CN113002522A - ESP and EPS combined system for vehicle emergency steering and collision avoidance and control method thereof - Google Patents

ESP and EPS combined system for vehicle emergency steering and collision avoidance and control method thereof Download PDF

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CN113002522A
CN113002522A CN202110287443.3A CN202110287443A CN113002522A CN 113002522 A CN113002522 A CN 113002522A CN 202110287443 A CN202110287443 A CN 202110287443A CN 113002522 A CN113002522 A CN 113002522A
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eps
esp
vehicle
driver
steering
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王科锋
夏建桥
袁朝春
李海洋
欧阳康
熊齐智
叶蓬雨
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Zhenjiang Kangfei Automobile Manufacturing Co ltd
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Zhenjiang Kangfei Automobile Manufacturing Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/12—Lateral speed
    • B60W2520/125—Lateral acceleration
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/28—Wheel speed
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/10—Accelerator pedal position
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • 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

Abstract

The invention discloses an ESP and EPS combined system and a control method thereof during vehicle emergency steering collision avoidance, wherein the ESP and EPS combined system comprises a sensor unit, a controller unit and an actuator unit, wherein the sensor collects vehicle running state information to obtain longitudinal vehicle speed vxFront wheel corner delta and road surface adhesion coefficient mu, and calculating the expected angular speed by the ECU through a two-degree-of-freedom vehicle dynamic model
Figure DDA0002981076250000011
Calculating the maximum yaw rate for ensuring the stability of the vehicle by the road adhesion limit
Figure DDA0002981076250000012
Based on a comparison
Figure DDA0002981076250000013
And
Figure DDA0002981076250000014
the ECU judges the misoperation degree of the driver, and formulates a coordination control command to assist the driver in operating; the method has the advantages that a combined control structure strategy based on the ESP and the EPS is provided, the coordinated control of the ESP and the EPS is realized, the potential hidden danger of vehicle instability can be reduced under the condition that an emergency steering driver has misoperation, the steering operation hand feeling of the driver is improved, and the psychological pressure of the driver is reduced.

Description

ESP and EPS combined system for vehicle emergency steering and collision avoidance and control method thereof
Technical Field
The invention belongs to the technical field of vehicle safety, and particularly relates to an ESP and EPS combined system for emergency steering and collision avoidance of a vehicle and a control method thereof.
Background
With the increase of the automobile holding capacity, the potential safety hazards on the expressway are more and more, and a series of traffic accidents caused by rear-end collision, instability and rotation of the automobile often occur. In order to improve the active safety performance of automobiles, the development of an automobile Electronic Stability Program (ESP) is becoming more and more mature. When an obstacle is encountered in front of an automobile, the automobile is often unstable and revolves after a driver steers, the ESP has the function of helping the automobile to overcome the tendency of deviating from an ideal track by utilizing the intervention of a power system and the intervention of a braking system, and provides better safety for the automobile.
The existing ESP and EPS are two independent systems, the respective work of the two systems is not interfered with each other, when a driver is in the situation of sudden steering when encountering an obstacle, due to reasons of tension, fear and the like, the conditions of the angle of a steering wheel and the posture of a vehicle body are accurately judged, the steering wheel is likely to be in a messy state, at the moment, the steering system of the vehicle and the yaw moment of the ESP control the vehicle body to generate conflict, the vehicle body cannot return to the optimal position, the EPS system is designed under the condition that the influence of a braking system is not considered, and the boosting moment is determined only according to the vehicle speed and the input moment of the steering wheel. In the process that braking participates in steering movement, due to the change of lateral adhesion coefficients, the power-assisted torque should change, so that interference of the lateral adhesion coefficients and the power-assisted torque to a vehicle body can generate contradiction under an emergency steering working condition, and in order to guarantee the operation stability of an automobile, an ESP and EPS system can be controlled in a combined mode, and therefore the ESP and EPS combined system and the control method thereof during vehicle emergency steering collision avoidance are provided.
Disclosure of Invention
The invention aims to provide an ESP and EPS combined system during vehicle emergency steering collision avoidance and a control method thereof, so as to solve the problems that the ESP and the EPS provided in the background technology are two independent systems, the respective work is not interfered with each other, when a driver is faced with the situation of sudden steering of an obstacle, the conditions of the angle of a steering wheel and the posture of a vehicle body are accurately judged due to tension, fear and the like, the steering wheel is probably hit in a mess, the steering system of an automobile and the yaw moment of the ESP control the vehicle body to conflict, the vehicle body cannot return to the optimal position, the EPS system is designed under the condition that the influence of a braking system is not considered, and the boosting moment is determined only according to the vehicle speed and the input moment of the steering wheel. In the process that braking participates in steering movement, due to the change of the lateral adhesion coefficient, the boosting moment should change, and therefore in the emergency steering working condition, the interference of the lateral adhesion coefficient and the boosting moment on a vehicle body can cause a contradiction problem.
In order to achieve the purpose, the invention provides the following technical scheme: an ESP and EPS combined system for emergency steering and collision avoidance of a vehicle comprises
A sensor unit: the system comprises a steering wheel angle sensor, a steering wheel torque sensor, an accelerator pedal opening sensor, a wheel speed sensor, a yaw rate sensor and a lateral acceleration sensor, wherein sensed information is converted into information in an electric signal form and is output;
a controller unit: the controller comprises an ESP and EPS integrated controller, an ESP controller and an EPS controller, wherein the actuator unit is controlled by a sensor unit to move;
an actuator unit: the engine and a management subsystem thereof, the power-assisted motor and a sub-controller thereof, and the hydraulic braking subsystem execute the action of sending signals by the controller unit.
A control method of an ESP and EPS combined system in vehicle emergency steering collision avoidance comprises the following steps,
step (A), collecting vehicle running state information by a sensor unit to obtain longitudinal vehicle speed vxFront wheel corner delta and road adhesion coefficient mu;
step (B), the ECU calculates the expected angular velocity through a two-degree-of-freedom vehicle dynamic model
Figure BDA0002981076230000031
Calculating the maximum yaw rate for ensuring the stability of the vehicle by the road adhesion limit
Figure BDA0002981076230000032
Step (C), comparing
Figure BDA0002981076230000033
And
Figure BDA0002981076230000034
judging whether the driver has wrong operation or not, and carrying out normal assistance without errors;
step (D), when the error occurs, adjusting the torque of the driver;
step (E), the ECU formulates a coordination control command according to the misoperation degree of the driver;
and (F) the EPS and ESP combined controller assists the operation of a driver by correcting the boosting torque provided by the EPS motor.
In the step (B), the ECU calculates the desired angular velocity from the two-degree-of-freedom vehicle dynamics model
Figure BDA0002981076230000035
Calculating the maximum yaw rate for ensuring the stability of the vehicle by the road adhesion limit
Figure BDA0002981076230000036
The desired angular velocity
Figure BDA0002981076230000037
The calculation is as follows,
calculating expected angular velocity through two-degree-of-freedom vehicle dynamics model
Figure BDA0002981076230000038
Figure BDA0002981076230000039
Wherein L is the wheelbase, K is the stability factor, the stability factor K is determined,
Figure BDA0002981076230000041
where m is the vehicle mass, k1，k2Yaw stiffness of the front and rear axles, respectively, and the maximum yaw rate
Figure BDA0002981076230000042
The calculation is as follows,
Figure BDA0002981076230000043
wherein, muLAnd muRThe coefficient of adhesion between the wheels on both sides and the ground.
The aforementioned step (C), comparison
Figure BDA0002981076230000044
And
Figure BDA0002981076230000045
whether the driver has wrong operation or not is judged,
Figure BDA0002981076230000046
relative to
Figure BDA0002981076230000047
When the steering wheel is not operated by mistake, the lateral deviation force of the wheels still has larger allowance, at the moment, the driver can still continue to increase the steering wheel angle, the EPS controller can carry out normal control assistance, and the EPS controller and the ESP controller still work normally.
A step (D) of forward speed, in case of error, adjusting the driver torque when
Figure BDA0002981076230000048
Increase, approach to
Figure BDA0002981076230000049
When the steering wheel is turned, and the steering wheel is turned, so that the steering wheel is turned, the steering wheel is turned and the steering wheel is turned.
In the step (E), the ECU formulates the coordination control command according to the magnitude of the degree of the misoperation of the driver, and the coordination control command is compared
Figure BDA00029810762300000410
And
Figure BDA00029810762300000411
formula form is adopted to formulate a power-assisted torque coordination control weight coefficient k1。
The aforementioned cooperative control weight coefficient k1The piecewise function is as follows,
Figure BDA0002981076230000051
wherein the content of the first and second substances,
Figure BDA0002981076230000052
and
Figure BDA0002981076230000053
and the control threshold is an emergency steering coordination control threshold.
In the step (F), the EPS and ESP combined controller assists the driver in operating by correcting the assist torque provided by the EPS motor, and the corrected assist torque command formula is as follows:
Ta-1＝k1·Tn
the power torque command formula after correction of the forward speed can also be written as:
ΔTa-1＝(1-k1)·Tn
in the formula,. DELTA.Ta-1To correct the assist torque.
Compared with the prior art, the invention has the beneficial effects that:
(1) and an ESP and EPS based combined control structure strategy is provided, and the coordination control of the ESP and the EPS is realized.
(2) The designed EPS and ESP combined control strategy can improve the operation stability of the vehicle to a certain extent, and can reduce the potential hidden danger of vehicle instability under the condition of misoperation of an emergency steering driver.
(3) The steering operation hand feeling of the driver is improved to a certain extent, and the psychological pressure of the driver is reduced.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the structure of the combined EPS and ESP control strategy for emergency steering according to the present invention;
fig. 3 is a schematic structural diagram of an ESP and EPS combined control strategy in emergency steering according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention is based on an ESP and EPS combined system for vehicle emergency steering collision avoidance, which includes
A sensor unit: the steering wheel angle sensor, the steering wheel torque sensor, the accelerator pedal opening sensor, the wheel speed sensor, the yaw rate sensor and the lateral acceleration sensor convert sensed information into information in the form of electric signals to be output, so that the controller unit can conveniently acquire the information;
a controller unit: the controller comprises an ESP and EPS integrated controller, an ESP controller and an EPS controller, wherein the actuator unit is controlled by a sensor unit to move;
an actuator unit: the engine and a management subsystem thereof, the power-assisted motor and a sub-controller thereof, and the hydraulic braking subsystem are used for executing the action of sending signals by the controller unit and assisting a driver.
Referring to fig. 1-3, a method for controlling an ESP and EPS combined system during emergency steering collision avoidance of a vehicle includes the following steps,
step (A), collecting vehicle running state information by a sensor unit to obtain longitudinal vehicle speed vxFront wheel corner delta and road adhesion coefficient mu;
step (B), the ECU calculates the expected angular velocity through a two-degree-of-freedom vehicle dynamic model
Figure BDA0002981076230000071
Calculating the maximum yaw rate for ensuring the stability of the vehicle by the road adhesion limit
Figure BDA0002981076230000072
Desired angular velocity
Figure BDA0002981076230000073
The calculation is as follows,
calculating expected angular velocity through two-degree-of-freedom vehicle dynamics model
Figure BDA0002981076230000074
Figure BDA0002981076230000075
Wherein L is the wheelbase, K is the stability factor, the stability factor K is determined,
Figure BDA0002981076230000076
where m is the vehicle mass, k1，k2Lateral deflection stiffness and maximum yaw rate of front and rear axles respectively
Figure BDA0002981076230000077
The calculation is as follows,
Figure BDA0002981076230000078
wherein, muLAnd muRThe adhesion coefficient between the wheels at two sides and the ground is shown;
step (C), comparing
Figure BDA0002981076230000079
And
Figure BDA00029810762300000710
whether the driver has wrong operation or not is judged,
Figure BDA00029810762300000711
relative to
Figure BDA00029810762300000712
When the steering wheel is not operated by mistake, the lateral deviation force of the wheels still has larger allowance, at the moment, the driver can still continue to increase the steering wheel angle, the EPS controller can carry out normal control assistance, and the EPS controller and the ESP controller still work normally;
step (D), in the event of a fault, adjusting the driver torque when
Figure BDA00029810762300000713
Increase, approach to
Figure BDA00029810762300000714
When the steering wheel is turned, and the steering wheel is turned, so that the steering wheel is turned, and the steering wheel is turned; step (E), the ECU formulates a coordination control command according to the misoperation degree of the driver, and the coordination control command is compared
Figure BDA0002981076230000081
And
Figure BDA0002981076230000082
formula form is adopted to formulate a power-assisted torque coordination control weight coefficient k1Coordinate the control weight coefficient k1The piecewise function is as follows,
Figure BDA0002981076230000083
wherein the content of the first and second substances,
Figure BDA0002981076230000084
and
Figure BDA0002981076230000085
and the control threshold is an emergency steering coordination control threshold.
And (F) the EPS and ESP combined controller assists the operation of a driver by correcting the assistance torque provided by the EPS motor, and the corrected assistance torque command formula is as follows:
Ta-1＝k1·Tn
the corrected assist torque command formula can also be written as follows:
ΔTa-1＝(1-k1)·Tn
in the formula,. DELTA.Ta-1To correct the boost torque;
and (F) the EPS and ESP combined controller assists the operation of a driver by correcting the boosting torque provided by the EPS motor.
In summary, the invention comprehensively considers and shares various motion parameters of the automobile during emergency steering through various sensors, the ESP system controls the driving or/and braking force of the automobile through the hydraulic braking system and the engine management system according to the steering wheel angle and pedal operation of the driver and the running state information of the automobile, the ECU converts the braking torque of each wheel into the steering system while reasonably distributing the braking torque of each wheel, the EPS power-assisted motor provides the braking torque for the driver to assist the driver to do corresponding adjustment work, the EPS system controls the power-assisted torque through the power-assisted motor according to the steering wheel torque operation and the vehicle state information of the driver, the EPS and ESP combined controller monitors the operation of the driver and the motion state of the automobile in real time in the whole process, judges whether coordination control is needed or not, and formulates a coordination control command, and the coordination control command is sent to the EPS and ESP controllers to obtain a corrected actuator control command, and the actuator is responsible for executing the command.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. The utility model provides a system is united with EPS to ESP when vehicle emergency steering collision avoidance which characterized in that: comprises that
A sensor unit: the system comprises a steering wheel angle sensor, a steering wheel torque sensor, an accelerator pedal opening sensor, a wheel speed sensor, a yaw rate sensor and a lateral acceleration sensor, wherein sensed information is converted into information in an electric signal form and is output;
a controller unit: the controller comprises an ESP and EPS integrated controller, an ESP controller and an EPS controller, wherein the actuator unit is controlled by a sensor unit to move;
an actuator unit: the engine and a management subsystem thereof, the power-assisted motor and a sub-controller thereof, and the hydraulic braking subsystem execute the action of sending signals by the controller unit.
2. The control method of the ESP and EPS combined system in the process of vehicle emergency steering collision avoidance according to claim 1, characterized in that: comprises the following steps of (a) carrying out,
step (A), collecting vehicle running state information by a sensor unit to obtain longitudinal vehicle speed vxFront wheel corner delta and road adhesion coefficient mu;
step (B), the ECU calculates the expected angular velocity through a two-degree-of-freedom vehicle dynamic model
Figure FDA0002981076220000011
Calculating the maximum yaw rate for ensuring the stability of the vehicle by the road adhesion limit
Figure FDA0002981076220000012
Step (C), comparing
Figure FDA0002981076220000013
And
Figure FDA0002981076220000014
judging whether the driver has wrong operation or not, and carrying out normal assistance without errors;
step (D), when the error occurs, adjusting the torque of the driver;
step (E), the ECU formulates a coordination control command according to the misoperation degree of the driver;
and (F) the EPS and ESP combined controller assists the operation of a driver by correcting the boosting torque provided by the EPS motor.
3. The method for jointly controlling the ESP and the EPS in the emergency steering and collision avoidance of the vehicle as claimed in claim 2, wherein: step (B), the ECU calculates the expected angular velocity through a two-degree-of-freedom vehicle dynamic model
Figure FDA0002981076220000021
Calculating the maximum yaw rate for ensuring the stability of the vehicle by the road adhesion limit
Figure FDA0002981076220000022
The desired angular velocity
Figure FDA0002981076220000023
The calculation is as follows, the expected angular velocity is calculated by a two-degree-of-freedom vehicle dynamics model
Figure FDA0002981076220000024
Figure FDA0002981076220000025
Wherein L is the wheelbase, K is the stability factor, the stability factor K is determined,
Figure FDA0002981076220000026
where m is the vehicle mass, k1，k2Yaw stiffness of the front and rear axles respectively
The maximum yaw rate
Figure FDA0002981076220000027
The calculation is as follows,
Figure FDA0002981076220000028
wherein, muLAnd muRThe coefficient of adhesion between the wheels on both sides and the ground.
4. The method for jointly controlling the ESP and the EPS in the emergency steering and collision avoidance of the vehicle as claimed in claim 2, wherein: step (C), comparing
Figure FDA0002981076220000029
And
Figure FDA00029810762200000210
whether the driver has wrong operation or not is judged,
Figure FDA00029810762200000211
relative to
Figure FDA00029810762200000212
When the steering wheel is not operated by mistake, the lateral deviation force of the wheels still has larger allowance, at the moment, the driver can still continue to increase the steering wheel angle, the EPS controller can carry out normal control assistance, and the EPS controller and the ESP controller still work normally.
5. The method for jointly controlling the ESP and the EPS in the emergency steering and collision avoidance of the vehicle as claimed in claim 2, wherein: step (D), in the event of a fault, adjusting the driver torque when
Figure FDA0002981076220000031
Increase, approach to
Figure FDA0002981076220000032
When the driver has wrong operation, the side deviation force of the wheel is explainedThe steering wheel is saturated, and at this time, if the driver continues to increase the steering angle, the steering wheel is dangerous, so that the assisting torque should be reduced, the torque operated by the steering wheel of the driver should be increased, and the driver is difficult to continue the steering operation.
6. The method for jointly controlling the ESP and the EPS in the emergency steering and collision avoidance of the vehicle as claimed in claim 2, wherein: step (E), the ECU formulates a coordination control command according to the misoperation degree of the driver, and the coordination control command is compared
Figure FDA0002981076220000033
And
Figure FDA0002981076220000034
formula form is adopted to formulate a power-assisted torque coordination control weight coefficient k1。
7. The method for controlling ESP and EPS in combination during vehicle emergency steering collision avoidance according to claim 6, wherein: the coordination control weight coefficient k1The piecewise function is as follows,
Figure FDA0002981076220000035
wherein the content of the first and second substances,
Figure FDA0002981076220000036
and
Figure FDA0002981076220000037
and the control threshold is an emergency steering coordination control threshold.
8. The method for controlling ESP and EPS in combination during vehicle emergency steering collision avoidance according to claim 7, wherein: and (F) the EPS and ESP combined controller assists the operation of a driver by correcting the assistance torque provided by the EPS motor, and the corrected assistance torque command formula is as follows:
Ta-1＝k1·Tn
9. the method for jointly controlling the ESP and the EPS in the emergency steering and collision avoidance of the vehicle as claimed in claim 8, wherein: the corrected assist torque command formula can also be written as:
ΔTa-1＝(1-k1)·Tn
in the formula,. DELTA.Ta-1To correct the assist torque.
CN202110287443.3A 2021-03-17 2021-03-17 ESP and EPS combined system for vehicle emergency steering and collision avoidance and control method thereof Pending CN113002522A (en)

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CN113682304A (en) * 2021-09-27 2021-11-23 岚图汽车科技有限公司 Method and system for assisting vehicle steering
CN113682303A (en) * 2021-09-27 2021-11-23 岚图汽车科技有限公司 Method and system for steering vehicle
CN113911204A (en) * 2021-10-22 2022-01-11 岚图汽车科技有限公司 Method and system for failure backup of steering system
WO2024059988A1 (en) * 2022-09-20 2024-03-28 华为技术有限公司 Vehicle control method and apparatus

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CN105818811A (en) * 2016-05-10 2016-08-03 江苏大学 ESP and EPS combination control method used when vehicle is urgently steered to avoid collision
CN107089261A (en) * 2017-03-17 2017-08-25 江苏大学 A kind of integrated EPS distributed driving automobile steering control system and method
CN109613916A (en) * 2018-10-30 2019-04-12 同济大学 A kind of driver is in ring Automotive active anti-collision simulation test stand

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CN105799549A (en) * 2016-04-28 2016-07-27 江苏大学 Integration control system and method for electric power steering system (EPS) and direct yaw moment control (DYC) of electric wheel automobile
CN105818811A (en) * 2016-05-10 2016-08-03 江苏大学 ESP and EPS combination control method used when vehicle is urgently steered to avoid collision
CN107089261A (en) * 2017-03-17 2017-08-25 江苏大学 A kind of integrated EPS distributed driving automobile steering control system and method
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CN113682304A (en) * 2021-09-27 2021-11-23 岚图汽车科技有限公司 Method and system for assisting vehicle steering
CN113682303A (en) * 2021-09-27 2021-11-23 岚图汽车科技有限公司 Method and system for steering vehicle
CN113682304B (en) * 2021-09-27 2023-06-06 岚图汽车科技有限公司 Method and system for assisting steering of vehicle
CN113911204A (en) * 2021-10-22 2022-01-11 岚图汽车科技有限公司 Method and system for failure backup of steering system
WO2024059988A1 (en) * 2022-09-20 2024-03-28 华为技术有限公司 Vehicle control method and apparatus

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Application publication date: 20210622