CN111572535A - Intelligent electric automobile steering stability control method - Google Patents
Intelligent electric automobile steering stability control method Download PDFInfo
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- CN111572535A CN111572535A CN202010359529.8A CN202010359529A CN111572535A CN 111572535 A CN111572535 A CN 111572535A CN 202010359529 A CN202010359529 A CN 202010359529A CN 111572535 A CN111572535 A CN 111572535A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
Abstract
An intelligent electric automobile steering stability control method comprises the following steps: acquiring a current driving road condition; acquiring front road condition information; predicting a safe speed value and a steering angle of the vehicle head which is bent or turned over; automatic adjustment of vehicle speed; and correcting the speed value and the steering angle of the over-bent or turning vehicle head, wherein when the vehicle enters a to-be-turned road of the over-bent or turning vehicle head, the vehicle running state sensing system acquires the current inclination state of the vehicle and corrects the speed value and the steering angle. The invention fully adapts to the operating performance of different vehicles and carries out unified reference planning on actual complex and changeable environmental factors, firstly, the safety hidden danger caused by untimely or too fast adjustment of the over-bending or turning around is avoided by predicting the over-bending speed value and the steering angle in advance and carrying out pre-adjustment before the over-bending or turning around is carried out according to the predicted value; and simultaneously, the adjustment is carried out in real time through excessive adjustment and insufficient compensation of the steering angle.
Description
Technical Field
The invention relates to the field of steering stability control, in particular to an intelligent electric automobile steering stability control method.
Background
Energy and environmental crisis have directly promoted the development of electric automobile, and the development of technologies such as artificial intelligence, car networking has vigorously promoted the development of driving assistance, intelligent car, wisdom traffic again. The driving force of the electric automobile comes from a vehicle-mounted power system driving motor, a steering device of the electric automobile also utilizes the motor to assist steering, and the current electric steering technology has the appearance of active steering and wire-driven steering, and the action of a steering system can be directly controlled through an ECU (electronic control unit). Along with the abundance of intelligent resources and the development of intelligent technology of the automobile, a richer technical scheme is provided for effectively controlling the transverse motion, the longitudinal motion and the yaw motion of the automobile, and the stability of the automobile is improved.
Chinese published patent 201410034279.5 uses a mechanical steering device, and two motors and three electromagnetic clutches are mounted on a steering column and a steering pinion to form three steering modes of mechanical steering, electric power steering and steer-by-wire; patent 201710516791.7 compares the actual offset rate with the steady offset rate, and coordinates and controls the electric drive system to increase or decrease the output torque according to the deviation, so as to improve the control stability of the electric vehicle; the utility model 201820457777.4 discloses a device which can turn 360 degrees and can lift and is composed of wheels, a positioning mechanism, a steering mechanism and a lifting mechanism; patent 201810679371.5 discloses that in order to avoid bad communication between a vehicle controller and a driving motor controller or when signal integrity of a steering power-assisted motor cannot be guaranteed, driving safety is improved, the driving motor controller is in signal communication with an accelerator and a brake pedal, and a steering auxiliary motor is in signal communication with the rotating speed of the driving motor; patent 201810480996.9 uses lane line sensors to collect the distance from the wheels to the roadside, uses hall sensors to collect the speed of a vehicle, and uses steering angle sensors to collect the steering wheel angle, thus preventing the vehicle from running out of the road.
In the prior art, the influence of an actual road surface environment on an allowable stable offset rate and an actually required offset rate is not considered, and the steering stability of the intelligent electric automobile is insufficient due to the lack of advanced detection and prejudgment.
Disclosure of Invention
The present invention provides a method for controlling steering stability of an intelligent electric vehicle, which is further described below.
The intelligent electric automobile steering stability control method is realized by carrying out deep fusion through the following systems:
the environment sensing system senses the road surface mechanical parameters of the current environment;
the vehicle driving state sensing system acquires a current driving speed value;
a navigation system that senses a radius of a curve that is expected to occur in a region ahead of the vehicle;
and the vehicle control unit is respectively connected with the environment sensing system, the vehicle running state sensing system and the navigation system, controls the steering control system and the brake system of the vehicle body and controls the whole vehicle.
The control method comprises the following steps:
acquiring a current driving road condition, and acquiring mechanical parameters of a current road surface through an environment sensing system, wherein the mechanical parameters at least comprise adhesion parameters of tires and the road surface and a current driving speed;
acquiring front road condition information, wherein the front road condition information is acquired through a navigation system in the driving and advancing process and at least comprises a turning radius to be turned which is closest to the current position in front or a turning radius of a vehicle head to be turned;
predicting a safe speed value and a steering angle of the over-bent or turning vehicle head, and predicting the speed according to the current acquired road condition information and the acquired radius and steering angle of the front to-be-over-bent or turning vehicle head to obtain a safe predicted speed and prompt a driver;
the automatic adjustment of the vehicle speed, when the form speed when the vehicle enters a curve or turns the vehicle head exceeds the predicted speed value calculated according to the current acquisition parameters by 10%, the vehicle controller controls the brake system to control the vehicle to decelerate to the predicted speed value;
and correcting the speed value and the steering angle of the over-bent or turning vehicle head, wherein when the vehicle enters a to-be-turned road of the over-bent or turning vehicle head, the vehicle running state sensing system acquires the current inclination state of the vehicle and corrects the speed value and the steering angle.
And (3) a kinematic equation according to which the safe speed value of the vehicle head which is obtained in the step 3 and is predicted to be over-bent or turned is determined: v. of2And m · N ═ r · F, where v denotes a predicted speed value of the current vehicle for cornering, r denotes a radius of cornering acquired by the navigation system, m denotes a mass of the entire vehicle, F denotes a value of a centripetal force of the entire vehicle after referring to an actual road condition, and N denotes a safety correction value, typically an empirical value of 1.3.
Further, for step 5, the speed value correction of the vehicle head which is bent or turned over specifically includes:
correcting the speed value, namely acquiring the current inclination of the vehicle body through a gyroscope arranged in the vehicle body, decomposing to obtain inclination angles in two directions, namely acquiring the inclination alpha, namely the gradient, of the vehicle body relative to the road surface and the inclination beta, relative to the horizontal plane, of the road surface, and actually changing the value of F by the vehicle controller according to the motion equation of the vehicle body for bending according to the acquired gradient alpha and inclination beta and acquiring the corrected speed value;
further, as for the step 5, the correction of the steering angle, and the turning correction and the understeer compensation of the oversteer of the steering angle in the process of the oversteer of the vehicle controller, specifically include the following steps:
obtaining the current steady offset rate at the time of overbending:
wherein, the steering wheel angle is used, n is the current total steering variable gear ratio, and l is the vehicle wheel base;
obtaining the actual offset rate of the current vehicle, and taking the absolute value of the actual offset rate,
wherein sign (tau) is the sign of tau, and the actual value is when tau>0，sign(τ)＝1；τ＝0，sign(τ)＝0；τ<0，sign(τ)＝-1；
Acquiring and correcting offset deviation, if the difference value between the acquired stable offset rate and the actual offset rate is greater than 0, indicating that the steering is insufficient, taking the difference value as a compensation value, and automatically adjusting the steering by the vehicle controller according to the difference value; if the deviation is smaller than 0, the vehicle is over-steered, the difference value is used as a compensation value, the vehicle control unit performs bisection adjustment on the steering according to the difference value, and the requested torque of the vehicle control unit is rapidly reduced until the deviation is reduced to 0.
Has the advantages that: compared with the prior art, the method is fully suitable for the operating performance of different vehicles, carries out unified reference planning on actual complex and changeable environmental factors, firstly carries out pre-adjustment before turning over or turning around according to the predicted value through the prediction of a pre-bending passing speed value and a steering angle, and avoids potential safety hazards caused by untimely or quick adjustment during the turning over or turning around; meanwhile, the adjustment is carried out in real time through the adjustment back after the steering angle is excessive and insufficient compensation, so that the overall safety, stability and economy are ensured, and the driver is assisted to complete the steering intention operation.
Drawings
FIG. 1: a control method diagram of the present invention;
FIG. 2: the steering control schematic of the invention;
Detailed Description
A specific embodiment of the present invention will be described in detail with reference to the accompanying drawings.
The intelligent electric automobile steering stability control method is realized by carrying out deep fusion through the following systems:
the environment sensing system senses the road surface mechanical parameters of the current environment;
the vehicle driving state sensing system acquires a current driving speed value;
a navigation system that senses a radius of a curve that is expected to occur in a region ahead of the vehicle;
and the vehicle control unit is respectively connected with the environment sensing system, the vehicle running state sensing system and the navigation system, controls the steering control system and the brake system of the vehicle body and controls the whole vehicle.
An intelligent electric automobile steering stability control method comprises the following steps:
step 1, acquiring a current driving road condition, and acquiring mechanical parameters of a current road surface through an environment sensing system, wherein the mechanical parameters at least comprise adhesion parameters of tires and the road surface and a current driving speed;
step 2, acquiring front road condition information, and acquiring the front road condition information through a navigation system in the driving process, wherein the front road condition information at least comprises a turning radius to be turned or a turning radius of a vehicle head to be turned, which is closest to the current position in front;
step 3, predicting a safe speed value and a steering angle of the over-bent or turning vehicle head, predicting the speed according to the current acquired road condition information and the acquired radius and steering angle of the front to-be-over-bent or turning vehicle head, obtaining a safe predicted speed and prompting a driver;
step 4, automatically adjusting the vehicle speed, and controlling the brake system to control the vehicle to decelerate to the predicted speed value by the vehicle controller when the form speed when the vehicle enters a curve or turns the vehicle head exceeds the predicted speed value calculated according to the current acquired parameters by 10 percent;
and 5, correcting the speed value and the steering angle of the over-bent or turning vehicle head, wherein when the vehicle enters a to-be-turned road of the over-bent or turning vehicle head, the vehicle running state sensing system acquires the current inclination state of the vehicle and corrects the speed value and the steering angle.
In this embodiment, the adhesion parameters obtained in step 1 are related to the physical structure of the vehicle and the actual conditions of the external environment, and the obtained adhesion parameters may be obtained from an adhesion parameter search table preset in the vehicle control unit, or directly provided by a system background service provider.
In the step 2, the obtained radius of the curve to be curved closest to the current position in front or the turning radius of the car head to be turned is actually an estimated radius projected to the ground and obtained by the navigation system, but not an actual radius of the curve to be curved or the turning radius of the car head to be turned, the obtained estimated radius is used as a reference value for adjusting the running speed in advance, and when the car enters the curve, the actual parameter is obtained according to the step 5 for correction, so that the situation that the safe curve control cannot be rapidly completed during the curve passing process is avoided, or the potential safety hazard of rollover caused by rapid adjustment is absent when the safe control is completed in a short time.
Wherein, step 1 and step 2 do not have a precedence relationship, and can also be carried out in parallel and synchronously.
The kinematic equation which is obtained in step 3 and is used for predicting the safe speed value of the vehicle head which is over-bent or turned around is a conventional technical means in the prior art, and for example, the simplest model can be used for prediction: v. of2And m · N ═ r · F, where v denotes a predicted speed value of the current vehicle for cornering, r denotes a radius of cornering acquired by the navigation system, m denotes a mass of the entire vehicle, F denotes a value of a centripetal force of the entire vehicle after referring to an actual road condition, and N denotes a safety correction value, typically an empirical value of 1.3.
The predicted value of the steering angle is related to an actual curve passing through, namely the curve passing radius, and the predicted value is directly obtained by the vehicle controller through presetting.
For step 5, the correction of the speed value and the steering angle of the vehicle head which is bent or turned over specifically comprises the following steps:
correcting the speed value, namely acquiring the current inclination of the vehicle body through a gyroscope arranged in the vehicle body, decomposing to obtain inclination angles in two directions, namely acquiring the inclination alpha, namely the gradient, of the vehicle body relative to the road surface and the inclination beta, relative to the horizontal plane, of the road surface, and actually changing the value of F by the vehicle controller according to the motion equation of the vehicle body for bending according to the acquired gradient alpha and inclination beta and acquiring the corrected speed value;
the method comprises the following steps that the steering angle is corrected, the vehicle control unit carries out rotation correction on oversteer and understeer compensation on the oversteer of the steering angle in the process of bending, and the method specifically comprises the following steps:
obtaining the current steady offset rate at the time of overbending:
wherein, the steering wheel angle is used, n is the current total steering variable gear ratio, and l is the vehicle wheel base;
obtaining the actual offset rate of the current vehicle, and taking the absolute value of the actual offset rate,
wherein sign (tau) is the sign of tau, and the actual value is when tau>0，sign(τ)＝1；τ＝0，sign(τ)＝0；τ<0，sign(τ)＝-1；
Acquiring and correcting offset deviation, if the difference value between the acquired stable offset rate and the actual offset rate is greater than 0, indicating that the steering is insufficient, taking the difference value as a compensation value, and automatically adjusting the steering by the vehicle controller according to the difference value; if the deviation is smaller than 0, the vehicle is over-steered, the difference value is used as a compensation value, the vehicle control unit performs bisection adjustment on the steering according to the difference value, and the requested torque of the vehicle control unit is rapidly reduced until the deviation is reduced to 0.
The invention fully adapts to the operating performance of different vehicles and carries out unified reference planning on actual complex and changeable environmental factors, firstly, the safety hidden danger caused by untimely or too fast adjustment of the over-bending or turning around is avoided by predicting the over-bending speed value and the steering angle in advance and carrying out pre-adjustment before the over-bending or turning around is carried out according to the predicted value; meanwhile, the adjustment is carried out in real time through the adjustment back after the steering angle is excessive and insufficient compensation, so that the overall safety, stability and economy are ensured, and the driver is assisted to complete the steering intention operation.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The intelligent electric automobile steering stability control method is realized by carrying out deep fusion through the following systems:
the environment sensing system senses the road surface mechanical parameters of the current environment;
the vehicle driving state sensing system acquires a current driving speed value;
a navigation system that senses a radius of a curve that is expected to occur in a region ahead of the vehicle;
and the vehicle control unit is respectively connected with the environment sensing system, the vehicle running state sensing system and the navigation system, controls the steering control system and the brake system of the vehicle body and controls the whole vehicle.
The control method comprises the following steps:
acquiring a current driving road condition, and acquiring mechanical parameters of a current road surface through an environment sensing system, wherein the mechanical parameters at least comprise adhesion parameters of tires and the road surface and a current driving speed;
acquiring front road condition information, wherein the front road condition information is acquired through a navigation system in the driving and advancing process and at least comprises a turning radius to be turned which is closest to the current position in front or a turning radius of a vehicle head to be turned;
predicting a safe speed value and a steering angle of the over-bent or turning vehicle head, and predicting the speed according to the current acquired road condition information and the acquired radius and steering angle of the front to-be-over-bent or turning vehicle head to obtain a safe predicted speed and prompt a driver;
the automatic adjustment of the vehicle speed, when the form speed when the vehicle enters a curve or turns the vehicle head exceeds the predicted speed value calculated according to the current acquisition parameters by 10%, the vehicle controller controls the brake system to control the vehicle to decelerate to the predicted speed value;
and correcting the speed value and the steering angle of the over-bent or turning vehicle head, wherein when the vehicle enters a to-be-turned road of the over-bent or turning vehicle head, the vehicle running state sensing system acquires the current inclination state of the vehicle and corrects the speed value and the steering angle.
2. The intelligent electric vehicle steering stability control method according to claim 1, characterized in that: and (3) a kinematic equation according to which the safe speed value of the vehicle head which is obtained in the step 3 and is predicted to be over-bent or turned is determined: v. of2·m·N＝r·F，
Wherein v represents the predicted speed value of the current vehicle passing through the curve, r represents the radius of the passing curve obtained by the navigation system, m represents the mass of the whole vehicle, F represents the centripetal force value of the whole vehicle after referring to the actual road condition, and N represents the safety correction value, and the empirical value is generally 1.3.
3. The intelligent electric vehicle steering stability control method according to claim 2, characterized in that: the step 5 of correcting the velocity value specifically includes:
the method comprises the steps that the current inclination of a vehicle body is obtained through a gyroscope arranged in the vehicle body, inclination angles in two directions are obtained through decomposition, namely the inclination alpha, namely the gradient, of the vehicle body relative to a road surface and the inclination beta, namely the road surface relative to a horizontal plane are obtained, the vehicle control unit actually changes the value of F according to the motion equation of the vehicle body for bending the vehicle according to the obtained gradient alpha and inclination beta, and the corrected speed value is obtained.
4. The intelligent electric vehicle steering stability control method according to claim 3, characterized in that: the correction of the steering angle, the slewing correction of the oversteer and the understeer compensation of the whole vehicle controller on the steering angle in the process of bending are carried out, and the method specifically comprises the following steps:
obtaining the current steady offset rate at the time of overbending:
wherein, the steering wheel angle is used, n is the current total steering variable gear ratio, and l is the vehicle wheel base;
obtaining the actual offset rate of the current vehicle, and taking the absolute value of the actual offset rate,
wherein sign (tau) is the sign of tau, and the actual value is when tau>0，sign(τ)＝1；τ＝0，sign(τ)＝0；τ<0，sign(τ)＝-1；
Acquiring and correcting offset deviation, if the difference value between the acquired stable offset rate and the actual offset rate is greater than 0, indicating that the steering is insufficient, taking the difference value as a compensation value, and automatically adjusting the steering by the vehicle controller according to the difference value; if the deviation is smaller than 0, the vehicle is over-steered, the difference value is used as a compensation value, the vehicle control unit performs bisection adjustment on the steering according to the difference value, and the requested torque of the vehicle control unit is rapidly reduced until the deviation is reduced to 0.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114414256A (en) * | 2021-12-21 | 2022-04-29 | 广西汽车集团有限公司 | Device and method for testing turning passing boundary of intelligent networked automobile under perception deviation |
| CN114414256B (en) * | 2021-12-21 | 2024-04-12 | 广西汽车集团有限公司 | Device and method for testing turning passing boundary of intelligent network-connected automobile under perceived deviation |
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