CN108909829A - Vehicle and its skid steer control method, device - Google Patents
Vehicle and its skid steer control method, device Download PDFInfo
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- CN108909829A CN108909829A CN201810628375.0A CN201810628375A CN108909829A CN 108909829 A CN108909829 A CN 108909829A CN 201810628375 A CN201810628375 A CN 201810628375A CN 108909829 A CN108909829 A CN 108909829A
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- skid steer
- steering wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
- B62D9/007—Emergency systems using the steering system for braking
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of vehicle and its skid steer control methods, device, the described method comprises the following steps：The front left wheel brake force and right front wheel brake force of vehicle are obtained, and obtains the pivot stud torque of the front left wheel of vehicle and the pivot stud torque of right front wheel, and obtains skid steer power-assisted offset；Judge whether vehicle meets skid steer compensation unlocking condition according to the front left wheel brake force of vehicle and right front wheel brake force, braking deceleration and steering wheel angle；If it is satisfied, then obtaining steering wheel torque according to speed, braking deceleration and skid steer power-assisted offset, and control is compensated to steering wheel according to steering wheel torque, to prevent the reversed sideslip of vehicle.This method limits the skid steer power of vehicle according to the parameter information of vehicle by the way of software, can not only prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring traffic safety, but also can reduce the exploitation of part, and safe and reliable.
Description
Technical field
The present invention relates to automobile technical field, in particular to skid steer control method, one kind of a kind of vehicle are non-provisional
The skid steer control device and a kind of vehicle of property computer readable storage medium, a kind of vehicle.
Background technique
Vehicle, can due to the frictional force and brake intensifying force of left and right stopper material in straight-line travelling emergency braking
The brake force that left and right wheels can be will lead to is different, so that direction can be made to be pulled to side, i.e. skid steer phenomenon.Skid steer meeting
The reversed sideslip of vehicle is caused, makes vehicle there is a situation where deviateing pre-determined route, seriously threatens driving safety.
In the related technology, general by guaranteeing that the methods of left and right stopper material coefficient of friction or brake intensifying force are evaded
The skid steer of vehicle evades the skid steer of vehicle by the way of mechanical, not only will increase the exploitation of vehicle part at
This, and it is unreliable.
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.For this purpose, of the invention
First purpose is to propose that a kind of skid steer control method of vehicle, this method use software according to the parameter information of vehicle
Mode limit the skid steer power of vehicle, can both prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring to drive a vehicle
Safety, and the exploitation of part can be reduced, and safe and reliable.
Second object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
Third object of the present invention is to propose a kind of computer equipment.
Fourth object of the present invention is to propose a kind of skid steer control device of vehicle.
5th purpose of the invention is to propose a kind of vehicle.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of skid steer control method of vehicle,
The vehicle includes electric boosting steering system, be the described method comprises the following steps：Obtain the front left wheel braking of the vehicle
Power and right front wheel brake force, and obtain the pivot stud torque of the front left wheel of the vehicle and the pivot stud of right front wheel
Torque；Skid steer is obtained according to the pivot stud torque of the pivot stud torque of the front left wheel and the right front wheel to help
Force compensating value；The speed and braking deceleration of the vehicle are obtained, and obtains the steering wheel angle of the vehicle；According to the vehicle
Front left wheel brake force and right front wheel brake force, the braking deceleration and the steering wheel angle judge the vehicle
Whether skid steer compensation unlocking condition is met；If it is satisfied, then according to the speed, the braking deceleration and the braking
Power steering offset obtains steering wheel torque, and compensates control to the steering wheel according to the steering wheel torque, with
Prevent the reversed sideslip of the vehicle.
The skid steer control method of vehicle according to an embodiment of the present invention obtains front left wheel brake force and the right side of vehicle
Front vehicle wheel brake force, and obtain the pivot stud torque of the front left wheel of vehicle and the pivot stud torque of right front wheel, then root
Skid steer power-assisted offset is obtained according to the pivot stud torque of front left wheel and the pivot stud torque of right front wheel, then is obtained
The speed and braking deceleration of vehicle, and the steering wheel angle of vehicle is obtained, before the front left wheel brake force of vehicle and the right side
Wheel braking force, braking deceleration and steering wheel angle judge whether vehicle meets skid steer compensation unlocking condition, if full
Foot then obtains steering wheel torque according to speed, braking deceleration and skid steer power-assisted offset, and according to steering wheel torque pair
Steering wheel compensates control, to prevent the reversed sideslip of vehicle.This method is according to the parameter information of vehicle by the way of software
The skid steer power for limiting vehicle, can both prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring traffic safety,
The exploitation of part can be reduced again, and safe and reliable.
In addition, the skid steer control method of vehicle according to the above embodiment of the present invention can also have it is following additional
Technical characteristic：
According to one embodiment of present invention, when between the front left wheel brake force of the vehicle and right front wheel brake force
Brake force difference absolute value be greater than default braking force threshold, the braking deceleration is greater than the first default deceleration threshold,
And the steering wheel angle judges that the vehicle meets the skid steer compensation unlocking condition when being greater than predetermined angle.
According to one embodiment of present invention, according to the speed, the braking deceleration and the skid steer power-assisted
Offset obtains steering wheel torque, including：The speed and the braking deceleration are judged respectively；When the braking subtracts
Speed is more than or equal to the second default deceleration threshold and when the speed is more than or equal to the first preset vehicle speed, the steering wheel
Square is the skid steer power-assisted offset multiplied by the first penalty coefficient, wherein first penalty coefficient is greater than 1, described the
Two default deceleration thresholds are greater than the described first default deceleration threshold；Subtract when the braking deceleration is default greater than described second
When threshold speed and the speed are less than first preset vehicle speed, the steering wheel torque is equal to the skid steer power-assisted
Offset；When the braking deceleration is less than the described second default deceleration threshold and is greater than the described first default deceleration threshold
Value and the speed be more than or equal to first preset vehicle speed when, the steering wheel torque be equal to the skid steer power-assisted benefit
Repay value；When the braking deceleration be less than the described second default deceleration threshold and be greater than the described first default deceleration threshold,
And the speed, when being less than first preset vehicle speed, the steering wheel torque is the skid steer power-assisted offset multiplied by the
Two penalty coefficients, wherein second penalty coefficient is less than 1.
According to one embodiment of present invention, the skid steer power-assisted offset is obtained according to the following formula：M=K*
(MR is left+MR is right), wherein M is the skid steer power-assisted offset, and K is predesigned compensation coefficient, MR is leftFor the original of the front left wheel
Ground steering moment, MR is rightFor the pivot stud torque of the right front wheel.
According to one embodiment of present invention, during the running under braking of the vehicle, if detecting the direction
Disk torque is more than or equal to default torque threshold, then stops compensating control to the steering wheel.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, and vehicle described in first aspect present invention embodiment is realized when which is executed by processor
Skid steer control method.
The non-transitorycomputer readable storage medium of the embodiment of the present invention obtains front left wheel brake force and the right side of vehicle
Front vehicle wheel brake force, and obtain the pivot stud torque of the front left wheel of vehicle and the pivot stud torque of right front wheel, then root
Skid steer power-assisted offset is obtained according to the pivot stud torque of front left wheel and the pivot stud torque of right front wheel, then is obtained
The speed and braking deceleration of vehicle, and the steering wheel angle of vehicle is obtained, before the front left wheel brake force of vehicle and the right side
Wheel braking force, braking deceleration and steering wheel angle judge whether vehicle meets skid steer compensation unlocking condition, if full
Foot then obtains steering wheel torque according to speed, braking deceleration and skid steer power-assisted offset, and according to steering wheel torque pair
Steering wheel compensates control, can not only prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring traffic safety, but also
The exploitation of part can be reduced, and safe and reliable.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of computer equipment, including memory, place
The computer program managing device and storage on a memory and can running on a processor, when the processor executes described program,
Realize the skid steer control method of the vehicle as described in first aspect present invention embodiment.
Computer equipment according to an embodiment of the present invention obtains the front left wheel brake force and right front wheel braking of vehicle
Power, and the pivot stud torque of the front left wheel of vehicle and the pivot stud torque of right front wheel are obtained, further according to front left wheel
Pivot stud torque and the pivot stud torque of right front wheel obtain skid steer power-assisted offset, then obtain the speed of vehicle
And braking deceleration, and obtain the steering wheel angle of vehicle, according to the front left wheel brake force of vehicle and right front wheel brake force,
Braking deceleration and steering wheel angle judge whether vehicle meets skid steer compensation unlocking condition, if it is satisfied, then according to vehicle
Speed, braking deceleration and skid steer power-assisted offset obtain steering wheel torque, and are carried out according to steering wheel torque to steering wheel
Compensation control, can not only prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring traffic safety, but also can reduce zero
The exploitation of part, and it is safe and reliable.
In order to achieve the above objectives, fourth aspect present invention embodiment proposes a kind of skid steer control device institute of vehicle
Stating vehicle includes electric boosting steering system, and described device includes：First obtains module, and the first acquisition module is for obtaining
The front left wheel brake force and right front wheel brake force of the vehicle, and obtain the pivot stud power of the front left wheel of the vehicle
The pivot stud torque of square and right front wheel；Second obtains module, and described second, which obtains module, is used for according to the front left wheel
Pivot stud torque and the right front wheel pivot stud torque obtain skid steer power-assisted offset；Third obtains mould
Block, the third obtain the speed and braking deceleration that module is used to obtain the vehicle, and the steering wheel for obtaining the vehicle turns
Angle；Judgment module, the judgment module are used for according to the front left wheel brake force and right front wheel brake force of the vehicle, described
Braking deceleration and the steering wheel angle judge whether the vehicle meets skid steer compensation unlocking condition；Torque compensation mould
Block, the torque compensation module are used for when the judgment module judges that the vehicle meets skid steer compensation unlocking condition,
Steering wheel torque is obtained according to the speed, the braking deceleration and the skid steer power-assisted offset, and according to described
Steering wheel torque compensates control to the steering wheel, to prevent the reversed sideslip of the vehicle.
The skid steer control device of vehicle according to an embodiment of the present invention obtains the left side that module obtains vehicle by first
Front vehicle wheel brake force and right front wheel brake force, and obtain the pivot stud torque of the front left wheel of vehicle and the original of right front wheel
Ground steering moment, the second acquisition mould are obtained according to the pivot stud torque of front left wheel and the pivot stud torque of the right front wheel
Skid steer power-assisted offset is taken, third obtains the speed and braking deceleration that module obtains vehicle, obtains the steering wheel of vehicle
Corner, judgment module is according to the front left wheel brake force and right front wheel brake force, braking deceleration and steering wheel angle of vehicle
Judge whether vehicle meets skid steer compensation unlocking condition, torque compensation module judges that vehicle meets braking and turns in judgment module
To compensation unlocking condition when, according to speed, braking deceleration and skid steer power-assisted offset obtain steering wheel torque, and according to
Steering wheel torque compensates control to steering wheel, to prevent the reversed sideslip of vehicle.The device is believed according to the parameter of vehicle as a result,
Breath limits the skid steer power of vehicle by the way of software, can both prevent vehicle from reversely running in straight-line travelling emergency braking
Ensure traffic safety partially, and the exploitation of part can be reduced, and is safe and reliable.
In addition, the skid steer control device of vehicle according to the above embodiment of the present invention can also have it is following additional
Technical characteristic：
According to one embodiment of present invention, when between the front left wheel brake force of the vehicle and right front wheel brake force
Brake force difference absolute value be greater than default braking force threshold, the braking deceleration is greater than the first default deceleration threshold,
And the steering wheel angle is when being greater than predetermined angle, the judgment module judge that the vehicle meets the skid steer and compensates and opens
Open condition.
According to one embodiment of present invention, the torque compensation module is further used for：To the speed and the system
Dynamic deceleration is judged respectively；When the braking deceleration be more than or equal to the second default deceleration threshold and the speed it is big
When being equal to the first preset vehicle speed, obtaining the steering wheel torque is the skid steer power-assisted offset multiplied by the first compensation system
Number, wherein first penalty coefficient is greater than 1, and the second default deceleration threshold is greater than the described first default deceleration threshold
Value；When the braking deceleration is greater than the described second default deceleration threshold and the speed is less than first preset vehicle speed
When, the steering wheel torque is obtained equal to the skid steer power-assisted offset；When the braking deceleration is less than described second
Default deceleration threshold and it is greater than the described first default deceleration threshold and the speed is more than or equal to first preset vehicle speed
When, the steering wheel torque is obtained equal to the skid steer power-assisted offset；When the braking deceleration is less than described second
Default deceleration threshold and it is greater than the described first default deceleration threshold and when the speed is less than first preset vehicle speed,
Obtaining the steering wheel torque is the skid steer power-assisted offset multiplied by the second penalty coefficient, wherein second compensation
Coefficient is less than 1.
According to one embodiment of present invention, the second acquisition module obtains the skid steer according to the following formula and helps
Force compensating value：M=K* (MR is left+MR is right), wherein M is the skid steer power-assisted offset, and K is predesigned compensation coefficient, MR is leftFor institute
State the pivot stud torque of front left wheel, MR is rightFor the pivot stud torque of the right front wheel.
According to one embodiment of present invention, during the running under braking of the vehicle, if detecting the direction
Disk torque is more than or equal to default torque threshold, then the torque compensation module stopping compensates control to the steering wheel.
In order to achieve the above objectives, fifth aspect present invention embodiment proposes a kind of vehicle, including fourth aspect present invention
The skid steer control device of vehicle described in embodiment.
The vehicle of the embodiment of the present invention is believed by the skid steer control device of above-mentioned vehicle according to the parameter of vehicle
Breath limits the skid steer power of vehicle by the way of software, can both prevent vehicle from reversely running in straight-line travelling emergency braking
Ensure traffic safety partially, and the exploitation of part can be reduced, and is safe and reliable.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, wherein
Fig. 1 is the flow chart of the skid steer control method of vehicle according to an embodiment of the invention；
Fig. 2 is the block diagram of electric boosting steering system according to an embodiment of the invention；
Fig. 3 is the flow chart of the skid steer control method of vehicle in accordance with another embodiment of the present invention；And
Fig. 4 is the block diagram of the skid steer control device of vehicle according to an embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the skid steer control method of vehicle, the non-transitory meter of proposition of the embodiment of the present invention described
Calculation machine readable storage medium storing program for executing, computer equipment, vehicle skid steer control device and vehicle.
Fig. 1 is the flow chart of the skid steer control method of vehicle according to an embodiment of the invention.Wherein, vehicle packet
Electric boosting steering system is included, as shown in Figure 1, this approach includes the following steps：
S1, obtains the front left wheel brake force N1 and right front wheel brake force N2 of vehicle, and obtains the front left wheel of vehicle
Pivot stud torque MR is leftWith the pivot stud torque M of right front wheelR is right。
S2, according to the pivot stud torque M of front left wheelR is leftWith the pivot stud torque M of right front wheelR is rightBraking is obtained to turn
To power-assisted offset M.
Further, in an embodiment of the present invention, skid steer power-assisted offset M is obtained according to the following formula：
M=K* (MR is left+MR is right),
Wherein, M is skid steer power-assisted offset, and K is predesigned compensation coefficient, MR is leftFor the pivot stud power of front left wheel
Square, MR is rightFor the pivot stud torque of right front wheel.K can carry out related experiment according to vehicle in advance and measure.MR is left/MR is rightDirection
To be set as just when clockwise direction.
S3, obtains the vehicle velocity V and braking deceleration a of vehicle, and obtains the steering wheel angle B of vehicle.
S4 turns according to the front left wheel brake force N1 of vehicle and right front wheel brake force N2, braking deceleration a and steering wheel
Angle B judges whether vehicle meets skid steer compensation unlocking condition.
Further, in an embodiment of the present invention, as the front left wheel brake force N1 of vehicle and right front wheel brake force
The absolute value of brake force difference between N2 is greater than default brake force threshold kF, braking deceleration a be greater than the first default deceleration
When threshold value a1 and steering wheel angle B are greater than predetermined angle, judge that vehicle meets skid steer compensation unlocking condition.Wherein, it presets
Brake force threshold kF, the first default deceleration threshold a1 and predetermined angle can be demarcated according to actual vehicle model, for example, default
Angle can be 3 °.
S5, if it is satisfied, then obtaining steering wheel according to vehicle velocity V, braking deceleration a and skid steer power-assisted offset M
Square MX, and according to steering wheel torque MXControl is compensated to steering wheel, to prevent the reversed sideslip of vehicle.
Specifically, as shown in Fig. 2, vehicle generally comprises braking system and steering system, braking system includes brake, is turned
It include steering wheel and steering column, EPS (Electric Power Steering, electric power steering) system of vehicle to system
It all include vehicle speed sensor, deceleration sensor, torque sensor, rotary angle transmitter and left and right braking force sensor as unified
With EPS controller etc., EPS controller can to vehicle speed sensor, deceleration sensor, torque sensor, rotary angle transmitter and
The signal of left and right braking force sensor detection carries out relevant processing and operation, obtain the vehicle velocity V of vehicle, braking deceleration a,
Steering wheel torque H, steering wheel angle B and front left wheel brake force N1 and right front wheel brake force N2.
When vehicle travels, the left front vehicle of vehicle is obtained in real time by the left and right braking force sensor of the EPS system of vehicle
Brake force N1 and right front wheel brake force N2 is taken turns, then according to MR is left=N1 × L, MR is right=N2 × L obtains the front left wheel of vehicle
Pivot stud torque MR is leftWith the pivot stud torque M of right front wheelR is right, wherein L is the brake force arm of force of vehicle, can be according to vehicle
Specific vehicle preset.Then, according to M=K × (MR is left+MR is right) obtain skid steer power-assisted offset M.Then by subtracting
Velocity sensor obtains the braking deceleration a of vehicle, obtains steering wheel angle B by rotary angle transmitter, and judges whether there is |
N1-N2 | > KFAnd a > a1 and B >=3 °.If | N1-N2 | > KFAnd a > a1 and B >=3 ° illustrate that vehicle may be tight in straight-line travelling
Reversed sideslip (skid steer) when anxious braking meets skid steer compensation unlocking condition, according to vehicle velocity V, braking deceleration a and system
Dynamic power steering offset M obtains steering wheel torque MX, EPS controller can be according to steering wheel torque MXExport corresponding motor
Electric current inhibits electric current to provide reversed sideslip, exports corresponding corner and steering wheel torque, compensate control to steering wheel,
Prevent the reversed sideslip of vehicle.This method turns according to the braking that the parameter information of vehicle limits vehicle by the way of software as a result,
Xiang Li can not only prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring traffic safety, but also can reduce part
Exploitation, and it is safe and reliable.
It how describes below with reference to specific embodiment according to vehicle velocity V, braking deceleration a and skid steer power-assisted offset
M obtains steering wheel torque MX。
According to one embodiment of present invention, as shown in figure 3, according to vehicle velocity V, braking deceleration a and skid steer power-assisted
Offset M obtains steering wheel torque MX, including：
S501 judges vehicle velocity V and braking deceleration a respectively.
S502, when braking deceleration a is more than or equal to the second default deceleration threshold a2 and vehicle velocity V is more than or equal to first in advance
If when vehicle velocity V 1, steering wheel torque MXIt is skid steer power-assisted offset M multiplied by the first penalty coefficient K1.Wherein, the first compensation
COEFFICIENT K 1 is greater than 1, and the second default deceleration threshold a2 is greater than the first default deceleration threshold a1.First penalty coefficient K1, second
Default deceleration threshold a2 and the first preset vehicle speed V1 can be preset according to the actual situation, for example, K1 can be 105%,
Second default deceleration threshold a2 can be 5.8m/s2, V1 can be 100km/h.
S503, when braking deceleration a is greater than the second default deceleration threshold a2 and vehicle velocity V less than the first preset vehicle speed V1
When, steering wheel torque MXEqual to skid steer power-assisted offset M.
S504, when braking deceleration a deceleration threshold a2 default less than second and be greater than the first default deceleration threshold a1,
And vehicle velocity V be more than or equal to the first preset vehicle speed V1 when, steering wheel torque MXEqual to skid steer power-assisted offset M.
S505, when braking deceleration a deceleration threshold a2 default less than second and be greater than the first default deceleration threshold a1,
And vehicle velocity V less than the first preset vehicle speed V1 when, steering wheel torque MXIt is skid steer power-assisted offset M multiplied by the second penalty coefficient
K2.Wherein, the second penalty coefficient K2 can be preset according to the actual situation less than 1, for example, K2 can be 95%.
That is, if a >=5.8m/s2, V >=100km/h, then according to MX=105%M compensates control to steering wheel
System；If a >=5.8m/s2, V < 100km/h, then according to MX=100%M compensates control to steering wheel；If a1 < a <
5.8m/s2, V >=100km/h, then according to MX=100%M compensates control to steering wheel；If a1 < a < 5.8m/s2, V <
100km/h, then according to MX=95%M compensates control to steering wheel.
It is appreciated that in an embodiment of the present invention, EPS controller can be according to steering wheel torque MXThe corresponding electricity of output
Electromechanics stream inhibits electric current to provide reversed sideslip, compensates control to steering wheel, and the control strategy in excessive section is to use
2 " it is interior to carry out curve or differential technique smooth excessiveness, it avoids generating torque mutation.
It should be noted that in an embodiment of the present invention, during the running under braking of vehicle, if detecting direction
Disk torque H is more than or equal to default torque threshold, then stops compensating control to steering wheel.Wherein, default torque threshold can be with
It is preset according to the actual situation, such as 2.5Nm.
Specifically, during the running under braking of vehicle, if detecting steering wheel torque H >=2.5Nm, illustrate to drive
Member can be carried out active steering in braking process, then needing to stop in 500ms to compensate control to steering wheel.
In conclusion the skid steer control method of vehicle according to an embodiment of the present invention, obtains the front left wheel of vehicle
Brake force and right front wheel brake force, and obtain the pivot stud torque of the front left wheel of vehicle and the pivot stud of right front wheel
Torque, the pivot stud torque of pivot stud torque and right front wheel further according to front left wheel obtain the compensation of skid steer power-assisted
Value, then the speed and braking deceleration of vehicle are obtained, and obtain the steering wheel angle of vehicle, it is braked according to the front left wheel of vehicle
Power and right front wheel brake force, braking deceleration and steering wheel angle judge whether vehicle meets skid steer compensation open strip
Part, if it is satisfied, then obtaining steering wheel torque according to speed, braking deceleration and skid steer power-assisted offset, and according to side
Control is compensated to steering wheel to disk torque, to prevent the reversed sideslip of vehicle.This method is used according to the parameter information of vehicle
The mode of software limits the skid steer power of vehicle, can both prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring
Traffic safety, and the exploitation of part can be reduced, and safe and reliable.
The embodiment of the present invention also proposes a kind of non-transitorycomputer readable storage medium, is stored thereon with computer journey
Sequence, the program realize the skid steer control method of above-mentioned vehicle when being executed by processor.
The non-transitorycomputer readable storage medium of the embodiment of the present invention obtains front left wheel brake force and the right side of vehicle
Front vehicle wheel brake force, and obtain the pivot stud torque of the front left wheel of vehicle and the pivot stud torque of right front wheel, then root
Skid steer power-assisted offset is obtained according to the pivot stud torque of front left wheel and the pivot stud torque of right front wheel, then is obtained
The speed and braking deceleration of vehicle, and the steering wheel angle of vehicle is obtained, before the front left wheel brake force of vehicle and the right side
Wheel braking force, braking deceleration and steering wheel angle judge whether vehicle meets skid steer compensation unlocking condition, if full
Foot then obtains steering wheel torque according to speed, braking deceleration and skid steer power-assisted offset, and according to steering wheel torque pair
Steering wheel compensates control, can not only prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring traffic safety, but also
The exploitation of part can be reduced, and safe and reliable.
The embodiment of the present invention also proposes a kind of computer equipment, including memory, processor and storage are on a memory
And the computer program that can be run on a processor realizes the braking of above-mentioned vehicle when the processor executes described program
Rotating direction control method.
Computer equipment according to an embodiment of the present invention obtains the front left wheel brake force and right front wheel braking of vehicle
Power, and the pivot stud torque of the front left wheel of vehicle and the pivot stud torque of right front wheel are obtained, further according to front left wheel
Pivot stud torque and the pivot stud torque of right front wheel obtain skid steer power-assisted offset, then obtain the speed of vehicle
And braking deceleration, and obtain the steering wheel angle of vehicle, according to the front left wheel brake force of vehicle and right front wheel brake force,
Braking deceleration and steering wheel angle judge whether vehicle meets skid steer compensation unlocking condition, if it is satisfied, then according to vehicle
Speed, braking deceleration and skid steer power-assisted offset obtain steering wheel torque, and are carried out according to steering wheel torque to steering wheel
Compensation control, can not only prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring traffic safety, but also can reduce zero
The exploitation of part, and it is safe and reliable.
Fig. 4 is the block diagram of the skid steer control device of vehicle according to an embodiment of the invention.Wherein, vehicle
Include electric boosting steering system, as shown in figure 4, skid steer control device includes：First, which obtains module 10, second, obtains
Module 20, third obtain module 30, judgment module 40 and torque compensation module 50.
Wherein, the first acquisition module 10 is used to obtain the front left wheel brake force N1 and right front wheel brake force N2 of vehicle,
And obtain the pivot stud torque M of the front left wheel of vehicleR is leftWith the pivot stud torque M of right front wheelR is right.Second obtains module
20 for the pivot stud torque M according to front left wheelR is leftWith the pivot stud torque M of right front wheelR is rightObtain skid steer power-assisted
Offset M.Third obtains the vehicle velocity V and braking deceleration a that module 30 is used to obtain vehicle, obtains the steering wheel angle B of vehicle.
Judgment module 40 is used for front left wheel brake force N1 and right front wheel brake force N2, braking deceleration a and direction according to vehicle
Disk corner B judges whether vehicle meets skid steer compensation unlocking condition.Torque compensation module 50 in judgment module 40 for sentencing
When disconnected vehicle meets skid steer compensation unlocking condition, obtained according to vehicle velocity V, braking deceleration a and skid steer power-assisted offset M
Take steering wheel torque MX, and according to steering wheel torque MXControl is compensated to steering wheel, to prevent the reversed sideslip of vehicle.
Further, in an embodiment of the present invention, the second acquisition module 20 obtains skid steer according to the following formula and helps
Force compensating value M：
M=K* (MR is left+MR is right),
Wherein, M is skid steer power-assisted offset, and K is predesigned compensation coefficient, MR is leftFor the pivot stud power of front left wheel
Square, MR is rightFor the pivot stud torque of right front wheel.K can carry out related experiment according to vehicle in advance and measure.MR is left/MR is rightDirection
To be set as just when clockwise direction.
In an embodiment of the present invention, when the system between the front left wheel brake force N1 of vehicle and right front wheel brake force N2
The absolute value of power difference is greater than default brake force threshold kF, braking deceleration a be greater than the first default deceleration threshold a1 and side
When being greater than predetermined angle to disk corner B, judgment module 40 judges that vehicle meets skid steer compensation unlocking condition.Wherein, it presets
Brake force threshold kF, the first default deceleration threshold a1 and predetermined angle can be demarcated according to actual vehicle model, for example, default
Angle can be 3 °.
Specifically, as shown in Fig. 2, vehicle generally comprises braking system and steering system, braking system includes brake, is turned
It include steering wheel and steering column, EPS (Electric Power Steering, electric power steering) system of vehicle to system
It all include vehicle speed sensor, deceleration sensor, torque sensor, rotary angle transmitter and left and right braking force sensor as unified,
It can be obtained by vehicle speed sensor, deceleration sensor, torque sensor, rotary angle transmitter and left and right braking force sensor
Vehicle velocity V, braking deceleration a, steering wheel torque H, steering wheel angle B and the front left wheel brake force N1 and right front wheel of vehicle
Brake force N2.
When vehicle travels, left and right braking force sensor reality of the module 10 by the EPS system of vehicle is obtained by first
When obtain vehicle front left wheel brake force N1 and right front wheel brake force N2, then according to MR is left=N1 × L, MR is right=N2 × L is obtained
The pivot stud torque M of the front left wheel of pick-upR is leftWith the pivot stud torque M of right front wheelR is right, wherein L is the braking of vehicle
Force arm can be preset according to the specific vehicle of vehicle.Then, second module 20 is obtained according to M=K × (MR is left+MR is right) obtain
Pivot stud torque obtains skid steer power-assisted offset M.Then third obtains module 30 and obtains vehicle by deceleration sensor
Braking deceleration a, steering wheel angle B obtained by rotary angle transmitter, judgment module 40 judges whether there is | N1-N2 | >
KFAnd a > a1 and B >=3 °.If | N1-N2 | > KFAnd a > a1 and B >=3 ° illustrate that vehicle may be in straight-line travelling emergency braking
Reversed sideslip (skid steer) meets skid steer compensation unlocking condition, and torque compensation module 50 is according to vehicle velocity V, braking deceleration
It spends a and skid steer power-assisted offset M and obtains steering wheel torque MX, torque compensation module 50 can be according to steering wheel torque MXIt is defeated
Corresponding current of electric out inhibits electric current to provide reversed sideslip, exports corresponding corner and steering wheel torque, to steering wheel into
Row compensation control, prevents the reversed sideslip of vehicle.The device can be limited by the way of software according to the parameter information of vehicle as a result,
The skid steer power of vehicle processed can not only prevent vehicle reversed sideslip in straight-line travelling emergency braking from ensuring traffic safety, but also
The exploitation of part can be reduced, and safe and reliable.
Torque compensation module 50 is described how according to vehicle velocity V, braking deceleration a and braking below with reference to specifically embodiment
Power steering offset M obtains steering wheel torque MX。
According to one embodiment of present invention, torque compensation module 50 is further used for：To vehicle velocity V and braking deceleration a
Judged respectively.When braking deceleration a is more than or equal to the second default deceleration threshold a2 and vehicle velocity V is more than or equal to first in advance
If when vehicle velocity V 1, steering wheel torque MXIt is skid steer power-assisted offset M multiplied by the first penalty coefficient K1, wherein the first compensation
COEFFICIENT K 1 is greater than 1, and the second default deceleration threshold a2 is greater than the first default deceleration threshold a1, the first penalty coefficient K1, second
Default deceleration threshold a2 and the first preset vehicle speed V1 can be preset according to the actual situation, for example, K1 can be 105%,
Second default deceleration threshold a2 can be 5.8m/s2, V1 can be 100km/h；Subtract when braking deceleration a is default greater than second
Threshold speed a2 and when vehicle velocity V is less than the first preset vehicle speed V1, steering wheel torque MXEqual to skid steer power-assisted offset M；When
Braking deceleration a deceleration threshold a2 default less than second and it is greater than the first default deceleration threshold a1 and vehicle velocity V and is more than or equal to
When the first preset vehicle speed V1, steering wheel torque MXEqual to skid steer power-assisted offset M；When braking deceleration a is pre- less than second
If deceleration threshold a2 and when being greater than the first default deceleration threshold a1 and vehicle velocity V less than the first preset vehicle speed V1, steering wheel
Square MXIt is skid steer power-assisted offset M multiplied by the second penalty coefficient K2, wherein the second penalty coefficient K2, can basis less than 1
Actual conditions are preset, for example, K2 can be 95%.
That is, if a >=5.8m/s2, V >=100km/h, torque compensation module 50 is then according to MX=105%M other side
Control is compensated to disk；If a >=5.8m/s2, V < 100km/h, torque compensation module 50 is then according to MX=100%M other side
Control is compensated to disk；If a1 < a < 5.8m/s2, V >=100km/h, torque compensation module 50 is then according to MX=100%M
Control is compensated to steering wheel；If a1 < a < 5.8m/s2, V < 100km/h, torque compensation module 50 is then according to MX=
95%M compensates control to steering wheel.
It is appreciated that in an embodiment of the present invention, torque compensation module 50 can be according to steering wheel torque MXOutput phase
The current of electric answered inhibits electric current to provide reversed sideslip, compensates control to steering wheel, the control strategy in excessive section
It is utilized in 2 " it is interior to carry out curve or differential technique smooth excessiveness, it avoids generating torque mutation.
It should be noted that in an embodiment of the present invention, during the running under braking of vehicle, if detecting direction
Disk torque H is more than or equal to default torque threshold, then the stopping of torque compensation module 50 compensates control to steering wheel.Wherein, in advance
If torque threshold can be preset according to the actual situation, such as 2.5Nm.
Specifically, during the running under braking of vehicle, if detecting steering wheel torque H >=2.5Nm, illustrate to drive
Member can be carried out active steering in braking process, then torque compensation module 50 need in 500ms stop to steering wheel into
Row compensation control.
The skid steer control device of vehicle according to an embodiment of the present invention obtains the left side that module obtains vehicle by first
Front vehicle wheel brake force and right front wheel brake force, and obtain the pivot stud torque of the front left wheel of vehicle and the original of right front wheel
Ground steering moment, the second acquisition mould are obtained according to the pivot stud torque of front left wheel and the pivot stud torque of the right front wheel
Skid steer power-assisted offset is taken, third obtains the speed and braking deceleration that module obtains vehicle, obtains the steering wheel of vehicle
Corner, judgment module is according to the front left wheel brake force and right front wheel brake force, braking deceleration and steering wheel angle of vehicle
Judge whether vehicle meets skid steer compensation unlocking condition, torque compensation module judges that vehicle meets braking and turns in judgment module
To compensation unlocking condition when, according to speed, braking deceleration and skid steer power-assisted offset obtain steering wheel torque, and according to
Steering wheel torque compensates control to steering wheel, to prevent the reversed sideslip of vehicle.The device is believed according to the parameter of vehicle as a result,
Breath limits the skid steer power of vehicle by the way of software, can both prevent vehicle from reversely running in straight-line travelling emergency braking
Ensure traffic safety partially, and the exploitation of part can be reduced, and is safe and reliable.
In addition, the embodiment of the present invention also mentions a kind of vehicle, the skid steer control device including above-mentioned vehicle.
The vehicle of the embodiment of the present invention is believed by the skid steer control device of above-mentioned vehicle according to the parameter of vehicle
Breath limits the skid steer power of vehicle by the way of software, can both prevent vehicle from reversely running in straight-line travelling emergency braking
Ensure traffic safety partially, and the exploitation of part can be reduced, and is safe and reliable.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of skid steer control method of vehicle, which is characterized in that the vehicle includes electric boosting steering system, described
Method includes the following steps：
The front left wheel brake force and right front wheel brake force of the vehicle are obtained, and obtains the original of the front left wheel of the vehicle
The pivot stud torque of ground steering moment and right front wheel；
Skid steer is obtained according to the pivot stud torque of the pivot stud torque of the front left wheel and the right front wheel to help
Force compensating value；
The speed and braking deceleration of the vehicle are obtained, and obtains the steering wheel angle of the vehicle；
Turned according to the front left wheel brake force and right front wheel brake force of the vehicle, the braking deceleration and the steering wheel
Angle judges whether the vehicle meets skid steer compensation unlocking condition；
If it is satisfied, then obtaining steering wheel according to the speed, the braking deceleration and the skid steer power-assisted offset
Torque, and control is compensated to the steering wheel according to the steering wheel torque, to prevent the reversed sideslip of the vehicle.
2. the skid steer control method of vehicle as described in claim 1, which is characterized in that when the front left wheel of the vehicle
The absolute value of brake force difference between brake force and right front wheel brake force is greater than default braking force threshold, the braking deceleration
Degree judges described in the vehicle satisfaction greater than the first default deceleration threshold and when the steering wheel angle is greater than predetermined angle
Skid steer compensates unlocking condition；
During the running under braking of the vehicle, if detecting that the steering wheel torque is more than or equal to default torque threshold,
Then stop compensating control to the steering wheel.
3. the skid steer control method of vehicle as claimed in claim 1 or 2, which is characterized in that according to the speed, described
Braking deceleration and the skid steer power-assisted offset obtain steering wheel torque, including：
The speed and the braking deceleration are judged respectively；
When the braking deceleration is more than or equal to the second default deceleration threshold and the speed is more than or equal to the first preset vehicle speed
When, the steering wheel torque is the skid steer power-assisted offset multiplied by the first penalty coefficient, wherein first compensation system
Number is greater than 1, and the second default deceleration threshold is greater than the described first default deceleration threshold；
When the braking deceleration is greater than the described second default deceleration threshold and the speed is less than first preset vehicle speed
When, the steering wheel torque is equal to the skid steer power-assisted offset；
When the braking deceleration be less than the described second default deceleration threshold and be greater than the described first default deceleration threshold and
When the speed is more than or equal to first preset vehicle speed, the steering wheel torque is equal to the skid steer power-assisted offset；
When the braking deceleration be less than the described second default deceleration threshold and be greater than the described first default deceleration threshold and
When the speed is less than first preset vehicle speed, the steering wheel torque is the skid steer power-assisted offset multiplied by second
Penalty coefficient, wherein second penalty coefficient is less than 1.
4. the skid steer control method of vehicle as described in claim 1, which is characterized in that described in obtaining according to the following formula
Skid steer power-assisted offset：
M=K* (MR is left+MR is right),
Wherein, M is the skid steer power-assisted offset, and K is predesigned compensation coefficient, MR is leftFor the pivot stud of the front left wheel
Torque, MR is rightFor the pivot stud torque of the right front wheel.
5. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
The skid steer control method of vehicle described in any one of -4 according to claim 1 is realized when processor executes.
6. a kind of skid steer control device of vehicle, which is characterized in that the vehicle includes electric boosting steering system, described
Device includes：
First obtains module, and the first acquisition module is used to obtain the front left wheel brake force and right front wheel system of the vehicle
Power, and obtain the pivot stud torque of the front left wheel of the vehicle and the pivot stud torque of right front wheel；
Second obtains module, and described second, which obtains module, is used for according to before the pivot stud torque of the front left wheel and the right side
The pivot stud torque of wheel obtains skid steer power-assisted offset；
Third obtains module, and the third obtains the speed and braking deceleration that module is used to obtain the vehicle, described in acquisition
The steering wheel angle of vehicle；
Judgment module, the judgment module are used for according to the front left wheel brake force and right front wheel brake force of the vehicle, institute
It states braking deceleration and the steering wheel angle judges whether the vehicle meets skid steer compensation unlocking condition；
Torque compensation module, the torque compensation module are used to judge that the vehicle meets skid steer and mends in the judgment module
When repaying unlocking condition, steering wheel is obtained according to the speed, the braking deceleration and the skid steer power-assisted offset
Square, and control is compensated to the steering wheel according to the steering wheel torque, to prevent the reversed sideslip of the vehicle.
7. the skid steer control device of vehicle as claimed in claim 6, which is characterized in that when the front left wheel of the vehicle
The absolute value of brake force difference between brake force and right front wheel brake force is greater than default braking force threshold, the braking deceleration
Degree is greater than the first default deceleration threshold and when the steering wheel angle is greater than predetermined angle, described in the judgment module judgement
Vehicle meets the skid steer compensation unlocking condition；
During the running under braking of the vehicle, if detecting that the steering wheel torque is more than or equal to default torque threshold,
Then the torque compensation module stopping compensates control to the steering wheel.
8. the skid steer control device of vehicle as claimed in claims 6 or 7, which is characterized in that the torque compensation module
It is further used for：
The speed and the braking deceleration are judged respectively；
When the braking deceleration is more than or equal to the second default deceleration threshold and the speed is more than or equal to the first preset vehicle speed
When, obtaining the steering wheel torque is the skid steer power-assisted offset multiplied by the first penalty coefficient, wherein described first mends
Coefficient is repaid greater than 1, the second default deceleration threshold is greater than the described first default deceleration threshold；
When the braking deceleration is greater than the described second default deceleration threshold and the speed is less than first preset vehicle speed
When, the steering wheel torque is obtained equal to the skid steer power-assisted offset；
When the braking deceleration be less than the described second default deceleration threshold and be greater than the described first default deceleration threshold and
When the speed is more than or equal to first preset vehicle speed, obtains the steering wheel torque and compensated equal to the skid steer power-assisted
Value；
When the braking deceleration be less than the described second default deceleration threshold and be greater than the described first default deceleration threshold and
The speed be less than first preset vehicle speed when, obtain the steering wheel torque be the skid steer power-assisted offset multiplied by
Second penalty coefficient, wherein second penalty coefficient is less than 1.
9. the skid steer control device of vehicle as claimed in claim 6, which is characterized in that it is described second obtain module according to
Following formula obtains the skid steer power-assisted offset：
M=K* (MR is left+MR is right),
Wherein, M is the skid steer power-assisted offset, and K is predesigned compensation coefficient, MR is leftFor the pivot stud of the front left wheel
Torque, MR is rightFor the pivot stud torque of the right front wheel.
10. a kind of vehicle, which is characterized in that the skid steer control including the vehicle as described in any one of claim 6-19
Device.
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| CN201810628375.0A CN108909829B (en) | 2018-06-19 | 2018-06-19 | Vehicle and braking steering control method and device thereof |
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| CN201810628375.0A CN108909829B (en) | 2018-06-19 | 2018-06-19 | Vehicle and braking steering control method and device thereof |
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| CN109747706A (en) * | 2019-01-15 | 2019-05-14 | 北京汽车股份有限公司 | Compensation method, system and the vehicle of power steering |
| CN115805991A (en) * | 2022-11-29 | 2023-03-17 | 中国第一汽车股份有限公司 | Vehicle deviation compensation control method, device, terminal and storage medium |
| CN117401023A (en) * | 2022-07-07 | 2024-01-16 | 比亚迪股份有限公司 | Vehicle in-situ steering power-assisted control method, system, device and storage medium |
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| CN108909829B (en) | 2020-05-19 |
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