based on the vertical speed detected by a vertical speed sensor mounted on the wheel center, and a roll acceleration of the vehicle body based on a roll angular velocity of the vehicle body detected by a gyro provided in the vehicle;
and calculating the rollover evaluation value by using the vehicle body roll angle, the vehicle body roll acceleration, the left and right suspension longitudinal displacement difference, the left and right tire vertical change difference, the vehicle attribute value, a preset model uncertainty parameter and a preset left and right suspension control force difference.
5. The apparatus of claim 4, wherein the second calculation module, when calculating the active front wheel additional rotational angle, the four-wheel braking force and the four-wheel suspension control force based on the sensed parameters, is specifically configured to:
according to the induction parameters, a state space equation in a continuous time state is constructed, and a coefficient matrix of the state space equation is determined, wherein the state space equation is used for representing the incidence relation between the induction parameters and the additional turning angle of the front wheels, the four-wheel braking force and the four-wheel suspension control force;
converting the state space equation in the continuous time state into a state space equation in a discrete time state;
constructing a robust controller based on the state space equation in the discrete time state;
and calculating to obtain the additional rotation angle of the driving front wheel, the four-wheel braking force and the four-wheel suspension control force according to the robust controller.
6. An electronic device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when the electronic device is operating, the machine readable instructions when executed by the processor performing the steps of the vehicle control method of any of claims 1 to 3.
7. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, is adapted to carry out the steps of the vehicle control method according to any one of claims 1 to 3.
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