CN111645653B - Method and system for correcting vehicle crosswind deviation - Google Patents
Method and system for correcting vehicle crosswind deviation Download PDFInfo
- Publication number
- CN111645653B CN111645653B CN202010398118.XA CN202010398118A CN111645653B CN 111645653 B CN111645653 B CN 111645653B CN 202010398118 A CN202010398118 A CN 202010398118A CN 111645653 B CN111645653 B CN 111645653B
- Authority
- CN
- China
- Prior art keywords
- vehicle
- yaw rate
- difference
- correcting
- threshold range
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
-
- 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
- B60T8/17557—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for lane departure prevention
Abstract
The invention discloses a method and a system for correcting vehicle crosswind deviation, wherein the method for correcting the vehicle crosswind deviation obtains an actual yaw rate through actual detection, calculates and obtains a target yaw rate, compares the difference value between the actual yaw rate and the target yaw rate, compares the difference value with a yaw rate threshold range, controls counter-braking force provided for wheels of a vehicle according to the comparison result, and prevents the vehicle from being out of control, sideslipping or laterally turning by providing counter-braking force which is formed in the rotation center of the vehicle and is opposite to the yaw direction, correcting the yaw state of the vehicle back and enabling the vehicle to return to a correct driving lane again.
Description
Technical Field
The invention relates to the technical field of automobile deviation correction, in particular to a method and a system for correcting vehicle crosswind deviation.
Background
With the development of the automobile industry, the running speed of vehicles is faster and faster. Under the complex natural environment of vehicle running, the influence of crosswind on the vehicle is increased due to the fact that the vehicle speed is increased in the natural environment with high wind speed. When the vehicle is influenced by crosswind to a certain degree, the phenomenon that the vehicle deviates from a driving lane can be caused, and the vehicle has the risk of being out of control, sideslipping or turning over on one side under the more serious condition. In the prior patent application, active steering control is performed through an EPS (electronic stability control) system to correct the deviation of the vehicle, but the EPS is not configured on most vehicles at present, and particularly, the EPS on a commercial vehicle is used less, so that the scheme cannot be popularized on the vehicle which is greatly influenced. In addition, EPS intervention has a deviation rectifying function and is good in comfort, but the deviation rectifying vehicle in the scheme has slow response and is not beneficial to quick control.
Disclosure of Invention
The invention aims to solve the problem that the influence of crosswind on a vehicle is increased due to the fact that the vehicle is accelerated in the prior art. The invention provides a method and a system for correcting a vehicle crosswind deviation.
In order to solve the technical problem, the embodiment of the invention discloses a method for correcting the vehicle crosswind deviation, which comprises the following steps:
s1: detecting and acquiring an actual yaw rate of the vehicle;
s2: detecting and acquiring calculation parameters of the yaw rate of the vehicle, and calculating and acquiring a target yaw rate of the vehicle according to the calculation parameters;
s3: calculating a difference between the obtained actual yaw rate and the target yaw rate, comparing the difference with a preset yaw rate threshold range, and controlling a counter braking force provided to wheels of the vehicle according to the comparison result.
By adopting the technical scheme, the invention provides a method for correcting the vehicle crosswind deviation, which obtains the actual yaw rate through actual detection, calculates and obtains the target yaw rate, compares the difference value between the actual yaw rate and the target yaw rate, compares the difference value with the yaw rate threshold range, controls the counter braking force provided for the wheels of the vehicle according to the comparison result, corrects the yaw state of the vehicle by providing the counter braking force which is formed in the rotation center of the vehicle and is opposite to the yaw direction, and enables the vehicle to return to the correct driving lane again, thereby preventing the vehicle from being out of control, sideslipping or rollover.
According to another embodiment of the present invention, a method for correcting a crosswind deviation of a vehicle is disclosed, wherein in step S2:
the detecting of the calculation parameter for acquiring the yaw rate of the vehicle includes: detecting and acquiring a steering wheel angle, a vehicle speed, a vehicle wheel track and a vehicle characteristic vehicle speed of a vehicle; and is
Calculating a target yaw rate according to the calculation parameters of the yaw rate of the vehicle and the following formula (a); wherein
Wherein ω is a target yaw angular velocity; v is the vehicle speed; l is the vehicle wheel base; delta is a steering wheel angle; vch is the vehicle characteristic vehicle speed.
According to another embodiment of the present invention, a method for correcting a crosswind deviation of a vehicle is disclosed, wherein in step S3:
the difference is calculated according to the following formula (b):
Δ＝ω-ω' (b)
wherein Δ is the difference; omega is a target yaw angular velocity; ω' is the actual yaw rate.
According to another embodiment of the present invention, a method for correcting a crosswind deviation of a vehicle is disclosed, wherein in step S3:
applying a counter-braking force to the rear wheels of the vehicle on the inner side of the vehicle travel locus if the calculated difference is less than the lower limit of the yaw-rate threshold range; and is
If the calculated difference is greater than or equal to the upper limit of the yaw-rate threshold value, a counter braking force is applied to the front wheels and the rear wheels of the vehicle outside the travel locus of the vehicle.
According to another embodiment of the present invention, a method for correcting a vehicle crosswind deviation is disclosed, in which the absolute values of the upper and lower limits of the yaw-rate threshold range are the same.
The invention also provides a system for correcting the vehicle crosswind deviation, which comprises an electric power steering system, an electronic stability control system and a vehicle-mounted controller which are in communication connection, wherein the electric power steering system and the electronic stability control system are respectively in communication connection with the vehicle-mounted controller; wherein
The electric power steering system detects and obtains the actual yaw velocity of the vehicle and starts the actual yaw velocity to the vehicle-mounted controller;
the electronic stability control system acquires a calculation parameter of the yaw rate of the vehicle and sends the calculation parameter of the yaw rate of the vehicle to the vehicle-mounted controller, and the vehicle-mounted controller calculates and acquires a target yaw rate of the vehicle according to the calculation parameter;
the on-board controller calculates a difference between the acquired actual yaw rate and the target yaw rate, compares the difference with a yaw rate threshold range, and controls the counter braking forces provided to the wheels of the vehicle according to the comparison result.
According to another embodiment of the present invention, in the system for correcting a vehicle crosswind deviation, the electronic stability control system obtains a yaw rate calculation parameter of the vehicle, including: the steering wheel angle, the vehicle speed, the vehicle wheel track and the vehicle characteristic vehicle speed of the vehicle; and is
The vehicle-mounted controller calculates a target yaw velocity according to the following formula (a) according to the calculation parameters; wherein
Wherein ω is a target yaw angular velocity; v is the vehicle speed; l is the vehicle wheel base; delta is a steering wheel angle; vch is vehicle characteristic vehicle speed; and is
The difference value is calculated by the vehicle-mounted controller according to the following formula (b):
Δ＝ω-ω' (b)
wherein Δ is the difference; omega is a target yaw angular velocity; ω' is the actual yaw rate.
According to another embodiment of the present invention, a system for correcting a lateral wind deviation in a vehicle is disclosed, wherein
If the difference calculated by the vehicle-mounted controller is smaller than the lower limit of the yaw velocity threshold range, the vehicle-mounted controller applies counter-braking force to the rear wheels positioned on the inner side of the vehicle running track; and is
If the calculated difference is greater than or equal to the upper limit of the yaw-rate threshold range, the on-board controller applies a counter-braking force to the front and rear wheels located outside the travel locus of the vehicle.
According to another embodiment of the invention, the system for correcting a vehicle crosswind deviation further comprises an alarm unit for alarming the driver of the vehicle when the difference calculated by the onboard controller is outside the yaw-rate threshold range.
With the above technical solution in mind, the present invention provides a system for correcting a vehicle crosswind deviation, in which an electric power steering system detects and acquires an actual yaw rate of a vehicle, an electronic stability control system acquires and transmits a calculation parameter of the yaw rate of the vehicle to an on-board controller, the on-board controller calculates and acquires a target yaw rate of the vehicle based on the calculation parameter, the on-board controller compares a difference between the actual yaw rate and the target yaw rate and compares the difference with a yaw rate threshold range and controls a counter braking force provided to wheels of the vehicle based on the comparison result, the on-board controller corrects a yaw state of the vehicle by providing a counter braking force formed at a center of rotation of the vehicle opposite to the yaw direction so that the vehicle returns to a correct driving lane, the vehicle is prevented from being out of control, sideslipping or turning on one side.
The invention has the beneficial effects that:
the invention provides a method for correcting the deviation of the side wind of a vehicle, which obtains the actual yaw velocity through actual detection, calculates and obtains the target yaw velocity, compares the difference value between the actual yaw velocity and the target yaw velocity, compares the difference value with the threshold range of the yaw velocity, controls the counter braking force provided for the wheels of the vehicle according to the comparison result, corrects the yaw state of the vehicle back through providing the counter braking force which is formed in the rotation center of the vehicle and is opposite to the yaw direction, and enables the vehicle to return to the correct driving lane again, thereby preventing the vehicle from being out of control, sideslipping or rollover.
Drawings
Fig. 1 is a schematic flow chart of a method for correcting a vehicle crosswind deviation according to embodiment 1 of the present invention;
fig. 2 is a schematic circuit structure diagram of a system for correcting a vehicle crosswind deviation according to embodiment 2 of the present invention.
Description of reference numerals:
10. an electric power steering system; 20. an electronic stability control system; 30. a vehicle-mounted controller; 40. an alarm unit; 50. a wind force detector.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.
The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Example 1
In order to solve the problem that the influence of crosswind on a vehicle is increased due to the fact that the vehicle is accelerated in the prior art, as shown in fig. 1, the embodiment of the embodiment discloses a method for correcting the deviation of the crosswind of the vehicle, which comprises the following steps:
s1: detecting and acquiring the actual yaw rate of the vehicle, specifically detecting and acquiring through a yaw rate sensor, or detecting and acquiring through an electric power steering system of the vehicle;
s2: detecting a calculation parameter for acquiring the yaw rate of the vehicle, and calculating and acquiring a target yaw rate of the vehicle according to the calculation parameter, wherein the specific calculation parameter and the calculation method are described in detail below;
s3: the difference between the acquired actual yaw rate and the target yaw rate is calculated, the difference is compared with a preset yaw rate threshold range, and the counter braking force provided to the wheels of the vehicle is controlled according to the comparison result, and the specific operation process will be described below.
Specifically, the present embodiment provides a method for correcting a vehicle crosswind deviation, which obtains an actual yaw rate through actual detection, calculates and obtains a target yaw rate, compares a difference between the actual yaw rate and the target yaw rate, compares the difference with a yaw rate threshold range, and controls a counter braking force applied to wheels of the vehicle according to the comparison result, and corrects a yaw state of the vehicle caused by the crosswind by applying a counter braking force formed at a center of rotation of the vehicle in a direction opposite to a yaw direction, so as to overcome an influence of the crosswind on the running of the vehicle, and to return the vehicle to a correct running lane again, thereby preventing the vehicle from losing control, sideslipping, or rolling over.
Further, in step S2: the detecting of the calculation parameter for acquiring the yaw rate of the vehicle includes: detecting and acquiring a steering wheel angle, a vehicle speed, a vehicle wheel track and a vehicle characteristic vehicle speed of a vehicle; and calculating a target yaw rate according to the following formula (a) according to the calculation parameters of the yaw rate of the vehicle; wherein
Wherein ω is a target yaw angular velocity; v is the vehicle speed; l is the vehicle wheel base; delta is a steering wheel angle; vch is the vehicle characteristic vehicle speed. The specific steering wheel angle, the vehicle speed, the vehicle track, and the vehicle characteristic vehicle speed of the vehicle are detected by corresponding detection components (for example, the vehicle speed is obtained by an on-board controller, the steering wheel angle is obtained by a steering wheel angle sensor), or are parameters inherent to the vehicle (for example, the vehicle track, and the vehicle characteristic vehicle speed), which are measured or read according to actual conditions, which is not limited in this embodiment.
Still further, in step S3: the difference is calculated according to the following formula (b):
Δ＝ω-ω' (b)
wherein Δ is the difference; omega is a target yaw angular velocity; ω' is the actual yaw rate.
Further, in step S3: and if the calculated difference is smaller than the lower limit of the yaw velocity threshold range, applying reverse braking force to the rear wheels of the vehicle on the inner side of the vehicle running track to correct the yaw state of the vehicle, so that the vehicle returns to a correct running lane again, and the vehicle is prevented from being out of control, sideslipping or turning over.
And if the calculated difference is larger than or equal to the upper limit of the yaw velocity threshold value, applying counter braking force to the front wheels and the rear wheels of the vehicle on the outer side of the vehicle running track, and correcting the yaw state of the vehicle back to enable the vehicle to return to a correct running lane again so as to prevent the vehicle from being out of control, sideslipping or turning over on one side.
It should be understood that, in this embodiment, the absolute values of the upper and lower limits of the yaw rate threshold range are the same, and the upper and lower limits of the yaw rate threshold range are calibrated according to the model of the actual vehicle, and the like, which is not specifically limited in this embodiment.
The calculation method for controlling the braking force of the wheels provided to the vehicle according to the comparison result is as follows:
the following is a formula for calculating the braking force of the front and rear wheels of the vehicle:
if the calculated difference is greater than or equal to the lower limit of the yaw-rate threshold range, a braking force is applied to the front wheels, and the braking fluid pressure is used for controlling, wherein the braking pressure calculation formula is as follows:
and if the calculated difference is smaller than the lower limit of the yaw velocity threshold range, applying braking force on the rear wheels, and controlling by using brake fluid pressure, wherein the brake pressure calculation formula is as follows:
specifically, the meanings referred to in the above formula are as follows:
lzz: a half-load moment of inertia; ω': yaw angular acceleration in a turning condition; a: distance of the front wheel to the center of mass; b: distance of the rear wheel to the center of mass; fornt_braking_force: front wheel braking force; rear_braking_force: rear wheel braking force; p: the working pressure of the brake master cylinder; dfc: the diameter of the front brake caliper piston; drc: the diameter of the rear brake caliper piston; pi: a circumferential ratio; μ f: front axle braking efficiency; μ r: rear axle braking efficiency; η f: front caliper friction plate efficiency; eta r: rear caliper friction plate efficiency; r_fs: the effective friction radius of the front brake disc; r_rs: the effective friction radius of the rear brake disc; d_f: the rolling radius of the front wheel; d _ r: the rolling radius of the rear wheel. Further, according to another specific implementation manner of this embodiment, in the method for correcting a vehicle crosswind deviation disclosed in another specific implementation manner of this embodiment, the calculation parameter of the yaw rate of the vehicle further includes the lateral acceleration of the vehicle, and the vehicle running state is redundantly checked by using the lateral acceleration of the vehicle obtained through detection, so that the vehicle deviation state caused by lateral unevenness of the road can be eliminated, and the accuracy of the degree of influence of the vehicle detection on the crosswind is improved.
Example 2
As shown in fig. 2, the present embodiment further provides a system for correcting a vehicle crosswind deviation, which includes an electric power steering system 10, an electronic stability control system 20 and an on-board controller 30, which are connected in communication, wherein the electric power steering system 10 and the electronic stability control system 20 are respectively connected in communication with the on-board controller 30; wherein the electric power steering system 10 detects and obtains the actual yaw rate of the vehicle and sends to the on-board controller 30; the electronic stability control system 20 acquires a calculation parameter of the yaw rate of the vehicle and sends the calculation parameter of the yaw rate of the vehicle to the vehicle-mounted controller 30, and the vehicle-mounted controller 30 calculates and acquires a target yaw rate of the vehicle according to the calculation parameter; the on-board controller 30 calculates a difference between the acquired actual yaw rate and the target yaw rate, compares the difference with a yaw rate threshold range, and controls the counter braking force applied to the wheels of the vehicle according to the comparison result, and the on-board controller 30 prevents the vehicle from being out of control, sideslipping, or rolling over by applying the counter braking force formed at a center of rotation of the vehicle opposite to the yaw direction to overcome the influence of the wind force on the vehicle, correcting the yaw state of the vehicle back, and returning the vehicle to a correct driving lane.
It should be understood that the electric power steering system 10, the electronic stability control system 20, and the onboard controller 30 are all system components of the vehicle itself, and therefore, the present embodiment is not limited thereto.
Further, as shown in fig. 2, the calculation parameters of the yaw rate of the vehicle acquired by the electronic stability control system 20 include: the steering wheel angle, the vehicle speed, the vehicle wheel track and the vehicle characteristic vehicle speed of the vehicle; and is
The vehicle-mounted controller 30 calculates a target yaw rate according to the following formula (a) based on the calculation parameters; wherein
Wherein ω is a target yaw angular velocity; v is the vehicle speed; l is the vehicle wheel base; delta is a steering wheel angle; vch is vehicle characteristic vehicle speed; and the on-board controller 30 calculates the difference value according to the following equation (b):
Δ＝ω-ω' (b)
wherein Δ is the difference; omega is a target yaw angular velocity; ω' is the actual yaw rate.
Further, as shown in fig. 2, if the difference calculated by the on-board controller 30 is smaller than the lower limit of the yaw-rate threshold range, the on-board controller 30 applies a reaction force to the rear wheels located on the inner side of the vehicle travel locus; and if the calculated difference is greater than or equal to the upper limit of the yaw velocity threshold range, the on-board controller 30 applies counter-braking force to the front wheels and the rear wheels positioned outside the vehicle running track to overcome the influence of wind force on the vehicle, and corrects the yaw state of the vehicle back to enable the vehicle to return to the correct running lane again, so as to prevent the vehicle from being out of control, sideslipping or rolling over.
Further, as shown in fig. 2, a warning unit 40 is further included, and when the difference calculated by the onboard controller 30 is outside the yaw-rate threshold range, the warning unit 40 gives a warning to the driver of the vehicle, and reminds the driver of the possibility of stopping the driving or making other reactions to ensure safety. The alarm unit 40 can be controlled by sound, light, electricity, seat vibration, safety active belt pull-in or steering wheel shake and the like to give early warning to the driver in advance, so that the attention of the driver is improved, and the risk of the vehicle is reduced.
It should be understood that a wind force detector 50 may also be included, with the wind force detector 50 accurately measuring the effect of the wind force on the vehicle to more accurately control the counter braking force provided to the vehicle to overcome the effect of the wind force on the vehicle.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, taken in conjunction with the specific embodiments thereof, and that no limitation of the invention is intended thereby. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (6)
1. A method for correcting a cross wind deviation in a vehicle, comprising the steps of:
s1: detecting and acquiring an actual yaw rate of the vehicle;
s2: detecting a calculation parameter for acquiring the yaw rate of the vehicle, and calculating and acquiring a target yaw rate of the vehicle according to the calculation parameter;
s3: calculating a difference value between the actual yaw rate and the target yaw rate, comparing the difference value with a preset yaw rate threshold range, and controlling a reaction power supplied to wheels of the vehicle according to the comparison result such that a reaction power opposite to a yaw direction is formed at a vehicle rotation center, wherein,
the difference is calculated according to the following formula (b):
Δ＝ω-ω' (b)
wherein Δ is the difference; ω is the target yaw rate; ω' is the actual yaw rate;
applying the counter-braking force to rear wheels of the vehicle that are inside the vehicle travel track if the calculated difference is less than a lower limit of the yaw-rate threshold range; and is
Applying the counter-braking force to front and rear wheels of the vehicle outside a travel locus of the vehicle if the calculated difference is greater than or equal to an upper limit of the yaw rate threshold.
2. The method for correcting a crosswind deviation according to claim 1, wherein in step S2:
the detecting of the calculation parameter for acquiring the yaw rate of the vehicle includes: detecting and acquiring a steering wheel angle, a vehicle speed, a vehicle wheel track and a vehicle characteristic vehicle speed of the vehicle; and is
Calculating the target yaw rate according to the calculation parameters of the yaw rate of the vehicle and the following formula (a); wherein
Wherein ω is the target yaw rate; v is the vehicle speed; l is the vehicle wheel base; δ is the steering wheel angle; vch is the vehicle characteristic vehicle speed.
3. The method according to claim 2, wherein the absolute values of the upper and lower limits of the yaw rate threshold range are the same.
4. The system for correcting the vehicle crosswind deviation is characterized by comprising an electric power steering system, an electronic stability control system and an on-board controller which are in communication connection, wherein the electric power steering system and the electronic stability control system are in communication connection with the on-board controller respectively; wherein
The electric power steering system detects and acquires the actual yaw velocity of the vehicle and starts the actual yaw velocity to the vehicle-mounted controller;
the electronic stability control system acquires a calculation parameter of the yaw rate of the vehicle and sends the calculation parameter of the yaw rate of the vehicle to the vehicle-mounted controller, and the vehicle-mounted controller calculates and acquires a target yaw rate of the vehicle according to the calculation parameter;
the on-board controller calculates a difference value between the actual yaw rate and the target yaw rate, compares the difference value with a yaw rate threshold range, and controls the reaction power supplied to the wheels of the vehicle such that the reaction power opposite to the yaw direction is formed at the center of rotation of the vehicle according to the comparison result, wherein,
the difference value is calculated by the vehicle-mounted controller according to the following formula (b):
Δ＝ω-ω' (b)
wherein Δ is the difference; ω is the target yaw rate; ω' is the actual yaw rate;
if the difference calculated by the vehicle-mounted controller is smaller than the lower limit of the yaw-rate threshold range, the vehicle-mounted controller applies the reverse braking force to the rear wheels positioned on the inner side of the vehicle running track; and is
And if the calculated difference is larger than or equal to the upper limit of the yaw rate threshold range, the vehicle-mounted controller applies the counter-braking force to the front wheels and the rear wheels which are positioned on the outer side of the vehicle running track.
5. The system for correcting a vehicle crosswind deviation according to claim 4, wherein the calculated parameter of the yaw rate of the vehicle obtained by the electronic stability control system comprises: the steering wheel angle, the vehicle speed, the vehicle wheel track and the vehicle characteristic vehicle speed of the vehicle; and is
The vehicle-mounted controller calculates the target yaw rate according to the calculation parameters according to the following formula (a); wherein
Wherein ω is the target yaw rate; v is the vehicle speed; l is the vehicle wheel base; δ is the steering wheel angle; vch is the vehicle characteristic vehicle speed.
6. The system of claim 5, further comprising an alarm unit that alerts a driver of the vehicle when the difference calculated by the onboard controller is outside the yaw rate threshold range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010398118.XA CN111645653B (en) | 2020-05-12 | 2020-05-12 | Method and system for correcting vehicle crosswind deviation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010398118.XA CN111645653B (en) | 2020-05-12 | 2020-05-12 | Method and system for correcting vehicle crosswind deviation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111645653A CN111645653A (en) | 2020-09-11 |
| CN111645653B true CN111645653B (en) | 2021-08-31 |
Family
ID=72343319
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010398118.XA Active CN111645653B (en) | 2020-05-12 | 2020-05-12 | Method and system for correcting vehicle crosswind deviation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111645653B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112249004B (en) * | 2020-12-21 | 2021-03-23 | 上海拿森汽车电子有限公司 | Vehicle control method, control device and computer readable storage medium |
| CN112693448B (en) * | 2021-01-06 | 2022-10-11 | 恒大新能源汽车投资控股集团有限公司 | Automobile torque steering control method and electronic equipment |
| CN113704132A (en) * | 2021-09-08 | 2021-11-26 | 中汽创智科技有限公司 | Method, device, equipment and medium for testing vehicle function system |
| CN115817631B (en) * | 2023-02-20 | 2023-05-23 | 小米汽车科技有限公司 | Vehicle control method and device, vehicle and storage medium |
| CN115891977B (en) * | 2023-02-22 | 2023-05-23 | 北京易控智驾科技有限公司 | Control method and device for understeer of unmanned mining vehicle, electronic equipment and storage medium |
| CN116985768B (en) * | 2023-09-27 | 2023-12-26 | 万向钱潮股份公司 | Shaft braking force balance control method and device for electromechanical braking system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090210112A1 (en) * | 2004-06-25 | 2009-08-20 | Continental Teves Ag & Co. Ohg | Process and device for stabilising a vehicle |
| CN106043284A (en) * | 2015-04-07 | 2016-10-26 | 现代自动车株式会社 | Control method for front and rear wheel torque distribution of electric 4 wheel drive hybrid electric vehicle |
| CN107662595A (en) * | 2016-07-30 | 2018-02-06 | 比亚迪股份有限公司 | A kind of vehicle braking stable control method and system |
| CN108430847A (en) * | 2016-09-07 | 2018-08-21 | Ntn株式会社 | The Servo Control device of vehicle |
| CN111002976A (en) * | 2019-09-20 | 2020-04-14 | 江苏理工学院 | Intelligent vehicle crosswind-resistant control method based on fuzzy self-adaptive PID control |
-
2020
- 2020-05-12 CN CN202010398118.XA patent/CN111645653B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090210112A1 (en) * | 2004-06-25 | 2009-08-20 | Continental Teves Ag & Co. Ohg | Process and device for stabilising a vehicle |
| CN106043284A (en) * | 2015-04-07 | 2016-10-26 | 现代自动车株式会社 | Control method for front and rear wheel torque distribution of electric 4 wheel drive hybrid electric vehicle |
| CN107662595A (en) * | 2016-07-30 | 2018-02-06 | 比亚迪股份有限公司 | A kind of vehicle braking stable control method and system |
| CN108430847A (en) * | 2016-09-07 | 2018-08-21 | Ntn株式会社 | The Servo Control device of vehicle |
| CN111002976A (en) * | 2019-09-20 | 2020-04-14 | 江苏理工学院 | Intelligent vehicle crosswind-resistant control method based on fuzzy self-adaptive PID control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111645653A (en) | 2020-09-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111645653B (en) | Method and system for correcting vehicle crosswind deviation | |
| EP3153375B1 (en) | Robust tire forces estimation system | |
| US6438464B1 (en) | Method and device for detecting the overturning hazard of a motor vehicle | |
| CN105829185B (en) | Potential adhesive force is estimated by assessment rolling radius | |
| US8326480B2 (en) | Method and device for monitoring the state of tires | |
| US8775048B2 (en) | Method and apparatus for determining a reference vehicle velocity and a rear wheel speed in a vehicle having three speed sensors | |
| US7522985B2 (en) | Method and arrangement for monitoring a measuring device located in a wheeled vehicle | |
| CN110626353B (en) | Vehicle dangerous state early warning method based on roll risk index | |
| US8649938B2 (en) | System, program product, and method for dynamic control of vehicle | |
| JP4151389B2 (en) | Vehicle behavior control device | |
| US6862512B2 (en) | Method and system for controlling the performance of a motor vehicle | |
| US7792617B2 (en) | Wheel speed sensing system for electronic stability control | |
| CN108128306B (en) | Vehicle and steering instability control method and system thereof | |
| CN108791276B (en) | Method for rapidly judging linear/nonlinear working state of tire lateral force | |
| KR101997429B1 (en) | Control method for lane keeping assist of vehicle and Apparatus for lane keeping assist implementing the same | |
| CN103118922A (en) | Vehicle active steering shimmy mitigation | |
| CN113825683B (en) | Method for determining a float angle during a turn of a motor vehicle, driver assistance system for carrying out the method, and motor vehicle | |
| US20180118263A1 (en) | Method For Differentiating Driver Input | |
| US20030144786A1 (en) | System and method for monitoring the traction of a motor vehicle | |
| KR100737472B1 (en) | Steering angle sensor automatic setting system of vehicle and method thereof | |
| US7557697B2 (en) | System to measure wheel liftoff | |
| CN111216732B (en) | Road surface friction coefficient estimation method and device and vehicle | |
| JP4619870B2 (en) | Alignment state detection device | |
| KR101997432B1 (en) | Electronic stability control apparatus for vehicle and control method therfor | |
| JP2008179365A (en) | Behavior control device for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |