CN110203076B - Steering sideslip prevention control system and method for electric vehicle and electric vehicle - Google Patents
Steering sideslip prevention control system and method for electric vehicle and electric vehicle Download PDFInfo
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- CN110203076B CN110203076B CN201910481783.2A CN201910481783A CN110203076B CN 110203076 B CN110203076 B CN 110203076B CN 201910481783 A CN201910481783 A CN 201910481783A CN 110203076 B CN110203076 B CN 110203076B
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- 230000002265 prevention Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000000994 depressogenic effect Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000003405 preventing effect Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000010009 beating Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 239000000758 substrate Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses an electric vehicle steering sideslip prevention control system and method and an electric vehicle thereof, wherein the steering sideslip prevention control system comprises: the system comprises a steering wheel angle sensor for detecting the angle of the steering wheel, a yaw rate sensor for detecting the yaw rate, a vehicle speed sensor for detecting the vehicle speed, a first front wheel brake chamber arranged on a left front wheel, a second front wheel brake chamber arranged on a right front wheel, a front air storage cylinder for storing compressed air, a motor controller and a whole vehicle controller, wherein the whole vehicle controller acquires the critical yaw rate when the electric vehicle sideslips according to the vehicle speed and the steering wheel angle, and judges the first control valve or the second control valve to be conducted to adjust the vehicle body posture when the electric vehicle will sideslip according to the critical yaw rate, the yaw rate of the electric vehicle and the brake pedal state of the electric vehicle, and the motor controller controls the driving motor in a torsion limiting manner, so that the stability of the whole vehicle is improved and the sideslip preventing effect is also improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an electric vehicle steering sideslip prevention control system, an electric vehicle with the steering sideslip prevention control system and a steering sideslip prevention control method of the electric vehicle.
Background
In the related art, the application of an ABS (Anti-lock Braking System) Anti-lock braking system on a pure electric bus is mature, and for an ESC system applied on a trolley, a mature scheme still does not exist on the pure electric bus, and the existing pure electric bus is characterized in that a wheel speed sensor and a yaw rate sensor are unilaterally added on an Anti-sideslip braking system of an original ABS module to carry out sideslip detection, and braking pressure of wheels is increased to forcedly reduce speed, so that contradiction exists between braking and driving, the stability of the whole vehicle is low, and a better sideslip prevention effect cannot be achieved.
Disclosure of Invention
The present invention aims to solve at least to some extent one of the technical problems in the above-described technology. Therefore, an object of the present invention is to provide a steering sideslip prevention control system for an electric vehicle, which increases electromagnetic valves independently controlled by VCU, so that when it is determined that steering sideslip of the vehicle is about to occur and braking is not performed, the electromagnetic valves can be controlled to apply braking pressure to specific wheels, thereby adjusting the running posture of the vehicle, and improving the stability of the whole vehicle and sideslip prevention effects.
A second object of the present invention is to propose an electric vehicle.
A third object of the present invention is to provide a steering sideslip prevention control method for an electric vehicle.
To achieve the above object, a steering sideslip prevention control system for an electric vehicle according to a first aspect of the present invention includes: a steering wheel angle sensor provided corresponding to a steering wheel of the electric vehicle to detect a steering wheel angle; a yaw rate sensor to detect a yaw rate of the electric vehicle; a vehicle speed sensor for detecting a vehicle speed of the electric vehicle; a first front wheel brake chamber disposed corresponding to a left front wheel of the electric vehicle; the second front wheel brake chamber is arranged corresponding to the right front wheel of the electric vehicle; the front air storage cylinder is used for storing compressed air generated by an air compression device of the electric vehicle and is correspondingly communicated with the first front wheel brake air chamber and the second front wheel brake air chamber through a first control valve and a second control valve respectively; the electric vehicle comprises a motor controller and a whole vehicle controller, wherein the whole vehicle controller is in CAN communication with the motor controller, the whole vehicle controller is respectively connected with a steering wheel angle sensor, a yaw rate sensor, a vehicle speed sensor, a first control valve and a second control valve, the whole vehicle controller obtains critical yaw rate when the electric vehicle sideslips according to the speed of the electric vehicle and the steering wheel angle, and judges whether the electric vehicle is subjected to conduction control on the first control valve or the second control valve when the electric vehicle is subjected to steering sideslip according to the critical yaw rate, the yaw rate of the electric vehicle and the brake pedal state of the electric vehicle so as to adjust the vehicle body posture of the electric vehicle, and the motor controller is used for carrying out torque limiting control on a driving motor.
According to the steering sideslip prevention control system of the electric vehicle, the steering wheel angle is detected through the steering wheel angle sensor, the yaw rate of the electric vehicle is detected through the yaw rate sensor, the speed of the electric vehicle is detected through the speed sensor, the critical yaw rate when the sideslip of the electric vehicle occurs is obtained through the whole vehicle controller according to the speed of the electric vehicle and the steering wheel angle, the first control valve or the second control valve is conducted and controlled to adjust the vehicle body posture of the electric vehicle when the electric vehicle is about to generate steering sideslip according to the critical yaw rate, the yaw rate of the electric vehicle and the brake pedal state of the electric vehicle, and the driving motor is controlled in a torsion limiting mode through the motor controller. Therefore, under the condition that the vehicle is judged to have steering sideslip and braking is not adopted, the first control valve or the second control valve can be controlled to apply braking pressure to specific wheels, so that the running posture of the vehicle is adjusted, and the stability of the whole vehicle is improved and the sideslip preventing effect is also improved.
In addition, the steering sideslip prevention control system for an electric vehicle according to the present invention may further have the following additional technical features:
optionally, the above-mentioned electric vehicle steering sideslip prevention control system further includes: a first rear wheel brake chamber disposed corresponding to a left rear wheel of the electric vehicle; the second rear wheel brake chamber is arranged corresponding to the right rear wheel of the electric vehicle; a post-air reservoir for storing the compressed air; the valve assembly is arranged corresponding to the brake pedal, and is respectively connected with the front air storage cylinder, the rear air storage cylinder, the first front wheel brake air chamber, the second front wheel brake air chamber, the first rear wheel brake air chamber and the second rear wheel brake air chamber, when the brake pedal is stepped on, the valve assembly distributes compressed air stored in the front air storage cylinder to the first front wheel brake air chamber and the second front wheel brake air chamber, and distributes compressed air stored in the rear air storage cylinder to the first rear wheel brake air chamber and the second rear wheel brake air chamber.
Optionally, the first control valve and the second control valve remain in an off state when the brake pedal is depressed.
Optionally, the valve assembly comprises: a quick release valve, a first port of the quick release valve being communicated to the first front wheel brake chamber and a second port of the quick release valve being communicated to the second front wheel brake chamber; a relay valve, a first port of the relay valve being communicated to the first rear wheel brake chamber, a second port of the relay valve being communicated to the second rear wheel brake chamber, a third port of the relay valve being communicated to the rear air reservoir; the first port of the brake valve is communicated with the front air reservoir, the second port of the brake valve is communicated with the third port of the quick release valve, the third port of the brake valve is communicated with the rear air reservoir, the fourth port of the brake valve is communicated with the control port of the relay valve, the brake valve is arranged corresponding to the brake pedal, the brake valve is conducted when the brake pedal is stepped on, so that compressed air stored in the front air reservoir is respectively led into the first front wheel brake air chamber and the second front wheel brake air chamber through the first port of the brake valve, the second port of the brake valve and the quick release valve, and meanwhile generated control air pressure is input into the control port of the relay valve to enable the relay valve to be conducted, and compressed air stored in the rear air reservoir is respectively led into the first rear wheel brake air chamber and the second rear wheel brake air chamber through the relay valve.
Optionally, the first control valve and the second control valve are both solenoid valves.
In order to achieve the above object, a second aspect of the present invention provides an electric vehicle, which includes the steering sideslip prevention control system of the electric vehicle.
According to the electric vehicle provided by the invention, through the steering sideslip prevention control system of the electric vehicle, under the condition that the vehicle is judged to send steering sideslip and braking is not adopted, the first control valve or the second control valve can be controlled to brake pressure for specific wheels, so that the running posture of the vehicle is adjusted, and the sideslip prevention effect is improved while the stability of the whole vehicle is improved.
In order to achieve the above object, a third aspect of the present invention provides an anti-steering sideslip control method for an electric vehicle, wherein the electric vehicle includes a vehicle controller, a motor controller, a first front wheel brake chamber, a second front wheel brake chamber and a front air reservoir, the first front wheel brake chamber is disposed corresponding to a left front wheel of the electric vehicle, the second front wheel brake chamber is disposed corresponding to a right front wheel of the electric vehicle, the front air reservoir is configured to store compressed air generated by an air pressure device of the electric vehicle, the front air reservoir is correspondingly communicated to the first front wheel brake chamber and the second front wheel brake chamber through a first control valve and a second control valve, the vehicle controller and the motor controller are in CAN communication, the anti-steering sideslip control method includes the following steps: detecting a steering wheel angle of the electric vehicle, and detecting a yaw rate of the electric vehicle, and detecting a vehicle speed of the electric vehicle; the whole vehicle controller obtains critical yaw rate when the electric vehicle sideslips according to the speed of the electric vehicle and the steering wheel angle, and judges whether the electric vehicle will sideslip in steering or not according to the critical yaw rate, the yaw rate of the electric vehicle and the state of a brake pedal of the electric vehicle; and if the electric vehicle is judged to generate steering sideslip, the whole vehicle controller conducts control on the first control valve or the second control valve to adjust the body posture of the electric vehicle, and the motor controller conducts torque limiting control on a driving motor.
According to the steering sideslip prevention control method of the electric vehicle, firstly, the steering wheel angle of the electric vehicle is detected, the yaw rate of the electric vehicle is detected, and the speed of the electric vehicle is detected; then, acquiring critical yaw rate of the electric vehicle when sideslip occurs according to the speed of the electric vehicle and the angle of a steering wheel through a whole vehicle controller, and judging whether the electric vehicle is about to generate steering sideslip according to the critical yaw rate, the yaw rate of the electric vehicle and the state of a brake pedal of the electric vehicle; and if the electric vehicle is judged to generate steering sideslip, the whole vehicle controller conducts control on the first control valve or the second control valve to adjust the body posture of the electric vehicle, and the motor controller conducts torque limiting control on the driving motor. Therefore, under the condition that the vehicle is judged to have steering sideslip and braking is not adopted, the first control valve or the second control valve can be controlled to apply braking pressure to specific wheels, so that the running posture of the vehicle is adjusted, and the stability of the whole vehicle is improved and the sideslip preventing effect is also improved.
In addition, the above-mentioned control method for preventing the electric vehicle from steering sideslip according to the present invention may further have the following additional technical features:
optionally, determining whether the electric vehicle will generate a steering sideslip according to the critical yaw rate, the yaw rate of the electric vehicle, and a brake pedal state of the electric vehicle includes: judging whether the difference between the absolute value of the critical yaw rate and the absolute value of the yaw rate of the electric vehicle is smaller than a preset threshold value; if yes, further judging whether a brake pedal of the electric vehicle is stepped on; if the brake pedal of the electric vehicle is not depressed, it is determined that the electric vehicle will experience steering sideslip when the yaw rate of the electric vehicle is not zero.
Optionally, when the yaw rate of the electric vehicle is less than zero, the whole vehicle controller judges that the electric vehicle makes a sharp left turn and the tail of the electric vehicle will sideslip to the right, and controls the second control valve to be on-off at a preset frequency so as to enable the right front wheel to enter a point brake state.
Optionally, when the yaw rate of the electric vehicle is greater than zero, the whole vehicle controller determines that the electric vehicle makes a sharp turn to the right and the tail of the electric vehicle will sideslip to the left, and controls the first control valve to be turned on and off at a preset frequency so as to enable the left front wheel to enter a point brake state.
Drawings
FIG. 1 is a block schematic diagram of an anti-steer, side-slip control system for an electric vehicle according to an embodiment of the present invention;
FIG. 2 is a diagram of a vehicle brake air circuit for an anti-steer, side-slip control system for an electric vehicle according to one embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating the effect of an anti-steer sideslip control system for an electric vehicle, according to one embodiment of the present invention;
FIG. 4 is a block schematic diagram of an electric vehicle according to one embodiment of the invention;
FIG. 5 is a flow chart of a method of controlling anti-steer sideslip of an electric vehicle according to one embodiment of the present invention;
fig. 6 is a flowchart illustrating a steering sideslip prevention control method of an electric vehicle according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In order that the above-described aspects may be better understood, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
Referring to fig. 1 and 2, an anti-steering sideslip control system for an electric vehicle according to an embodiment of the present invention includes a steering wheel angle sensor 104, a yaw rate sensor 102, a vehicle speed sensor 103, a first front wheel brake chamber 108, a second front wheel brake chamber 109, a front air reservoir 107, a motor controller 101, and a vehicle controller 100.
Wherein the steering wheel angle sensor 104 is provided corresponding to a steering wheel of the electric vehicle to detect a steering wheel angle; the yaw rate sensor 102 is configured to detect a yaw rate of the electric vehicle; the vehicle speed sensor 103 is configured to detect a vehicle speed of the electric vehicle; the first front wheel brake chamber 108 is provided corresponding to the left front wheel of the electric vehicle; the second front wheel brake chamber 109 is provided corresponding to the right front wheel of the electric vehicle; the front air reservoir 107 is used for storing compressed air generated by an air compressing device 114 of the electric vehicle, and the front air reservoir 107 is correspondingly communicated with a first front wheel brake air chamber 108 and a second front wheel brake air chamber 109 through a first control valve 105 and a second control valve 106 respectively; CAN communication is carried out between the whole vehicle controller 100 and the motor controller 101, the whole vehicle controller 100 is respectively connected with a steering wheel angle sensor 104, a yaw rate sensor 102, a vehicle speed sensor 103, a first control valve 105 and a second control valve 106, the whole vehicle controller 100 obtains the critical yaw rate when the electric vehicle sideslips according to the speed of the electric vehicle and the steering wheel angle, and judges whether the electric vehicle will turn to sideslip according to the critical yaw rate, the yaw rate of the electric vehicle and the brake pedal state of the electric vehicle, and the first control valve 105 or the second control valve 106 is conducted to adjust the vehicle body posture of the electric vehicle, and the driving motor is controlled in a torque limiting manner through the motor controller 101.
According to one embodiment of the present invention, the overall vehicle controller 100 obtains a critical yaw rate when the electric vehicle sideslips from the vehicle speed and the steering wheel angle of the electric vehicle, specifically by:
when the vehicle speed reaches 10km/h, the steering wheel is suddenly driven for 15 degrees, whether sideslip occurs at the moment is confirmed, if sideslip does not occur, the steering wheel is suddenly driven for 15 degrees when the vehicle speed is increased upwards by 10km/h, whether sideslip occurs at the moment is confirmed, if sideslip does not occur, the vehicle speed is increased upwards by 10km/h all the time, the experiment of the suddenly driven steering wheel is repeated until sideslip occurs, and the value of the yaw rate at the moment is recorded; then, starting from 10km/h, rapidly beating the steering wheel for 30 degrees to confirm whether sideslip occurs at the moment, if sideslip does not occur, increasing the speed up by 10km/h, rapidly beating the steering wheel for 15 degrees to confirm whether sideslip occurs at the moment, if sideslip does not occur, continuously increasing the speed by 10km/h, and recording the value of the yaw rate at the moment until the sideslip occurs; and (3) sequentially testing until the steering wheel is dead, and recording the yaw rate value of sideslip after the vehicle speed interval is increased. Therefore, through continuous experiments, a group of critical yaw rates of different vehicle speeds and different steering wheel angles when sideslip occurs are obtained, so that the VCU can obtain the critical yaw rate of the electric vehicle when sideslip occurs under any steering wheel angle of any vehicle speed through a linear difference algorithm; when the yaw rate exceeds this limit, the VCU determines that the vehicle is about to sideslip.
The whole vehicle controller 100 determines that the electric vehicle will turn to sideslip according to the critical yaw rate and the yaw rate of the electric vehicle, and controls the first control valve or the second control valve according to the brake pedal state of the electric vehicle; only when the brake pedal is not depressed, the vehicle controller 100 performs on control on the first control valve or the second control valve to adjust the vehicle body posture of the electric vehicle, and performs torque limiting control on the driving motor through the motor controller.
In summary, in the embodiment of the present invention, the steering wheel angle is detected by the steering wheel angle sensor, the yaw rate of the electric vehicle is detected by the yaw rate sensor, the vehicle speed of the electric vehicle is detected by the vehicle speed sensor, the critical yaw rate when the electric vehicle sideslips occurs is obtained by the vehicle controller according to the vehicle speed of the electric vehicle and the steering wheel angle, and the first control valve or the second control valve is conducted and controlled to adjust the vehicle body posture of the electric vehicle when the electric vehicle will steer and sideslips occur according to the critical yaw rate, the yaw rate of the electric vehicle and the brake pedal state of the electric vehicle, and the driving motor is controlled by the motor controller. Therefore, under the condition that the vehicle is judged to have steering sideslip and braking is not adopted, the first control valve or the second control valve can be controlled to apply braking pressure to specific wheels, so that the running posture of the vehicle is adjusted, and the stability of the whole vehicle is improved and the sideslip preventing effect is also improved.
Further, as an embodiment, the steering sideslip prevention control system of the electric vehicle further includes a first rear wheel brake chamber 111, a second rear wheel brake chamber 112, a rear air reservoir 110, and a valve assembly.
Wherein the first rear wheel brake chamber 111 is provided corresponding to the left rear wheel of the electric vehicle; the second rear wheel brake chamber 112 is provided corresponding to the right rear wheel of the electric vehicle; the rear air receiver 110 is used for storing compressed air; the valve assembly is arranged corresponding to the brake pedal, and is respectively connected with the front air reservoir 107, the rear air reservoir 110, the first front wheel brake air chamber 108, the second front wheel brake air chamber 109, the first rear wheel brake air chamber 111 and the second rear wheel brake air chamber 112, and distributes the compressed air stored in the front air reservoir 107 to the first front wheel brake air chamber 108 and the second front wheel brake air chamber 109 and distributes the compressed air stored in the rear air reservoir 110 to the first rear wheel brake air chamber 111 and the second rear wheel brake air chamber 112 when the brake pedal is stepped on.
When the brake pedal is depressed, the first control valve 105 and the second control valve 106 remain in the off state.
That is, when the brake pedal is depressed, the first control valve 105 and the second control valve 106 are kept in the off state, the opposite valve assemblies are turned on, the compressed air is distributed from the front air reservoir 107 to the first front wheel brake air chamber 108 and the second front wheel brake air chamber 109, and simultaneously, the compressed air is distributed from the rear air reservoir 110 to the first rear wheel brake air chamber 111 and the second rear wheel brake air chamber 112, and the wheel pressure is applied, so that the brake is performed, and when the brake pedal is released, the air of each air chamber is discharged through the air release valve; when the brake pedal is not depressed, the first control valve 105 and the second control valve 106 remain in an on state, and the opposite valve assembly is turned off.
The compressed air is circulated from the air compressor 114 to the front air tank 107 and the rear air tank 110 via the four-way valve 115.
As an example, as shown in fig. 2, the air compressing device 114 includes an air compressor and a dryer, which is not particularly limited in the present invention.
Further, as an embodiment, as shown in fig. 2, the valve assembly includes: a quick release valve 1131, a relay valve 1132, and a brake valve 1133.
Wherein a first port of the quick release valve 1131 is communicated to the first front wheel brake chamber 108 and a second port of the quick release valve 1131 is communicated to the second front wheel brake chamber 109; the first port of the relay valve 1132 communicates with the first rear wheel brake chamber 111, the second port of the relay valve 1132 communicates with the second rear wheel brake chamber 112, and the third port of the relay valve 1132 communicates with the rear reservoir 110; the first port of the brake valve 1133 is communicated to the front air reservoir 107, the second port of the brake valve 1133 is communicated to the third port of the quick release valve 1131, the third port of the brake valve 1133 is communicated to the rear air reservoir 110, the fourth port of the brake valve 1133 is communicated to the control port of the relay valve 1132, the brake valve 1133 is arranged corresponding to a brake pedal, the brake valve 1133 is communicated when the brake pedal is depressed, so that compressed air stored in the front air reservoir 107 is respectively led into the first front wheel brake air chamber 108 and the second front wheel brake air chamber 109 through the first port of the brake valve 1133, the second port of the brake valve 1133 and the quick release valve 1132, and meanwhile, the generated control air pressure is input to the control port of the relay valve 1132 to enable the relay valve 1132 to be communicated, and compressed air stored in the rear air reservoir 110 is respectively led into the first rear wheel brake air chamber 111 and the second rear wheel brake air chamber 112 through the relay valve 1132.
Further, as an embodiment, the first control valve 105 and the second control valve 106 are electromagnetic valves; when the brake pedal is not stepped on, the VCU outputs a high level to the pin, the corresponding control valve is opened, and when the VCU outputs a low level to the pin, the corresponding control valve is closed; when the brake pedal is depressed, the wheel air chamber pressure is independently controlled by the valve assembly, and the VCU does not intervene.
Further, as an embodiment, as shown in fig. 3, it is an effect diagram of body posture adjustment of an electric vehicle;
as shown in FIG. 3, wherein A is an oversteering sideslip route, B is an adjusted normal route, the vehicle turns left suddenly, the yaw rate is limited by a critical value queried by VCU, the VCU judges that the vehicle turns left suddenly, and the vehicle tail sideslips to the right; the VCU controls the second control valve 106 of the right front wheel to be on-off at a certain frequency, so that the right front wheel enters the point brake state at a certain frequency and is not locked, thereby adjusting the posture of the vehicle body. The VCU detects the yaw-rate value at the moment until the yaw-rate value is restored within the allowable range.
In summary, according to the steering sideslip prevention control system for an electric vehicle provided by the invention, the steering wheel angle is detected through the steering wheel angle sensor, the yaw rate of the electric vehicle is detected through the yaw rate sensor, the speed of the electric vehicle is detected through the vehicle speed sensor, the critical yaw rate when the electric vehicle sideslips according to the speed of the electric vehicle and the steering wheel angle is obtained through the vehicle controller, the first control valve or the second control valve is conducted and controlled to adjust the vehicle body posture of the electric vehicle when the electric vehicle is about to generate steering sideslip according to the critical yaw rate, the yaw rate of the electric vehicle and the brake pedal state of the electric vehicle, and the driving motor is controlled in a torque limiting manner through the motor controller. Therefore, under the condition that the vehicle is judged to have steering sideslip and braking is not adopted, the first control valve or the second control valve can be controlled to apply braking pressure to specific wheels, so that the running posture of the vehicle is adjusted, and the stability of the whole vehicle is improved and the sideslip preventing effect is also improved.
In addition, as shown in fig. 4, an electric vehicle 2000 is also provided according to an embodiment of the present invention, which includes the steering sideslip prevention control system 1000 described above. Since the above-described steering side slip prevention control system 1000 has been described, it will not be described in detail here.
According to the electric vehicle 2000 of the embodiment of the present invention, through the above-mentioned steering sideslip prevention control system 1000, when it is determined that the vehicle will generate steering sideslip and no braking is adopted, the first control valve or the second control valve can be controlled to apply braking pressure to a specific wheel, so as to adjust the running posture of the vehicle, and thus, the stability of the whole vehicle is improved and the sideslip prevention effect is also improved.
In addition, as shown in fig. 5, the embodiment of the invention further provides an anti-steering sideslip control method of an electric vehicle adopting the anti-steering sideslip control system, wherein the electric vehicle comprises a whole vehicle controller, a motor controller, a first front wheel brake chamber, a second front wheel brake chamber and a front air reservoir, the first front wheel brake chamber is arranged corresponding to a left front wheel of the electric vehicle, the second front wheel brake chamber is arranged corresponding to a right front wheel of the electric vehicle, the front air reservoir is used for storing compressed air generated by an air pressure device of the electric vehicle, the front air reservoir is correspondingly communicated to the first front wheel brake chamber and the second front wheel brake chamber through a first control valve and a second control valve respectively, CAN communication is carried out between the whole vehicle controller and the motor controller, and the anti-steering sideslip control method comprises the following steps:
step 101, detecting a steering wheel angle of an electric vehicle, detecting a yaw rate of the electric vehicle, and detecting a vehicle speed of the electric vehicle;
102, the whole vehicle controller obtains critical yaw rate when the electric vehicle sideslips according to the speed of the electric vehicle and the angle of a steering wheel, and judges whether the electric vehicle will sideslip in steering or not according to the critical yaw rate, the yaw rate of the electric vehicle and the state of a brake pedal of the electric vehicle;
and 103, if the electric vehicle is judged to generate steering sideslip, the whole vehicle controller conducts control on the first control valve or the second control valve to adjust the body posture of the electric vehicle, and the motor controller conducts torque limiting control on the driving motor.
As one embodiment of the present invention, determining whether or not the electric vehicle is about to turn to side slip based on a critical yaw rate, a yaw rate of the electric vehicle, and a brake pedal state of the electric vehicle, includes: judging whether the difference between the absolute value of the critical yaw rate and the absolute value of the yaw rate of the electric vehicle is smaller than a preset threshold value; if yes, further judging whether a brake pedal of the electric vehicle is stepped on; if the brake pedal of the electric vehicle is not depressed, it is determined that the electric vehicle will be turned to side slip when the yaw rate of the electric vehicle is not zero.
As one embodiment of the invention, when the yaw rate of the electric vehicle is smaller than zero, the whole vehicle controller judges that the electric vehicle makes a sharp turn to the left and the tail of the electric vehicle sideslips to the right, and controls the second control valve to be switched on and off at a preset frequency so as to enable the right front wheel to enter a point brake state.
As one embodiment of the invention, when the yaw rate of the electric vehicle is greater than zero, the whole vehicle controller judges that the electric vehicle makes a sharp turn to the right and the tail of the electric vehicle sideslips to the left, and controls the first control valve to be switched on and off at a preset frequency so as to enable the left front wheel to enter a point brake state.
It should be noted that the foregoing description of the steering sideslip prevention control system of the electric vehicle is also applicable to the steering sideslip prevention control method of the electric vehicle in this embodiment, and will not be repeated here.
Fig. 6 is a flowchart of a method for controlling the steering sideslip prevention of an electric vehicle according to an embodiment of the present invention. As shown in fig. 6, the steering sideslip prevention control method includes the steps of:
in step 201, the vcu queries the critical yaw rate W0 at which sideslip occurs in real time according to the current vehicle speed and the steering wheel angle, and compares the critical yaw rate W0 with the real-time yaw rate W1.
Step 202, judging. If yes, go to step 203; if not, return to step 201.
It should be noted that the number of the substrates,the threshold value may be set as needed.
Step 203, determining whether the brake is effective. If yes, return to step 201; if not, step 204 is performed.
Step 204, determine whether W1 is less than 0. If yes, go to step 205; if not, step 208 is performed.
In step 205, the vcu determines that the vehicle is turning sharply to the left and that the tail is sideslip to the right.
In step 206, the vcu controls the solenoid valve of the right front wheel to be turned on and off at a preset frequency, so that the right front wheel enters a point brake state.
In step 207, the vcu limits torque linearly according to the magnitude of the yaw rate, and clears the driving torque if the yaw rate is very close to the critical value.
In step 208, the vcu determines that the vehicle is turning right sharply and that the vehicle tail is sideslip to the left.
In step 209, the vcu controls the left front wheel solenoid valve to be turned on and off at a preset frequency, so that the left front wheel enters a point brake state.
In step 210, the vcu limits torque linearly according to the magnitude of the yaw rate, and clears the driving torque if the yaw rate is very close to the critical value.
According to the steering sideslip prevention control method of the electric vehicle, firstly, the steering wheel angle of the electric vehicle is detected, the yaw rate of the electric vehicle is detected, and the speed of the electric vehicle is detected; then, acquiring critical yaw rate of the electric vehicle when sideslip occurs according to the speed of the electric vehicle and the angle of a steering wheel through a whole vehicle controller, and judging whether the electric vehicle is about to generate steering sideslip according to the critical yaw rate, the yaw rate of the electric vehicle and the state of a brake pedal of the electric vehicle; and if the electric vehicle is judged to generate steering sideslip, the whole vehicle controller conducts control on the first control valve or the second control valve to adjust the body posture of the electric vehicle, and the motor controller conducts torque limiting control on the driving motor. Therefore, under the condition that the vehicle is judged to have steering sideslip and braking is not adopted, the first control valve or the second control valve can be controlled to apply braking pressure to specific wheels, so that the running posture of the vehicle is adjusted, and the stability of the whole vehicle is improved and the sideslip preventing effect is also improved.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms should not be understood as necessarily being directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Further, one skilled in the art can engage and combine the different embodiments or examples described in this specification.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (8)
1. An anti-steering sideslip control system for an electric vehicle, comprising:
a steering wheel angle sensor provided corresponding to a steering wheel of the electric vehicle to detect a steering wheel angle;
a yaw rate sensor to detect a yaw rate of the electric vehicle;
a vehicle speed sensor for detecting a vehicle speed of the electric vehicle;
a first front wheel brake chamber disposed corresponding to a left front wheel of the electric vehicle;
the second front wheel brake chamber is arranged corresponding to the right front wheel of the electric vehicle;
the front air storage cylinder is used for storing compressed air generated by an air compression device of the electric vehicle and is correspondingly communicated with the first front wheel brake air chamber and the second front wheel brake air chamber through a first control valve and a second control valve respectively;
the motor controller is in CAN communication with the motor controller, the motor controller is respectively connected with the steering wheel angle sensor, the yaw rate sensor, the vehicle speed sensor, the first control valve and the second control valve, the motor controller obtains critical yaw rate when the electric vehicle sideslips according to the vehicle speed and the steering wheel angle of the electric vehicle, and judges whether the electric vehicle is about to turn to the sideslips or not according to the critical yaw rate, the yaw rate of the electric vehicle and the brake pedal state of the electric vehicle, so as to adjust the vehicle body posture of the electric vehicle, and the motor controller controls the driving motor in a torque limiting manner;
wherein it is determined whether a difference between the absolute value of the critical yaw rate and the absolute value of the yaw rate of the electric vehicle is less than a preset threshold; if yes, further judging whether a brake pedal of the electric vehicle is stepped on; if a brake pedal of the electric vehicle is not depressed, judging that the electric vehicle will generate steering sideslip when the yaw rate of the electric vehicle is not zero;
the valve component is arranged corresponding to the brake pedal, and is respectively connected with the front air reservoir, the first front wheel brake air chamber and the second front wheel brake air chamber, and the valve component distributes compressed air stored by the front air reservoir to the first front wheel brake air chamber and the second front wheel brake air chamber when the brake pedal is stepped on;
wherein, the valve assembly includes:
a quick release valve, a first port of the quick release valve being communicated to the first front wheel brake chamber and a second port of the quick release valve being communicated to the second front wheel brake chamber;
a brake valve, a first port of the brake valve being in communication with the front reservoir, a second port of the brake valve being in communication with a third port of the quick release valve; the brake valve is arranged corresponding to the brake pedal, and is conducted when the brake pedal is stepped on, so that compressed air stored in the front air reservoir is respectively led into the first front wheel brake air chamber and the second front wheel brake air chamber through a first port of the brake valve, a second port of the brake valve and the quick release valve;
wherein the first control valve and the second control valve remain in an off state when the brake pedal is depressed, the valve assembly being on; the first control valve and the second control valve remain in an on state and the valve assembly is turned off when the brake pedal is not depressed.
2. The steering side slip prevention control system of an electric vehicle as set forth in claim 1, further comprising:
a first rear wheel brake chamber disposed corresponding to a left rear wheel of the electric vehicle;
the second rear wheel brake chamber is arranged corresponding to the right rear wheel of the electric vehicle;
and the rear air storage cylinder is used for storing the compressed air, the rear air storage cylinder is connected with the valve assembly, and the valve assembly distributes the compressed air stored in the rear air storage cylinder to the first rear wheel brake air chamber and the second rear wheel brake air chamber when the brake pedal is stepped on.
3. The steering side slip prevention control system of an electric vehicle of claim 2, wherein the valve assembly further comprises:
a relay valve, a first port of the relay valve being communicated to the first rear wheel brake chamber, a second port of the relay valve being communicated to the second rear wheel brake chamber, a third port of the relay valve being communicated to the rear air reservoir;
the third port of the brake valve is communicated with the rear air reservoir, the fourth port of the brake valve is communicated with the control port of the relay valve, the brake valve is communicated when the brake pedal is stepped on, the generated control air pressure is input to the control port of the relay valve so as to enable the relay valve to be communicated, and the compressed air stored in the rear air reservoir is respectively led into the first rear wheel brake air chamber and the second rear wheel brake air chamber through the relay valve.
4. The steering sideslip prevention control system of an electric vehicle of any one of claims 1 to 3, wherein said first control valve and said second control valve are both solenoid valves.
5. An electric vehicle comprising the steering side slip prevention control system of an electric vehicle according to any one of claims 1 to 4.
6. The steering sideslip prevention control method for the electric vehicle is characterized in that the electric vehicle comprises a whole vehicle controller, a motor controller, a first front wheel brake chamber, a second front wheel brake chamber, a valve assembly and a front air reservoir, wherein the first front wheel brake chamber is arranged corresponding to a left front wheel of the electric vehicle, the second front wheel brake chamber is arranged corresponding to a right front wheel of the electric vehicle, the front air reservoir is used for storing compressed air generated by an air compression device of the electric vehicle, the front air reservoir is correspondingly communicated to the first front wheel brake chamber and the second front wheel brake chamber through a first control valve and a second control valve respectively, CAN communication is carried out between the whole vehicle controller and the motor controller, the valve assembly is arranged corresponding to a brake pedal, and the valve assembly is respectively connected with the front air reservoir, the first front wheel brake chamber and the second front wheel brake chamber and distributes the compressed air stored by the front air reservoir to the first front wheel brake chamber and the second front wheel brake chamber when the brake pedal is stepped on; the valve assembly includes: a quick release valve, a first port of the quick release valve being communicated to the first front wheel brake chamber and a second port of the quick release valve being communicated to the second front wheel brake chamber; a brake valve, a first port of the brake valve being in communication with the front reservoir, a second port of the brake valve being in communication with a third port of the quick release valve; the brake valve is arranged corresponding to the brake pedal, and is conducted when the brake pedal is stepped on, so that compressed air stored in the front air reservoir is respectively led into the first front wheel brake air chamber and the second front wheel brake air chamber through a first port of the brake valve, a second port of the brake valve and the quick release valve;
the steering sideslip prevention control method comprises the following steps: detecting a steering wheel angle of the electric vehicle, and detecting a yaw rate of the electric vehicle, and detecting a vehicle speed of the electric vehicle;
the whole vehicle controller obtains critical yaw rate when the electric vehicle sideslips according to the speed of the electric vehicle and the steering wheel angle, and judges whether the electric vehicle will sideslip in steering or not according to the critical yaw rate, the yaw rate of the electric vehicle and the state of a brake pedal of the electric vehicle;
if the electric vehicle is judged to generate steering sideslip, the whole vehicle controller conducts control on the first control valve or the second control valve to adjust the body posture of the electric vehicle, and the motor controller conducts torque limiting control on a driving motor;
wherein determining whether the electric vehicle will turn to sideslip based on the critical yaw rate, the yaw rate of the electric vehicle, and a brake pedal state of the electric vehicle includes: judging whether the difference between the absolute value of the critical yaw rate and the absolute value of the yaw rate of the electric vehicle is smaller than a preset threshold value;
if yes, further judging whether a brake pedal of the electric vehicle is stepped on; if a brake pedal of the electric vehicle is not depressed, judging that the electric vehicle will generate steering sideslip when the yaw rate of the electric vehicle is not zero;
wherein the first control valve and the second control valve remain in an off state when the brake pedal is depressed, the valve assembly being on; the first control valve and the second control valve remain in an on state and the valve assembly is turned off when the brake pedal is not depressed.
7. The method of claim 6, wherein when the yaw rate of the electric vehicle is less than zero, the vehicle controller determines that the electric vehicle makes a sharp left turn and the tail will slip to the right, and controls the second control valve to be turned on and off at a preset frequency to bring the right front wheel into a point brake state.
8. The method of claim 6, wherein when the yaw rate of the electric vehicle is greater than zero, the vehicle controller determines that the electric vehicle is turning right suddenly and the tail will sideslip to the left, and controls the first control valve to be turned on and off at a preset frequency to bring the front left wheel into a point brake state.
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