CN109895579A - A kind of braking coupling Active suspension anti-side turns over integrated control device and its control method - Google Patents
A kind of braking coupling Active suspension anti-side turns over integrated control device and its control method Download PDFInfo
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Abstract
The present invention relates to field of automobile safety, turn over integrated control device and its control method more particularly to a kind of braking coupling Active suspension anti-side.Differential braking system coupling active suspension system is subjected to integrated control, by acquiring vehicle roll angle, control unit carries out calculating analysis to data, and control instruction is exported to brake monitor and suspension controller according to result, make differential braking system and active suspension system be actuated for anti-side to turn over, through reasonable Torque distribution, under conventional operating condition and limiting condition, the active safety index of automobile is improved, the anti-side for improving vehicle turns over performance.Anti-side of the invention turns over integrated control device on the basis of foundation brakes coupling Active suspension anti-side and stirs mechanical model, implement layering integrated control, control device is turned over than single anti-side and turns over effect with better anti-side, can be effectively reduced because of traffic accident caused by the rollover of automobile under the operating conditions such as smooth turn, avoiding barrier.
Description
Technical field
The present invention relates to field of automobile safety, turn over integrated control dress more particularly to a kind of braking coupling Active suspension anti-side
It sets and its control method.
Background technique
Microbus generally has the features such as wheelspan is smaller, center of gravity is high, suspension rate is small, it is enabled to be easier in road driving
Rollover event occurs.The anti-side of single control system is turned over, and many experts and scholars have carried out correlative study, different triangular webs
Anti-side turn over control, have different advantage and disadvantage, such as differential braking, anti-lock braking system ABS or electronic machine can be based on
Tool brakes EMB etc. to design controller, it is easy to accomplish, it is at low cost, but anti-tipping effect is limited；For actively anti-tipping bar, prevent
Effect of tumbling is preferable, but system complex, higher cost；Active suspension anti-rollover anti-side turns over that torque is big, and anti-tipping effect is good, is suitble to
In various vehicles, but additional increase hardware is needed, it is at high cost, electro-hydraulic suspension Slack time is too long etc.；Active steering control is mentioning
While high slide-out stability, side acceleration is reduced, but reduces vehicle turning ability and road-holding ability, is changed
The driving intention for having become driver prevents automobile from effectively obstacle avoidance.It is anti-that differential braking system couples active suspension system
Rollover is by integrated control, the shortcomings that can rationally utilizing two kinds of control system advantages, avoid control system.Single control system
Anti-side to turn over effect limited, differential braking system coupling active suspension system anti-side is turned over integrated control and is divided by reasonable torque
Match, under conventional operating condition and limiting condition, improves the active safety index of automobile, the anti-side for improving vehicle turns over performance, Ke Yiqu
It obtains the more single better anti-side of control system and turns over effect.
Summary of the invention
Anti-side of the present invention turn over integrated control device establish differential braking coupling Active suspension anti-side stir mechanical model
On the basis of, implement integrated control, turns over control device than single anti-side and turn over effect with better anti-side, can be effectively reduced
Because traffic accident caused by the rollover of automobile under the operating conditions such as smooth turn, avoiding barrier, improves the peace of running car
Quan Xing.
The technical scheme is that
A kind of braking coupling Active suspension anti-side turns over integrated control device, including control unit, brake monitor, suspension control
Device processed rolls angle transducer, differential braking system, active suspension system；
The obliquity sensor is transmitted to described control unit for measuring vehicle roll angle；
Described control unit is electrically connected with inclination angle transducer, brake monitor, suspension controller respectively, and the control is single
Member carries out operation using rollover warning algorithm according to the body roll angle signal of the angle of heel sensor measurement received, obtains
To the transverse load rate of transform absolute value as rollover index, and according to the result of operation to the brake monitor and described outstanding
Frame controller issues control instruction；
The brake monitor is electrically connected with the differential braking system, and the brake monitor is obtained from the control
The differential braking system is delivered a signal to after the control instruction of unit, and H is used to the differential braking system∞Control, it is described
Differential braking system applies a different independent brake power to each wheel in power and Torque distribution to four wheels,
So that automobile is changed motion state, at this moment generate a yaw moment, and change the operating status of vehicle by this torque, improves
The roll stability of vehicle；
The suspension controller is electrically connected with the active suspension system, and the suspension controller is obtained from the control
The active suspension system is delivered a signal to after the control instruction of unit, and H is used to the active suspension system∞Control, it is described
Active suspension system controls the active force of left and right vehicle wheel suspension, according to vehicle-state, raises the height of outside or inclined side vehicle body；
The control device makes vehicle by carrying out integrated control to the differential braking system and the active suspension system
When rollover danger occurs, vehicle body can be adjusted, so that it will not turn on one's side.
Further, sensor signal processing mechanism is equipped between inclination angle transducer and the described control unit, it is described
Sensor signal processing mechanism is electrically connected with the inclination angle transducer and described control unit respectively, at the sensor signal
Reason mechanism amplifies the signal of the inclination angle transducer input, noise reduction and anti-interference process and then analog signal
It is converted into digital signal and is output to described control unit.
Further, the sensor signal processing mechanism includes amplifying circuit, noise reduction and anti-clutter circuit, analog-to-digital conversion electricity
Road, the sensor signal processing mechanism is first amplified the signal received by amplifying circuit, then inputs a signal into drop
It makes an uproar and carries out noise reduction, anti-tampering processing with anti-clutter circuit, last signal carries out analog-to-digital conversion by analog to digital conversion circuit.
Further, the process for obtaining the transverse load rate of transform by warning algorithm of turning on one's side is as follows:
Input signal is vehicle roll angle, and the calculation formula of the transverse load rate of transform is；
LTR is the transverse load rate of transform in formula, and Cs is equivalent inclination damped coefficient,For automobile spring carried mass angle of heel,
Ks is the equivalent roll stiffness of suspension, and m is complete vehicle quality, and g is acceleration of gravity, and B is car gage, and described control unit is according to meter
The LTR value and threshold value comparison of calculating control output high level according to comparison result and trigger control instruction signal.
Further, the differential braking system seeks to generate left and right tire different brake force, so that correcting makes vapour
Vehicle generates the effect of the yaw moment of rollover trend, can be real-time by sensor when controlled vehicle is when normally travel
The driving status for monitoring vehicle calculates the differential system power to be implemented, finally by each tire further according to rollover trend
Apply brake force to achieve the purpose that anti-side is turned over.After receiving the signal that brake monitor passes over, differential braking system
By in power and Torque distribution to four wheels, a different independent brake power is applied to each wheel, automobile is made to change fortune
Dynamic state, at this moment generates a yaw moment, and changes the operating status of vehicle by this torque, and the inclination for improving vehicle is steady
It is qualitative.
Further, the active suspension system uses full Active suspension, and the mechanical structure of full Active suspension is by hydraulic power
Source, there are also Electromagnetic Control valves to be formed for hydraulic output cylinder, and the Active suspension anti-rollover of automobile can pass through hydraulic output cylinder
Pressure change is realized, to generate torque that can be inclined with anti-side, is prevented the excessive inclination of vehicle, is reduced due to car
Vehicle roll caused by zig zag is dangerous, improves the roll stability of vehicle, and the active suspension system is by power and Torque distribution
Onto full Active suspension, the active force of left and right vehicle wheel suspension is controlled, according to vehicle-state, raises the height of outside or inclined side vehicle body
Degree, so that vehicle be made to avoid the rollover occurred during tempo turn or avoiding barrier dangerous.
Further, control device series connection manual switch, thus when device is too long Yi Dan generation wrong time, Che Zhuke
Device is turned off manually, reopening power supply can be such that device restarts.
The present invention also provides turn to the control method for coupling Active suspension anti-side and turning over integrated control device, including following step
It is rapid:
S1: angle transducer is rolled the body roll angle signal of vehicle and is input to sensor signal processing mechanism, sensor
Signal processing mechanism amplifies the signal that sensor inputs, after noise reduction, anti-interference process, and analog signal is converted into counting
Word signal is input in control unit；
S2: the processed body roll angle signal that control unit receiving side obliquity sensor is sent utilizes rollover
Warning algorithm carries out operation, and the absolute value for choosing LTR (the transverse load rate of transform) is rollover index, if LTR reaches 0.9 threshold
Value issues high level triggering control instruction signal to brake monitor immediately；
S3: after brake monitor receives control instruction signal, brake monitor delivers a signal to differential braking system,
Differential braking system anti-side, which is turned over, has an effect, and uses H to differential braking system∞Control, being turned over by differential braking anti-side will protect
The absolute value of LTR is demonstrate,proved under the premise of threshold value 0.9, changes the brake force of wheel, control unit is again by inclination angle transducer
Estimation to vehicle rollover degree, i.e., after changing brake force, by turn on one's side warning algorithm calculate again LTR absolute value whether
Beyond 0.9 threshold value, if differential braking control can achieve the requirement that anti-side turns over control, i.e., LTR absolute value is without departing from 0.9
Threshold value, then control unit no longer sends a signal to brake monitor, and differential braking service system does not just start, but if carries out
After differential braking control, in the case where the control requirement that system counter rollover is met again without method, i.e., LTR absolute value is super
0.9 threshold value out, control unit will issue high level triggering control instruction signal to suspension controller, suspension controller transmitting letter
Number active suspension system is given, active suspension system also uses H to suspension controller∞Control, adjusts vehicle by active suspension system
Body balance；
S4: after two lateral balance of brake force and vehicle body for changing wheel, control unit is again by inclination angle transducer
Estimate vehicle rollover degree whether exceed 0.9 threshold by the absolute value that warning algorithm of turning on one's side calculates LTR again
Value is again started up differential braking system and carries out differential braking control, circulation step S3, until working as the absolute value of LTR if exceeding
When threshold value without departing from 0.9, control unit issues control signal, brake monitor, suspension to brake monitor, suspension controller
Controller control active suspension system and differential braking system return, active suspension system and differential braking system are restored to originally
State.
Compared with prior art, the beneficial effects of the present invention are: differential braking system coupling active suspension system anti-side is turned over
The active safety index of automobile can be improved by reasonable Torque distribution, under conventional operating condition and limiting condition, improve vehicle
Anti-side turn over performance.Anti-side turns over integrated control device and stirs the base of mechanical model establishing differential braking coupling Active suspension anti-side
On plinth, implement layering integrated control, turns over control device than single anti-side and turn over effect with better anti-side, can effectively subtract
Traffic accident caused by few rollover because of automobile under the operating conditions such as smooth turn, avoiding barrier.
Detailed description of the invention
Fig. 1 is control device schematic diagram of the invention.
Fig. 2 is the control method flow chart of control device of the invention.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
Embodiment 1:
As shown in Figure 1, a kind of braking coupling Active suspension anti-side turns over integrated control device, including control unit, braking control
Device processed, rolls angle transducer, differential braking system, active suspension system at suspension controller；
The obliquity sensor is transmitted to described control unit for measuring vehicle roll angle；
Described control unit is electrically connected with inclination angle transducer, brake monitor, suspension controller respectively, and the control is single
Member carries out operation using rollover warning algorithm according to the body roll angle signal of the angle of heel sensor measurement received, obtains
To the transverse load rate of transform absolute value as rollover index, and according to the result of operation to the brake monitor and described outstanding
Frame controller issues control instruction；
The brake monitor is electrically connected with the differential braking system, and the brake monitor is obtained from the control
The differential braking system is delivered a signal to after the control instruction of unit, and H is used to the differential braking system∞Control, it is described
Differential braking system applies a different independent brake power to each wheel in power and Torque distribution to four wheels,
So that automobile is changed motion state, at this moment generate a yaw moment, and change the operating status of vehicle by this torque, improves
The roll stability of vehicle；
The suspension controller is electrically connected with the active suspension system, and the suspension controller is obtained from the control
The active suspension system is delivered a signal to after the control instruction of unit, and H is used to the active suspension system∞Control, it is described
Active suspension system controls the active force of left and right vehicle wheel suspension, according to vehicle-state, raises the height of outside or inclined side vehicle body；
The control device makes vehicle by carrying out integrated control to the differential braking system and the active suspension system
When rollover danger occurs, vehicle body can be adjusted, so that it will not turn on one's side.
In the present embodiment, sensor signal processor is equipped between inclination angle transducer and the described control unit
Structure, the sensor signal processing mechanism are electrically connected with the inclination angle transducer and described control unit respectively, the sensing
Device signal processing mechanism amplifies the signal of the inclination angle transducer input, noise reduction and anti-interference process and then handle
Analog signal is converted into digital signal and is output to described control unit.
In the present embodiment, the sensor signal processing mechanism includes amplifying circuit, noise reduction and anti-clutter circuit, modulus
Conversion circuit, the sensor signal processing mechanism are first amplified the signal received by amplifying circuit, then by signal
It inputs noise reduction and anti-clutter circuit carries out noise reduction, anti-tampering processing, last signal carries out analog-to-digital conversion by analog to digital conversion circuit.
In the present embodiment, the process for obtaining the transverse load rate of transform by warning algorithm of turning on one's side is as follows:
Input signal is vehicle roll angle, and the calculation formula of the transverse load rate of transform is；
LTR is the transverse load rate of transform in formula, and Cs is equivalent inclination damped coefficient,For automobile spring carried mass angle of heel,
Ks is the equivalent roll stiffness of suspension, and m is complete vehicle quality, and g is acceleration of gravity, and B is car gage, and described control unit is according to meter
The LTR value and threshold value comparison of calculating control output high level according to comparison result and trigger control instruction signal.
In the present embodiment, the differential braking system seeks to generate left and right tire different brake force, to entangle
So that automobile is generated the effect of the yaw moment of rollover trend, when controlled vehicle is when normally travel, sensing can be passed through
Device monitors the driving status of vehicle in real time, further according to rollover trend, the differential system power to be implemented is calculated, finally by each
A tire applies brake force to achieve the purpose that anti-side is turned over.After receiving the signal that brake monitor passes over, differential system
Dynamic system applies in power and Torque distribution to four wheels a different independent brake power to each wheel, makes automobile
Change motion state, at this moment generate a yaw moment, and change the operating status of vehicle by this torque, improves vehicle
Roll stability.
In the present embodiment, the active suspension system uses full Active suspension, and the mechanical structure of full Active suspension is by liquid
Pressure power source, there are also Electromagnetic Control valves to be formed for hydraulic output cylinder, and the Active suspension anti-rollover of automobile can be by hydraulic defeated
The pressure change of cylinder is realized out, to generate torque that can be inclined with anti-side, prevents the excessive inclination of vehicle, reduce due to
Vehicle roll caused by vehicle break turn is dangerous, improves the roll stability of vehicle, and the active suspension system is by power and power
Square is assigned on full Active suspension, controls the active force of left and right vehicle wheel suspension, according to vehicle-state, raises outside or inclined side vehicle
The height of body, so that vehicle be made to avoid the rollover occurred during tempo turn or avoiding barrier dangerous.
In the present embodiment, control device series connection manual switch, thus when device is too long Yi Dan generation wrong time,
Device can be turned off manually in car owner, and reopening power supply can be such that device restarts.
In the present embodiment, which is powered by vehicle body is self-powered, also, control unit uses single-chip microcontroller
It can be realized.
As shown in Fig. 2, the present invention also provides the control method that braking coupling Active suspension anti-side turns over integrated control device, packet
Include following steps:
S1: angle transducer is rolled the body roll angle signal of vehicle and is input to sensor signal processing mechanism, sensor
Signal processing mechanism amplifies the signal that sensor inputs, after noise reduction, anti-interference process, and analog signal is converted into counting
Word signal is input in control unit；
S2: the processed body roll angle signal that control unit receiving side obliquity sensor is sent utilizes rollover
Warning algorithm carries out operation, and the absolute value for choosing LTR (the transverse load rate of transform) is rollover index, if LTR reaches 0.9 threshold
Value issues high level triggering control instruction signal to brake monitor immediately；
S3: after brake monitor receives control instruction signal, brake monitor delivers a signal to differential braking system,
Differential braking system anti-side, which is turned over, has an effect, and uses H to differential braking system∞Control, being turned over by differential braking anti-side will protect
The absolute value of LTR is demonstrate,proved under the premise of threshold value 0.9, changes the brake force of wheel, control unit is again by inclination angle transducer
Estimation to vehicle rollover degree, i.e., after changing brake force, by turn on one's side warning algorithm calculate again LTR absolute value whether
Beyond 0.9 threshold value, if differential braking control can achieve the requirement that anti-side turns over control, i.e., LTR absolute value is without departing from 0.9
Threshold value, then control unit no longer sends a signal to brake monitor, and differential braking service system does not just start, but if carries out
After differential braking control, in the case where the control requirement that system counter rollover is met again without method, i.e., LTR absolute value is super
0.9 threshold value out, control unit will issue high level triggering control instruction signal to suspension controller, suspension controller transmitting letter
Number active suspension system is given, active suspension system also uses H to suspension controller∞Control, adjusts vehicle by active suspension system
Body balance；
S4: after two lateral balance of brake force and vehicle body for changing wheel, control unit is again by inclination angle transducer
Estimate vehicle rollover degree whether exceed 0.9 threshold by the absolute value that warning algorithm of turning on one's side calculates LTR again
Value is again started up differential braking system and carries out differential braking control, circulation step S3, until working as the absolute value of LTR if exceeding
When threshold value without departing from 0.9, control unit issues control signal, brake monitor, suspension to brake monitor, suspension controller
Controller control active suspension system and differential braking system return, active suspension system and differential braking system are restored to originally
State.
When progress anti-side turns over control, the brake force size of preceding foreign steamer and rear lubrication groove is mainly controlled, vehicle rolls
When, vehicle rolls outward, becomes larger to the vertical load of foreign steamer, and general rollover degree is more serious, and the vertical load of foreign steamer is bigger, this
When bigger degree can achieve to the brake force size of preceding foreign steamer, relatively good anti-rollover effect can be received.This control
System strategy, is utilized differential braking fast response time, it is easy to accomplish, advantage at low cost.
The control strategy of Active suspension is utilized Active suspension anti-rollover anti-side and turns over that torque is big, good excellent of anti-tipping effect
Point, while also avoiding the too long disadvantage of Active suspension response Slack time.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (8)
1. a kind of braking coupling Active suspension anti-side turns over integrated control device, which is characterized in that including control unit, control for brake
Device, rolls angle transducer, differential braking system, active suspension system at suspension controller；The obliquity sensor is for measuring vehicle
Body angle of heel, and it is transmitted to described control unit；
Described control unit is electrically connected with inclination angle transducer, brake monitor, suspension controller respectively, described control unit root
Operation is carried out using rollover warning algorithm according to the body roll angle signal of the angle of heel sensor measurement received, obtains cross
To the absolute value of load transfer rate as rollover index, and according to the result of operation to the brake monitor and the suspension control
Device processed issues control instruction；
The brake monitor is electrically connected with the differential braking system, and the brake monitor is obtained from described control unit
Control instruction after deliver a signal to the differential braking system, to the differential braking system use H∞Control, it is described differential
Braking system applies in power and Torque distribution to four wheels a different independent brake power to each wheel, makes vapour
Vehicle changes motion state, at this moment generates a yaw moment, and changes the operating status of vehicle by this torque, improves vehicle
Roll stability；
The suspension controller is electrically connected with the active suspension system, and the suspension controller is obtained from described control unit
Control instruction after deliver a signal to the active suspension system, to the active suspension system use H∞Control, the active
Suspension system controls the active force of left and right vehicle wheel suspension, according to vehicle-state, raises the height of outside or inclined side vehicle body；
The control device is sending out vehicle by carrying out integrated control to the differential braking system and the active suspension system
When raw rollover danger, vehicle body can be adjusted, so that it will not turn on one's side.
2. a kind of braking coupling Active suspension anti-side turns over integrated control device according to claim 1, which is characterized in that described
It rolls and is equipped with sensor signal processing mechanism between angle transducer and described control unit, the sensor signal processing mechanism point
It is not electrically connected with the inclination angle transducer and described control unit, the sensor signal processing mechanism passes the angle of heel
The signal of sensor input amplifies, noise reduction and anti-interference process and then analog signal is converted into digital signal is output to
Described control unit.
3. a kind of braking coupling Active suspension anti-side turns over integrated control device according to claim 2, which is characterized in that described
Sensor signal processing mechanism includes amplifying circuit, noise reduction and anti-clutter circuit, analog to digital conversion circuit, at the sensor signal
Reason mechanism is first amplified the signal received by amplifying circuit, then inputs a signal into noise reduction and anti-clutter circuit is dropped
It makes an uproar, anti-tampering processing, last signal carries out analog-to-digital conversion by analog to digital conversion circuit.
4. a kind of braking coupling Active suspension anti-side turns over integrated control device according to claim 1, which is characterized in that pass through
The process that rollover warning algorithm obtains the transverse load rate of transform is as follows:
Input signal is vehicle roll angle, and the calculation formula of the transverse load rate of transform is；
LTR is the transverse load rate of transform in formula, and Cs is equivalent inclination damped coefficient,For automobile spring carried mass angle of heel, Ks is outstanding
The equivalent roll stiffness of frame, m are complete vehicle quality, and g is acceleration of gravity, and B is car gage, and described control unit is according to calculated
LTR value and threshold value comparison control output high level according to comparison result and trigger control instruction signal.
5. a kind of braking coupling Active suspension anti-side turns over integrated control device according to claim 1, which is characterized in that described
Differential braking system seeks to generate left and right tire different brake force, to correct the sideway for making automobile generate rollover trend
The effect of torque can monitor the driving status of vehicle in real time when controlled vehicle is when normally travel by sensor, then
According to rollover trend, the differential system power to be implemented is calculated, reaches anti-side finally by brake force is applied to each tire
The purpose turned over.
6. a kind of braking coupling Active suspension anti-side turns over integrated control device according to claim 1, which is characterized in that described
Active suspension system uses full Active suspension, and there are also electricity by hydraulic power supply, hydraulic output cylinder for the mechanical structure of full Active suspension
Magnetic control valve is formed, and the Active suspension anti-rollover of automobile can be realized by the pressure change of hydraulic output cylinder, thus
The torque that can be inclined with anti-side is generated, the excessive inclination of vehicle is prevented, reduces the vehicle side as caused by vehicle break turn
Incline danger, improve the roll stability of vehicle, the active suspension system is by power and Torque distribution to full Active suspension, control
The active force of left and right vehicle wheel suspension raises the height of outside or inclined side vehicle body according to vehicle-state.
7. a kind of braking coupling Active suspension anti-side turns over integrated control device according to claim 1, which is characterized in that the control
Device series connection manual switch processed.
8. the control method that a kind of braking coupling Active suspension anti-side turns over integrated control device, which is characterized in that including following step
It is rapid:
S1: angle transducer is rolled the body roll angle signal of vehicle and is input to sensor signal processing mechanism, sensor signal
Processing mechanism amplifies the signal that sensor inputs, after noise reduction, anti-interference process, and analog signal is converted into digital letter
It number is input in control unit；
S2: the processed body roll angle signal that control unit receiving side obliquity sensor is sent utilizes rollover early warning
Algorithm carries out operation, chooses the absolute value of LTR as rollover index, if LTR reaches 0.9 threshold value, issues high level touching immediately
Control instruction signal is sent out to brake monitor；
S3: after brake monitor receives control instruction signal, brake monitor delivers a signal to differential braking system, differential
Braking system anti-side, which is turned over, has an effect, and uses H to differential braking system∞Control, LTR will guaranteed by being turned over by differential braking anti-side
Absolute value under the premise of threshold value 0.9, change the brake force of wheel, control unit is again by rolling angle transducer to vehicle
Whether the estimation of rollover degree is exceeded that is, after changing brake force by the absolute value that warning algorithm of turning on one's side calculates LTR again
0.9 threshold value, if differential braking control can achieve the requirement that anti-side turns over control, i.e., LTR absolute value is without departing from 0.9 threshold
Value, then control unit no longer sends a signal to brake monitor, and differential braking service system does not just start, but if progress is poor
After dynamic control for brake, in the case where the control requirement that system counter rollover is met again without method, i.e. LTR absolute value exceeds
0.9 threshold value, control unit will issue high level triggering control instruction signal to suspension controller, and suspension controller transmits signal
To active suspension system, active suspension system also uses H to suspension controller∞Control, adjusts vehicle body by active suspension system
Balance；
S4: after two lateral balance of brake force and vehicle body for changing wheel, control unit is again by inclination angle transducer to vehicle
Rollover degree is estimated whether exceed 0.9 threshold value by the absolute value that warning algorithm of turning on one's side calculates LTR again, surpass
Be again started up out differential braking system carry out differential braking control, circulation step S3, until when LTR absolute value without departing from
When 0.9 threshold value, control unit issues control signal, brake monitor, suspension controller to brake monitor, suspension controller
Control active suspension system and differential braking system return, active suspension system and differential braking system are restored to original shape
State.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110606079A (en) * | 2019-09-18 | 2019-12-24 | 北京理工大学 | Layered control vehicle rollover prevention method and multi-shaft distributed driving vehicle |
| CN111845711A (en) * | 2020-06-09 | 2020-10-30 | 武汉神动汽车电子电器股份有限公司 | Vehicle body control method and system |
| CN113320524A (en) * | 2021-06-15 | 2021-08-31 | 广汽本田汽车有限公司 | Control method for automobile, operation control device and storage medium |
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| CN101830225A (en) * | 2010-05-13 | 2010-09-15 | 吉林大学 | Engineering vehicle active anti-rollover control system and method |
| CN106080263A (en) * | 2016-07-04 | 2016-11-09 | 南京航空航天大学 | A kind of electric wheel truck chassis system and optimization method thereof |
| CN106585625A (en) * | 2016-12-30 | 2017-04-26 | 南京航空航天大学 | Four-wheel steering vehicle rollover prevention system and control method thereof |
| CN106945670A (en) * | 2017-02-16 | 2017-07-14 | 南京航空航天大学 | Anti-rollover system for automobiles and control strategy based on driver's input prediction |
| CN108099919A (en) * | 2017-11-09 | 2018-06-01 | 珠海格力电器股份有限公司 | Preventing vehicle rollover method for early warning, device, storage medium and vehicle |
| CN108773376A (en) * | 2018-05-07 | 2018-11-09 | 南京航空航天大学 | A kind of the automobile objective layered Collaborative Control and optimization method of fusion driving intention |
| CN108909705A (en) * | 2018-08-22 | 2018-11-30 | 北京航空航天大学 | A kind of control method for vehicle and device |
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| CN110606079A (en) * | 2019-09-18 | 2019-12-24 | 北京理工大学 | Layered control vehicle rollover prevention method and multi-shaft distributed driving vehicle |
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