CN112046465B - Vehicle stability control method, device, equipment and storage medium - Google Patents

Vehicle stability control method, device, equipment and storage medium Download PDF

Info

Publication number
CN112046465B
CN112046465B CN202010954687.8A CN202010954687A CN112046465B CN 112046465 B CN112046465 B CN 112046465B CN 202010954687 A CN202010954687 A CN 202010954687A CN 112046465 B CN112046465 B CN 112046465B
Authority
CN
China
Prior art keywords
vehicle
stability
time period
target time
state
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
Application number
CN202010954687.8A
Other languages
Chinese (zh)
Other versions
CN112046465A (en
Inventor
张建
刘秋铮
姜洪伟
王御
王宇
李林润
黄海洋
侯殿龙
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
FAW Group Corp
Original Assignee
FAW Group Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by FAW Group Corp filed Critical FAW Group Corp
Priority to CN202010954687.8A priority Critical patent/CN112046465B/en
Publication of CN112046465A publication Critical patent/CN112046465A/en
Application granted granted Critical
Publication of CN112046465B publication Critical patent/CN112046465B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • 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
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/06—Combustion engines, Gas turbines
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention discloses a vehicle stability control method, a vehicle stability control device, vehicle stability control equipment and a storage medium. The vehicle stability control method comprises the following steps: determining a vehicle stability requirement parameter in a target time period based on the vehicle running state in the target time period; determining road stability boundary parameters in a target time period based on the current road state; determining a vehicle stable state within a target time period based on the vehicle stability demand parameter and the road stability boundary parameter; the vehicle running state is controlled based on the vehicle steady state. The embodiment compares the road stability boundary parameter with the vehicle stability requirement parameter to judge the vehicle stable state in the target time period, and adjusts and controls the running state of the vehicle according to the vehicle stable state. The problem of dangerous consequences such as control is insufficient or overkill is avoided that traditional vehicle stability control scheme passive control probably causes, prevents that the vehicle from appearing the unstability state, ensures that the vehicle is in safe driving state all the time.

Description

Vehicle stability control method, device, equipment and storage medium
Technical Field
The embodiment of the invention relates to a vehicle control technology, in particular to a vehicle stability control method, a vehicle stability control device, vehicle stability control equipment and a storage medium.
Background
With the development of intelligent technology and electronic control technology, people have higher and higher requirements on vehicle driving safety, and the traditional passive stability control system cannot meet the requirements of people.
Conventional vehicle stability control schemes are mostly passive control schemes, only after the vehicle has experienced a destabilizing state, such as: the stability requirement is out of bounds such that the vehicle is drifting or yawing or rolling over, and remedial control of the vehicle is initiated. Further, the conventional vehicle stability control scheme controls the vehicle destabilization state only according to the yaw rate or the centroid-side deviation information.
The scheme of controlling the vehicle after the vehicle has a destabilized state may cause dangerous consequences such as insufficient control or overusing. The vehicle instability state is controlled according to the deviation information of the yaw angular velocity or the centroid slip angle, so that the vehicle is easy to deviate from the existing driving road. Therefore, the conventional vehicle stability control scheme cannot effectively control the unstable state of the vehicle.
Disclosure of Invention
The invention provides a vehicle stability control method, a vehicle stability control device, vehicle stability control equipment and a storage medium, which are used for preventing a vehicle from being in a destabilized state and ensuring that the vehicle is always in a safe driving state.
In a first aspect, an embodiment of the present invention provides a vehicle stability control method, including:
determining a vehicle stability requirement parameter in a target time period based on a vehicle running state in the target time period;
determining road stability boundary parameters in the target time period based on the current road state;
determining a vehicle stability state within the target time period based on the vehicle stability demand parameter and the road stability boundary parameter;
and controlling the vehicle running state based on the vehicle stable state.
In a second aspect, an embodiment of the present invention further provides a vehicle stability control apparatus, including:
the demand parameter determining module is used for determining a vehicle stability demand parameter in a target time period based on the vehicle running state in the target time period;
the boundary parameter determining module is used for determining road stability boundary parameters in the target time period based on the current road state;
a steady state determination module for determining a vehicle steady state within the target time period based on the vehicle stability demand parameter and the road stability boundary parameter;
and the control module is used for controlling the running state of the vehicle based on the stable state of the vehicle.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a vehicle stability control method as provided by any embodiment of the invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the vehicle stability control method according to any embodiment of the present invention.
The method and the device for determining the vehicle stability demand parameter in the target time period are based on the vehicle running state in the target time period; determining road stability boundary parameters in a target time period based on the current road state; determining a vehicle stable state within a target time period based on the vehicle stability demand parameter and the road stability boundary parameter; the vehicle running state is controlled based on the vehicle steady state. And comparing the road stability boundary parameter with the vehicle stability requirement parameter to judge the vehicle stable state in the target time period, and adjusting and controlling the running state of the vehicle according to the vehicle stable state. The problem of dangerous consequences such as control is insufficient or overkill is avoided that traditional vehicle stability control scheme passive control probably causes, prevents that the vehicle from appearing the unstability state, ensures that the vehicle is in safe driving state all the time.
Drawings
FIG. 1 is a flow chart of a method for controlling vehicle stability according to an embodiment of the present invention;
FIG. 2 is a flowchart of a vehicle stability control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle stability control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a vehicle stability control system according to a fourth embodiment of the present invention;
fig. 5 is a flowchart of a vehicle stability control method according to a fourth embodiment of the present invention;
fig. 6 is a schematic structural diagram of an apparatus according to a fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a vehicle stability control method according to an embodiment of the present invention, where the embodiment is applicable to a situation of intelligent active vehicle stability control, and the method may be executed by a vehicle stability control device according to an embodiment of the present invention, where the device may be implemented in a software and/or hardware manner. The vehicle stability control method provided by the embodiment specifically comprises the following steps:
and S110, determining a vehicle stability requirement parameter in a target time period based on the vehicle running state in the target time period.
Wherein the target time period refers to a period of time in the future. The vehicle travel state includes a vehicle travel path and a vehicle travel speed. The vehicle stability requirement parameter refers to a parameter which can meet the requirement of a vehicle when the vehicle passes through different road sections to ensure that the vehicle can safely pass through. The vehicle stability requirement parameters in the present embodiment include, but are not limited to, lateral force, lateral acceleration, yaw rate, and centroid yaw angle, with lateral acceleration being preferred in the present embodiment.
Specifically, the vehicle travel state in the target period refers to a travel path to be traveled by the vehicle and a travel speed of the vehicle in a future period of time. The parameter of the vehicle stability requirement in the target time period refers to a parameter which can meet the requirement of the vehicle when the vehicle passes through different road sections in a future time period so as to ensure that the vehicle can pass safely. Specifically, the vehicle running state within the target time period is determined before the vehicle stability requirement parameter within the target time period is determined based on the vehicle running state within the target time period. Optionally, the driving state of the vehicle in the target time period may be determined by any one of map information, vehicle-mounted road sensing information, automatic driving planning track information, and a current driving state of the vehicle, or may be determined by a combination of the above information. It should be noted that, in the present embodiment, only the method of determining the vehicle driving state in the target time period is described, but not limited.
The current vehicle driving state refers to a vehicle driving path and a vehicle driving speed at the current time, including but not limited to this.
Specifically, the vehicle running path and the vehicle running speed in the target time period are determined through map information, vehicle-mounted road sensing information or automatic driving planning track information. The vehicle travel path herein mainly refers to the degree of curvature of a path through which the vehicle will pass within the target time period. The automatic driving planning track information can predict the vehicle running speed in the target time period according to the curvature of the path through which the vehicle will pass in the target time period.
Alternatively, the vehicle running speed in the target time period may also be predicted according to the current vehicle running state. And determining a vehicle driving path in the target time period through map information or vehicle-mounted road sensing information or automatic driving planning track information, wherein the vehicle driving path is the curvature of the path through which the vehicle passes. And predicting the running speed of the vehicle in the target time period according to the degree of curvature of the path through which the vehicle will pass on the basis of the current running state of the vehicle.
Specifically, taking the lateral acceleration as an example of the vehicle stability requirement parameter, the vehicle stability requirement parameter is calculated by the formula (1):
Figure BDA0002678203890000051
where v is a vehicle traveling speed in the target time zone, R is a curve radius of a vehicle traveling path in the target time zone, ayIs the lateral acceleration that the vehicle can meet its own requirements over a target period of time to ensure safe passage of the vehicle.
And S120, determining road stability boundary parameters in the target time period based on the current road state.
The current road state refers to the type and the dryness of the current road, and may be represented by a road surface adhesion coefficient or a road friction coefficient. The road stability boundary parameter refers to the maximum stability boundary value that a road can provide under normal driving conditions, different types and dry conditions. The road stability boundary parameters in the present embodiment include, but are not limited to, lateral force, lateral acceleration, yaw rate, and centroid slip angle, and lateral acceleration is preferred in the present embodiment.
Further, the current road state may be determined based on vehicle camera sensing information and current tire slip information. Specifically, the road friction coefficient may be determined according to vehicle camera sensing information and current tire slip information, and then the road stability boundary parameter within the target time period may be calculated according to the road friction coefficient.
The current tire slip information can be obtained according to information such as a vehicle steering wheel rotation angle, a vehicle accelerator pedal opening degree, a vehicle actual rotation angle, a vehicle actual speed and the like.
Specifically, taking the lateral acceleration as an example of the road stability boundary parameter, the road stability boundary parameter is calculated by the formula (2):
ay *＝μg (2)
where μ is the current road friction coefficient, g is the gravitational acceleration, ay *Is the maximum stable lateral acceleration that the road can provide under normal driving conditions within the target time period. It should be noted that the road friction coefficient is constant over a period of time. That is, the current road friction coefficient is also the road friction coefficient in the target time period.
And S130, determining the vehicle stable state in the target time period based on the vehicle stability requirement parameter and the road stability boundary parameter.
The vehicle stable state comprises a vehicle stable running state and a vehicle unstable running state. The vehicle unstable running state includes an understeer state and an oversteer state.
Specifically, a vehicle stability requirement parameter and a road stability boundary parameter are compared, and when the vehicle stability requirement parameter is less than or equal to the road stability boundary parameter, the vehicle in the target time period is in a stable driving state; and when the vehicle stability requirement parameter is greater than the road stability boundary parameter, the vehicle in the target time period is in the unstable running state.
Specifically, the vehicle stability requirement parameter and the road stability boundary parameter are compared by taking lateral acceleration as an example:
1) when a isy≤ay *When the vehicle is in a stable driving state in the target time period;
2) when a isy>ay *When the vehicle is in the unstable running state in the target time period.
When a isy＞ay *And determining that the vehicle in the target time period is in the unstable running state. According to the running speed v of the vehicle in the target time period and the bending radius R of the running path of the vehicle in the target time period, the self requirement can be met in the target time period to ensure that the vehicle can pass through safelyLateral acceleration a ofyCalculating the load distribution of the front axle and the rear axle of the vehicle according to the related information of the vehicle running in the target time period, and further determining the front axle lateral force F specifically required by the vehicleY1Rear axle side force FY2. The front/rear axle load here means the weight borne by the front/rear axle, and the front axle load is G1Indicating rear axle load by G2And (4) showing. According to front axle load G1Rear axle load G2And calculating the front-rear axial side force which can be provided by the ground by the road friction coefficient mu:
FY1 *＝G1μ FY2 *＝G2μ
according to FY1And FY1 *，FY2And FY2 *The magnitude relationship of (a) determines understeer or oversteer.
It should be noted that the main reason for vehicle instability is that, under the conditions of high vehicle speed and large steering wheel angle, the lateral force required for maintaining the vehicle steering exceeds the boundary of the maximum lateral force provided by the ground (particularly on slippery ground), so that the motion values of the lateral acceleration, yaw rate and the like required by the vehicle cannot be met, and the vehicle loses the ideal motion state, including dangerous situations such as tail flicking during steering, side slipping during turning, side rolling during turning and vehicle overturning during turning.
And S140, controlling the running state of the vehicle based on the stable state of the vehicle.
Specifically, when the vehicle steady state is a state in which the vehicle is in a destabilized running state, the vehicle running deviation within the target time period is calculated based on the vehicle stability demand parameter and the road stability boundary parameter.
And when the vehicle stable state is that the vehicle is in a stable running state, controlling the vehicle to run according to the current vehicle running control strategy.
The vehicle driving deviation comprises a driving path deviation, a yaw rate deviation, a center of mass and side deviation angle deviation and the like.
Specifically, a stability control parameter is calculated from the vehicle running deviation, and an additional yaw moment or suspension control stiffness required for maintaining a stable running state of the vehicle in a target time period is determined according to the stability control parameter. And controlling the vehicle to maintain a stable driving state by the intelligent chassis control system based on the additional yaw moment or the suspension control stiffness. For example, the vehicle can be ensured to realize the expected steering capacity by increasing the yaw moment in a mode of early differential driving/braking, the steady-state circumferential running capacity of the vehicle can be ensured by reducing part of the vehicle speed in advance, the vehicle can be ensured to realize the expected anti-roll capacity in a mode of active suspension/stabilizer bar control in advance, the stability capacity of the vehicle can be actively improved under the condition of not reducing the stability requirement required by the vehicle too much, the vehicle is prevented from entering an unstable running state while the expected running track is ensured to be followed, and the running stability and the safety of the vehicle are ensured.
The method comprises the steps of determining a vehicle stability requirement parameter in a target time period based on a vehicle running state in the target time period; determining road stability boundary parameters in a target time period based on the current road state; determining a vehicle stable state within a target time period based on the vehicle stability demand parameter and the road stability boundary parameter; the vehicle running state is controlled based on the vehicle steady state. And comparing the road stability boundary parameter with the vehicle stability requirement parameter to judge the vehicle stable state in the target time period, and adjusting and controlling the running state of the vehicle according to the vehicle stable state. According to the vehicle stability control method and device, the driving stability of the vehicle is pre-judged in advance and actively controlled by utilizing intelligent sensing information, automatic driving related information and the like, the problem that the traditional vehicle stability control scheme is insufficient in control or overruns dangerous consequences and the like possibly caused by passive control is solved, the vehicle is prevented from being in a destabilized state, and the vehicle is ensured to be in a safe driving state all the time.
Example two
FIG. 2 is a flowchart of a vehicle stability control method according to a second embodiment of the present invention; the embodiment is applicable to the situation of intelligent active vehicle stability control, and the embodiment further optimizes the vehicle stability control method, as shown in fig. 2, the optimized vehicle stability control method mainly includes the following steps:
s210, determining a vehicle running state in a target time period based on map information, vehicle-mounted road sensing information or automatic driving planning track information and a current vehicle running state; wherein the vehicle travel state includes a vehicle travel path and a vehicle travel speed.
Specifically, the vehicle running path and the vehicle running speed in the target time period can be determined through map information, vehicle-mounted road sensing information and automatic driving planning track information. The vehicle travel path mainly refers to the degree of curvature of a path through which the vehicle will pass within a target time period.
The map information refers to a series of information such as the surrounding roads, buildings, road signs, road driving requirements and the like of the current position of the vehicle. The map information can be obtained through a map application program built in the vehicle-mounted terminal, and also can be obtained through an application program in a third-party terminal in communication connection with the vehicle-mounted terminal, wherein the third-party terminal comprises but is not limited to a mobile phone, a tablet computer, a portable wearable device and the like.
Wherein, the vehicle-mounted road sensor can be a vehicle-mounted camera, a laser radar and the like. The vehicle-mounted road sensing information refers to information acquired by vehicle-mounted road sensing.
Preferably, the automated driving planned trajectory information is vehicle travel trajectory information planned by a vehicle existing automated driving system based on the origin, the destination, and the path information selected by the user.
Alternatively, the vehicle travel speed in the target time period may be predicted according to the current vehicle travel state. And determining a vehicle driving path in the target time period through map information or vehicle-mounted road sensing information or automatic driving planning track information, wherein the vehicle driving path is the curvature of the path through which the vehicle passes. And predicting the running speed of the vehicle in the target time period according to the degree of curvature of the path through which the vehicle will pass on the basis of the current running state of the vehicle.
And S220, determining a vehicle stability requirement parameter in the target time period based on the vehicle running path in the target time period and the vehicle running speed in the target time period.
Wherein the vehicle stability requirement parameter may be any one or more of lateral force, lateral acceleration, yaw rate, and centroid yaw angle.
Specifically, taking the lateral acceleration as an example of the vehicle stability requirement parameter, the vehicle stability requirement parameter is calculated by formula (3):
Figure BDA0002678203890000101
where v is a vehicle traveling speed in the target time zone, R is a curve radius of a vehicle traveling path in the target time zone, ayIs the lateral acceleration that the vehicle can meet its own requirements over a target period of time to ensure safe passage of the vehicle.
And S230, determining road stability boundary parameters in the target time period based on the road friction coefficient.
The road friction coefficient can be determined according to vehicle camera sensing information and current tire slip information. Road stability boundary parameters may be described in terms of lateral force, lateral acceleration, yaw rate, center of mass slip angle, and the like, including but not limited to.
Specifically, taking the lateral acceleration as an example of the road stability boundary parameter, the road stability boundary parameter is calculated by the formula (4):
ay *＝μg (4)
where μ is the current road friction coefficient, g is the gravitational acceleration, ay *Is the maximum stable lateral acceleration that the road can provide under normal driving conditions within the target time period. It should be noted that the road friction coefficient is constant over a period of time. That is, the current road friction coefficient is also the road friction coefficient in the target time period.
S240, determining the vehicle stable state in the target time period based on the vehicle stability demand parameter and the road stability boundary parameter.
Specifically, the vehicle stability requirement parameter and the road stability boundary parameter are compared, and when the vehicle stability requirement parameter is smaller than or equal to the road stability boundary parameter, the vehicle in the target time period is in a stable running state; and when the vehicle stability requirement parameter is greater than the road stability boundary parameter, the vehicle in the target time period is in the unstable running state.
Specifically, the vehicle stability requirement parameter and the road stability boundary parameter are compared by taking lateral acceleration as an example:
1) when a isy≤ay *When the vehicle is in a stable driving state in the target time period;
2) when a isy>ay *When the vehicle is in the unstable running state in the target time period.
And S250, if the vehicle stable state is that the vehicle is in the unstable running state, determining the vehicle running deviation in the target time period.
The vehicle driving deviation includes a driving path deviation, a yaw rate deviation, and a centroid slip angle deviation, but is not limited thereto.
Specifically, the deviation is calculated by corresponding ones of the vehicle stability demand parameter and the road stability boundary parameter. Taking the yaw rate as an example, the vehicle stability requirement parameter and the road stability boundary parameter are the yaw rates, respectively determining the yaw rate of the vehicle stability requirement and the road stability boundary yaw rate, and calculating the difference between the two values.
And S260, calculating a stability control parameter based on the vehicle running deviation.
Wherein, the stability control parameter refers to a parameter value required for controlling the vehicle to return to a stable running state if the vehicle is in an unstable running state in a stable state of the vehicle.
Specifically, the external force to be applied to control the vehicle to return to the preset running path is calculated based on the vehicle running deviation. For example, the vehicle running path deviation may be adjusted by applying a steering force to the vehicle.
And S270, determining the additional yaw moment or the suspension control rigidity required by the vehicle to maintain the stable running state in the target time period based on the stability control parameter.
The additional yaw moment can be understood as a turning moment required when the vehicle is unstable in turning. Suspension control stiffness may be understood as the stiffness of the suspension system that needs to be controlled to ensure that the vehicle smoothly passes through the buckling-prone region.
And S280, controlling the vehicle to maintain a stable driving state by the intelligent chassis control system based on the additional yaw moment or the suspension control rigidity.
Specifically, when it is determined that the vehicle is in the unstable running state within the target period of time, it is possible to predict in advance deviations (running path deviation, yaw rate deviation, centroid-side deviation, etc.) that occur during future running of the vehicle based on the calculated vehicle stability demand parameter and the road stability boundary parameter, and then, predicting and calculating a stability control quantity in advance according to the deviation, and performing active advanced control on a plurality of systems of the vehicle in a control mode, wherein one or more systems of an engine, a brake, a steering gear, a suspension, an active stabilizer bar and the like can be selected, so that on one hand, the required yaw moment of the vehicle is increased in advance to improve the steering capacity and help the vehicle maintain a stable neutral steering state, on the other hand, part of vehicle speed is reduced in advance to improve the anti-sideslip capacity of the vehicle and ensure that the vehicle can maintain steady-state circular driving, and on the other hand, the rigidity of the suspension system is controlled in advance to improve the anti-sideslip capacity of the vehicle and ensure that the vehicle stably passes through an easy-instability area.
The vehicle stability control method provided by the embodiment of the invention further optimizes the vehicle stability control method, determines the vehicle stable state by comparing the acquired vehicle stability requirement parameter with the road stability boundary parameter, and calculates the stability control parameter according to the deviation of the two parameters to determine the additional yaw moment or the suspension control stiffness required by the vehicle to maintain the stable running state in the target time period. And controlling the vehicle to maintain a stable driving state by the intelligent chassis control system based on the additional yaw moment or the suspension control rigidity. By carrying out stability advanced deviation correction control on the vehicle, the stability capability of a driving road stability boundary and the stability capability of the vehicle can be actively improved under the condition that the requirement of the stability required by the vehicle is not excessively reduced, the vehicle is fundamentally prevented from entering a destabilization state, the vehicle is ensured to be always in a safe driving state, and meanwhile, the vehicle can stably follow the driving track information planned by automatic driving or the operation input information of a driver to the vehicle.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle stability control device according to a third embodiment of the present invention. An embodiment of the present invention provides a vehicle stability control apparatus, including:
the demand parameter determination module 310 is configured to determine a vehicle stability demand parameter in a target time period based on a vehicle driving state in the target time period;
a boundary parameter determining module 320, configured to determine a road stability boundary parameter in the target time period based on a current road state;
a steady state determination module 330 configured to determine a vehicle steady state within the target time period based on the vehicle stability requirement parameter and the road stability boundary parameter;
and a control module 340 for controlling the vehicle running state based on the vehicle steady state.
According to the vehicle stability control device provided by the third embodiment of the invention, the vehicle stability requirement parameter in the target time period is determined through the requirement parameter determining module; determining road stability boundary parameters in a target time period through a boundary parameter determination module; determining a vehicle stable state in a target time period based on the vehicle stability demand parameter and the road stability boundary parameter through a stable state determination module; controlling, by a control module, a vehicle travel state based on the vehicle steady state. And comparing the road stability boundary parameter with the vehicle stability requirement parameter to judge the vehicle stable state in the target time period, and adjusting and controlling the running state of the vehicle according to the vehicle stable state. The problem of dangerous consequences such as control is insufficient or overkill is avoided that traditional vehicle stability control scheme passive control probably causes, prevents that the vehicle from appearing the unstability state, ensures that the vehicle is in safe driving state all the time.
Further, the apparatus further comprises: the vehicle running state determining module is used for determining the vehicle running state in the target time period based on the map information, the vehicle-mounted road sensing information or the automatic driving planning track information and the current vehicle running state before determining the vehicle stability requirement parameter in the target time period based on the vehicle running state in the target time period; wherein the vehicle travel state includes a vehicle travel path and a vehicle travel speed.
Further, the demand parameter determination module 310 is specifically configured to determine the vehicle stability demand parameter in the target time period based on the vehicle travel path in the target time period and the vehicle travel speed in the target time period.
Further, the boundary parameter determining module 320 is specifically configured to determine the road stability boundary parameter in the target time period based on the road friction coefficient.
Further, the steady state determination module 330 includes:
a stable driving state determination unit, configured to determine that the vehicle within the target time period is in a stable driving state if the vehicle stability requirement parameter is less than or equal to the road stability boundary parameter;
and the unstable running state determining unit is used for determining that the vehicle in the target time period is in the unstable running state if the vehicle stability requirement parameter is greater than the road stability boundary parameter.
Further, the control module 340 includes:
a driving deviation determination unit for determining a driving deviation of the vehicle within the target time period if the vehicle steady state is a vehicle in a destabilized driving state.
A parameter calculation unit for calculating a stability control parameter based on the vehicle running deviation.
And the control unit is used for controlling the running state of the vehicle based on the stability control parameter.
Further, the control unit includes:
a requirement determining subunit for determining an additional yaw moment or a suspension control stiffness required for the vehicle to maintain a stable driving state within a target time period based on the stability control parameter.
And the state control subunit is used for controlling the intelligent chassis control system based on the additional yaw moment or the suspension control rigidity so as to control the vehicle to maintain a stable driving state.
The vehicle stability control device provided by the embodiment of the invention can execute the vehicle stability control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of a vehicle stability control system according to a fourth embodiment of the present invention. The system is used for executing a vehicle stability control method. As shown in fig. 4, the system includes: the system comprises a vehicle-mounted GPS receiver, a vehicle-mounted road information sensor, an automatic driving control unit, a stability controller, an engine control unit, a brake control unit, a steering control unit, a suspension control unit and an active stabilizer bar control unit.
Wherein, mainly include in the stability controller: the system comprises a vehicle running state information receiving module, a vehicle running track prediction module, a road adhesion coefficient identification module, a vehicle front stability theoretical boundary calculation module, a vehicle front stability actual demand prediction module, a vehicle running stability prejudgment module, a stability multi-target deviation prediction calculation module, a stability control quantity prediction calculation module, a stability control mode arbitration and coordination module and a stability control instruction sending module.
Specifically, the vehicle running state information receiving module is used for receiving the vehicle running state information and determining the current vehicle running state.
And the vehicle running track prediction module is used for determining the vehicle running state in the target time period based on the map information or the vehicle-mounted road sensing information or the automatic driving planning track information and the current vehicle running state.
And the road adhesion coefficient identification module is used for determining and acquiring the road friction coefficient.
And the vehicle front stability theoretical boundary calculation module is used for determining road stability boundary parameters in a target time period based on the current road state.
And the actual demand prediction module for the stability in front of the vehicle is used for determining a demand parameter for the stability of the vehicle in the target time period based on the running state of the vehicle in the target time period.
And the vehicle running stability prejudging module is used for determining the vehicle stable state in the target time period based on the vehicle stability demand parameter and the road stability boundary parameter.
And the stability multi-target deviation prediction calculation module is used for determining the vehicle running deviation in the target time period if the vehicle stable state is the unstable running state of the vehicle.
And the stability control quantity prediction calculation module is used for calculating a stability control parameter based on the vehicle running deviation.
And a stability control mode arbitration and coordination module for determining an additional yaw moment or suspension control stiffness required for maintaining a stable driving state of the vehicle within the target time period based on the stability control parameter.
And the stability control instruction sending module is used for sending a control instruction to the intelligent chassis control system, so that the intelligent chassis control system controls the intelligent chassis control system based on the additional yaw moment or the suspension control rigidity, and the vehicle is controlled to be maintained in a stable running state. Fig. 5 is a flowchart of a vehicle stability control method according to a fourth embodiment of the present invention. The method is applicable to the vehicle stability control system in the present embodiment.
The vehicle stability control system provided by the fourth embodiment of the invention can execute the vehicle stability control method provided by any embodiment of the invention, and has corresponding beneficial effects of the execution method.
EXAMPLE five
Fig. 6 is a schematic structural diagram of an apparatus according to a fifth embodiment of the present invention, as shown in fig. 6, the apparatus includes a processor 510, a memory 520, an input device 530, and an output device 540; the number of processors 510 in the device may be one or more, and one processor 510 is taken as an example in fig. 6; the processor 510, the memory 520, the input device 530 and the output device 540 of the apparatus may be connected by a bus or other means, as exemplified by the bus connection in fig. 6.
The memory 520, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules, such as program modules corresponding to the vehicle stability control method in the embodiment of the present invention (e.g., the demand parameter determination module 310, the boundary parameter determination module 320, the steady state determination module 330, and the control module 340 in the vehicle stability control apparatus). The processor 510 executes various functional applications of the device and data processing by executing software programs, instructions, and modules stored in the memory 520, thereby implementing the vehicle stability control method described above.
The memory 520 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 520 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, memory 520 may further include memory located remotely from processor 510, which may be connected to devices through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 530 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the apparatus. The output device 540 may include a display device such as a display screen.
EXAMPLE six
An embodiment of the present invention also provides a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of vehicle stability control, the method comprising:
determining a vehicle stability requirement parameter in a target time period based on a vehicle running state in the target time period;
determining road stability boundary parameters in the target time period based on the current road state;
determining a vehicle stability state within the target time period based on the vehicle stability demand parameter and the road stability boundary parameter;
of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the vehicle stability control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the vehicle stability control device, the included units and modules are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (9)

1. A vehicle stability control method, characterized by comprising:
determining a vehicle stability requirement parameter in a target time period based on a vehicle running state in the target time period; wherein the vehicle stability demand parameters include lateral force, lateral acceleration, yaw rate, and center of mass yaw;
determining road stability boundary parameters in the target time period based on the current road state; wherein the road stability boundary parameters include lateral force, lateral acceleration, yaw rate, and centroid slip angle;
determining a vehicle stability state within the target time period based on the vehicle stability demand parameter and the road stability boundary parameter;
controlling a vehicle running state based on the vehicle steady state; wherein the controlling the vehicle running state based on the vehicle steady state includes:
if the vehicle stable state is that the vehicle is in an unstable running state, determining the vehicle running deviation in the target time period; wherein the vehicle travel deviations comprise a travel path deviation, a yaw rate deviation, and a center of mass yaw angle deviation;
calculating a stability control parameter based on the vehicle driving deviation;
controlling a vehicle driving state based on the stability control parameter.
2. The method of claim 1, wherein prior to determining the vehicle stability requirement parameter for the target time period based on the vehicle driving condition for the target time period, the method further comprises:
determining a vehicle running state in a target time period based on map information or vehicle-mounted road sensing information or automatic driving planning track information and a current vehicle running state; wherein the vehicle travel state includes a vehicle travel path and a vehicle travel speed.
3. The method of claim 1, wherein determining a vehicle stability requirement parameter for a target time period based on a vehicle driving condition for the target time period comprises:
and determining the vehicle stability demand parameter in the target time period based on the vehicle running path in the target time period and the vehicle running speed in the target time period.
4. The method of claim 1, wherein determining the road stability boundary parameter for the target time period based on the current road state comprises:
and determining road stability boundary parameters in the target time period based on the road friction coefficient.
5. The method of claim 1, wherein determining a vehicle stability state within the target time period based on the vehicle stability demand parameter and the road stability boundary parameter comprises:
if the vehicle stability requirement parameter is less than or equal to the road stability boundary parameter, determining that the vehicle in the target time period is in a stable driving state;
and if the vehicle stability requirement parameter is larger than the road stability boundary parameter, determining that the vehicle in the target time period is in the unstable running state.
6. The method of claim 5, wherein controlling a vehicle travel state based on the stability control parameter comprises:
determining an additional yaw moment or a suspension control stiffness required for the vehicle to maintain a stable driving state for a target period of time based on the stability control parameter;
the intelligent chassis control system controls to control the vehicle to maintain a stable driving state based on the additional yaw moment or the suspension control stiffness.
7. A vehicle stability control apparatus, characterized by comprising:
the demand parameter determining module is used for determining a vehicle stability demand parameter in a target time period based on the vehicle running state in the target time period; wherein the vehicle stability demand parameters include lateral force, lateral acceleration, yaw rate, and center of mass yaw;
the boundary parameter determining module is used for determining road stability boundary parameters in the target time period based on the current road state; wherein the road stability boundary parameters include lateral force, lateral acceleration, yaw rate, and centroid slip angle;
a steady state determination module for determining a vehicle steady state within the target time period based on the vehicle stability demand parameter and the road stability boundary parameter;
a control module for controlling a vehicle running state based on the vehicle steady state, wherein the control module includes:
a driving deviation determination unit for determining a driving deviation of the vehicle within the target time period if the vehicle steady state is a vehicle in an unstable driving state; wherein the vehicle travel deviations comprise a travel path deviation, a yaw rate deviation, and a center of mass yaw angle deviation;
a parameter calculation unit for calculating a stability control parameter based on the vehicle running deviation;
and the control unit is used for controlling the running state of the vehicle based on the stability control parameter.
8. A vehicle stability control apparatus, characterized in that the apparatus comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the vehicle stability control method of any one of claims 1-6.
9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a vehicle stability control method according to any one of claims 1 to 6.
CN202010954687.8A 2020-09-11 2020-09-11 Vehicle stability control method, device, equipment and storage medium Active CN112046465B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010954687.8A CN112046465B (en) 2020-09-11 2020-09-11 Vehicle stability control method, device, equipment and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010954687.8A CN112046465B (en) 2020-09-11 2020-09-11 Vehicle stability control method, device, equipment and storage medium

Publications (2)

Publication Number Publication Date
CN112046465A CN112046465A (en) 2020-12-08
CN112046465B true CN112046465B (en) 2022-03-18

Family

ID=73610068

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010954687.8A Active CN112046465B (en) 2020-09-11 2020-09-11 Vehicle stability control method, device, equipment and storage medium

Country Status (1)

Country Link
CN (1) CN112046465B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114194202B (en) * 2021-12-30 2024-09-03 江苏大学 Vehicle stable state judging method based on phase plane, chassis coordination control method and system
CN114852051A (en) * 2022-05-18 2022-08-05 中国第一汽车股份有限公司 Vehicle running control method and device, electronic equipment and storage medium

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104773170A (en) * 2015-04-28 2015-07-15 吉林大学 Stability integrated control method of vehicle
CN108944910A (en) * 2017-05-27 2018-12-07 长城汽车股份有限公司 A kind of vehicle stable state intelligent control method and device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106828464A (en) * 2017-01-06 2017-06-13 合肥工业大学 A kind of vehicle body stable control method and system based on coefficient of road adhesion estimation
CN108928261B (en) * 2017-05-26 2021-01-05 华为技术有限公司 Driving anti-skid control method and vehicle
CN111483467B (en) * 2019-01-29 2022-01-11 华为技术有限公司 Vehicle control method and device
CN111824167B (en) * 2019-04-15 2022-06-10 比亚迪股份有限公司 Vehicle speed limiting method and device, vehicle and electronic equipment

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104773170A (en) * 2015-04-28 2015-07-15 吉林大学 Stability integrated control method of vehicle
CN108944910A (en) * 2017-05-27 2018-12-07 长城汽车股份有限公司 A kind of vehicle stable state intelligent control method and device

Also Published As

Publication number Publication date
CN112046465A (en) 2020-12-08

Similar Documents

Publication Publication Date Title
CN109747632B (en) Torque distribution method for double-power-source driven vehicle
KR100939039B1 (en) Vehicle control device
JP3458734B2 (en) Vehicle motion control device
US12030569B2 (en) Apparatus and a method for controlling steering
EP2712780B1 (en) Method and apparatus for performing driving assistance
US10059344B2 (en) Vehicle behavior control apparatus
CN114261252B (en) Active stabilizer bar control method, device, equipment and medium
CN112046465B (en) Vehicle stability control method, device, equipment and storage medium
WO2020043198A1 (en) Vehicle control method and device
CN101932462A (en) Vehicular damping force control device
JP2009012672A (en) Traveling controller for vehicle
CN112918464B (en) Vehicle steady-state steering control method and device
US20230131835A1 (en) Apparatus for controlling autonomous driving of independent driving electric vehicle and method thereof
CN114228715B (en) Vehicle queue joint control method, device, equipment and storage medium
CN114291109B (en) Shared driving conflict resolution method, system and computer equipment
CN111791892B (en) Intelligent vehicle control method and device, vehicle and storage medium
JP6577850B2 (en) Vehicle control apparatus and vehicle control method
CN116691653A (en) Vehicle body posture adjustment control method and device
CN112622876B (en) Vehicle centroid position determination method, device, equipment and storage medium
CN112339508A (en) Rolling radius compensation method and device based on yaw rate and storage medium
JP4052279B2 (en) Deceleration control device
CN116215502A (en) Vehicle transverse control method, device, medium and equipment
Lu et al. An Advanced Yaw Stability Control System
CN111775930B (en) Method, device, equipment and medium for detecting instability state of intelligent driving mining vehicle
JP2012131428A (en) Integrated control device of 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