CN113635889A - Vehicle body stability control method and system based on four-wheel independent drive electric vehicle - Google Patents
Vehicle body stability control method and system based on four-wheel independent drive electric vehicle Download PDFInfo
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- CN113635889A CN113635889A CN202110928673.3A CN202110928673A CN113635889A CN 113635889 A CN113635889 A CN 113635889A CN 202110928673 A CN202110928673 A CN 202110928673A CN 113635889 A CN113635889 A CN 113635889A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000012544 monitoring process Methods 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims description 11
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000001172 regenerating effect Effects 0.000 claims description 6
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 230000003313 weakening effect Effects 0.000 claims description 3
- 238000005265 energy consumption Methods 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 230000004044 response Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a vehicle body stability control method and system based on a four-wheel independent drive electric vehicle, wherein the method comprises the following steps: (1) the electric vehicle is provided with four-wheel independent motors, and the vehicle is provided with a sensor for monitoring the running condition of the vehicle; (2) in the running process of the vehicle, monitoring the running condition of the vehicle through a sensor, and collecting running data in real time; (3) the vehicle body stability control module obtains a driver planned driving direction and a vehicle actual driving direction according to the wheel speed and the steering wheel turning angle; (4) the control module performs logic judgment and sends out an instruction: (5) the vehicle body stability control module sends a braking instruction to the motor control unit, and the motor control unit performs reactive torque braking on the motor; the system comprises a vehicle body stability control module and a motor control unit. The invention can reduce the brake energy consumption, improve the running safety of the whole vehicle, improve the energy recovery coverage rate and further improve the cruising ability of the whole vehicle.
Description
Technical Field
The invention relates to a four-wheel independent electric drive vehicle, in particular to a vehicle body stability control method and system based on a four-wheel independent drive electric vehicle.
Background
With the development of the automobile industry and the gradual appearance of the problems of energy and environment, China vigorously promotes the development of new energy automobiles. The pure electric vehicle is a representative of new energy vehicles and receives more and more attention of consumers, and the driving force of the pure electric vehicle is provided by the motor, so that the pure electric vehicle has the advantages of high control precision and high response speed. At present, the vehicle body stabilizing system is controlled by an independent electric control hydraulic unit ESC. The conventional ESC cannot perform stable control under the condition of slight instability of a vehicle body, has low response speed, and is controlled by hydraulic braking in a transmission control method, so that the abrasion consumption of a friction plate is caused, and the generated heat energy is dissipated into the atmosphere to cause energy loss.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a vehicle body stability control method and system based on a four-wheel independent drive electric vehicle, which have high control precision and high response speed.
The technical scheme is as follows: the invention relates to a vehicle body stability control method based on a four-wheel independent drive electric vehicle, which comprises the following steps of:
(1) the electric vehicle is provided with four-wheel independent motors, and the vehicle is provided with a sensor for monitoring the running condition of the vehicle;
(2) in the running process of the vehicle, monitoring the running condition of the vehicle through a sensor, and collecting running data in real time;
(3) the vehicle body stability control module obtains a driver planned driving direction and a vehicle actual driving direction according to the wheel speed and the steering wheel turning angle;
(4) the control module performs logic judgment and sends out an instruction;
(5) and (4) the vehicle body stability control module sends the braking instruction after the analysis and the processing in the step (4) are completed to the motor control unit, and the motor control unit performs reactive torque braking on the motor.
The sensor in the step (1) comprises an acceleration sensor, a wheel speed sensor and a steering wheel angle sensor.
And (3) the running data in the step (2) comprises a transverse acceleration signal, a vehicle wheel speed signal and a rotation angle signal.
In the step (3), the vehicle body stability control module obtains a planned driving direction a of the driver according to the wheel speed and the steering wheel rotation angle; and obtaining the actual driving direction b of the vehicle according to the yaw angle sensor and the lateral acceleration sensor.
The step (4) is specifically as follows:
(4.1) continuing to run when the running condition of the vehicle is normal;
(4.2) applying regenerative braking to the inner rear wheel motor to restrain the vehicle from swinging when the steering is insufficient, so that the vehicle further deflects along the turning direction of the driver, and the vehicle is stabilized;
and (4.3) over-steering, applying regenerative braking to the front wheel motor at the outer side, preventing the tail flicking, weakening the over-steering trend and stabilizing the vehicle.
The basis of the logic judgment of the control module in the step (4) is as follows: when a is b, the vehicle driving condition is normal; when a is larger than b, judging that the steering is insufficient; and when a is less than b, judging that the steering is oversteered.
The invention relates to a vehicle body stability control system based on a four-wheel independent drive electric vehicle, which comprises the following modules:
the vehicle body stability control module: calculating the yaw angular speed by collecting signals and outputting a control command to a motor controller;
a motor control unit: the motor controller comprises four independent motor controllers which are mainly used for controlling the rotating speed and the torque of the motor.
A computer storage medium having stored thereon a computer program which, when executed by a processor, implements the body stability control method based on a four-wheel independent drive electric vehicle as described above.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the body stability control method based on a four-wheel independent drive electric vehicle as described above when executing the computer program.
Has the advantages that: compared with the prior art, the invention has the following advantages: the brake energy consumption is reduced, the running safety of the whole vehicle is improved, the energy recovery coverage rate is improved, and the cruising ability of the whole vehicle is improved.
Drawings
FIG. 1 is a flow chart of the steps of the method.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
Example 1:
as shown in fig. 1, the invention discloses a vehicle body stability control method based on a four-wheel independent drive electric vehicle, which comprises the following steps:
(1) the electric vehicle is provided with four-wheel independent motors, and the vehicle is provided with a sensor for monitoring the running condition of the vehicle; the sensor comprises an acceleration sensor, a wheel speed sensor and a steering wheel angle sensor;
(2) in the running process of the vehicle, monitoring the running condition of the vehicle through a sensor, and collecting running data in real time; the driving data comprises a transverse acceleration signal, a vehicle wheel speed signal and a corner signal;
(3) the vehicle body stability control module obtains a driver planned driving direction and a vehicle actual driving direction according to the wheel speed and the steering wheel turning angle; the vehicle body stability control module obtains a planned driving direction a of a driver according to the wheel speed and the steering wheel turning angle; obtaining the actual driving direction b of the vehicle according to the yaw angle sensor and the lateral acceleration sensor;
(4) the control module performs logic judgment and sends out an instruction;
(4.1) continuing to run when the running condition of the vehicle is normal;
(4.2) applying regenerative braking to the inner rear wheel motor to restrain the vehicle from swinging when the steering is insufficient, so that the vehicle further deflects along the turning direction of the driver, and the vehicle is stabilized;
and (4.3) over-steering, applying regenerative braking to the front wheel motor at the outer side, preventing the tail flicking, weakening the over-steering trend and stabilizing the vehicle.
(5) The vehicle body stability control module sends the braking instruction after the analysis and processing in the step (4) to the motor control unit, and the motor control unit performs reactive torque braking on the motor;
(6) and after the flow is finished, the vehicle body is stably controlled and adjusted.
The basis of the logic judgment of the control module in the step (4) is as follows: when a is b, the vehicle driving condition is normal; when a is larger than b, judging that the steering is insufficient; and when a is less than b, judging that the steering is oversteered.
Example 2:
the invention discloses a vehicle body stability control system based on a four-wheel independent drive electric vehicle, which comprises the following modules:
the vehicle body stability control module: calculating the yaw angular speed by collecting signals and outputting a control command to a motor controller;
a motor control unit: and the four independent motor controllers are mainly used for controlling the rotating speed and the torque of the motor.
Example 3:
the invention discloses a computer storage medium, wherein a computer program is stored on the computer storage medium, and the computer program is executed by a processor to realize the vehicle body stability control method based on the four-wheel independent drive electric vehicle.
Example 4:
the invention discloses computer equipment which comprises a storage, a processor and a computer program which is stored on the storage and can be operated on the processor, wherein the processor executes the computer program to realize the vehicle body stability control method based on the four-wheel independent drive electric vehicle.
Claims (9)
1. A vehicle body stability control method based on a four-wheel independent drive electric vehicle is characterized by comprising the following steps:
(1) the electric vehicle is provided with four-wheel independent motors, and the vehicle is provided with a sensor for monitoring the running condition of the vehicle;
(2) in the running process of the vehicle, monitoring the running condition of the vehicle through a sensor, and collecting running data in real time;
(3) the vehicle body stability control module obtains a driver planned driving direction and a vehicle actual driving direction according to the wheel speed and the steering wheel turning angle;
(4) the control module performs logic judgment and sends out an instruction:
(5) and (4) the vehicle body stability control module sends the braking instruction after the analysis and the processing in the step (4) are completed to the motor control unit, and the motor control unit performs reactive torque braking on the motor.
2. The vehicle body stability control method based on the four-wheel independent drive electric vehicle as claimed in claim 1, wherein the sensors in the step (1) comprise an acceleration sensor, a wheel speed sensor and a steering wheel angle sensor.
3. The vehicle body stability control method based on the four-wheel independent drive electric vehicle as claimed in claim 1, wherein the driving data in the step (2) comprises a lateral acceleration signal, a vehicle wheel speed signal and a turning angle signal.
4. The vehicle body stability control method based on the four-wheel independent drive electric vehicle as claimed in claim 1, wherein the vehicle body stability control module obtains the driver planned driving direction a according to the wheel speed and the steering wheel rotation angle in the step (3); and obtaining the actual driving direction b of the vehicle according to the yaw angle sensor and the lateral acceleration sensor.
5. The vehicle body stability control method based on the four-wheel independent drive electric vehicle as claimed in claim 1, wherein the step (4) is specifically as follows:
(4.1) continuing to run when the running condition of the vehicle is normal;
(4.2) applying regenerative braking to the inner rear wheel motor to restrain the vehicle from swinging when the steering is insufficient, so that the vehicle further deflects along the turning direction of the driver, and the vehicle is stabilized;
and (4.3) over-steering, applying regenerative braking to the front wheel motor at the outer side, preventing the tail flicking, weakening the over-steering trend and stabilizing the vehicle.
6. The vehicle body stability control method based on the four-wheel independent drive electric vehicle as claimed in claim 1, wherein the control module performs the logical judgment in the step (4) according to the following steps: when a is b, the vehicle driving condition is normal; when a is larger than b, judging that the steering is insufficient; and when a is less than b, judging that the steering is oversteered.
7. A vehicle body stability control system based on a four-wheel independent drive electric vehicle is characterized by comprising the following modules:
the vehicle body stability control module: calculating the yaw angular speed by collecting signals and outputting a control command to a motor controller;
a motor control unit: the motor controller comprises four independent motor controllers which are mainly used for controlling the rotating speed and the torque of the motor.
8. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the body stability control method based on a four-wheel independent drive electric vehicle according to any one of claims 1 to 6.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the body stability control method based on the four-wheel independent drive electric vehicle according to any one of claims 1 to 6 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110928673.3A CN113635889A (en) | 2021-08-13 | 2021-08-13 | Vehicle body stability control method and system based on four-wheel independent drive electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110928673.3A CN113635889A (en) | 2021-08-13 | 2021-08-13 | Vehicle body stability control method and system based on four-wheel independent drive electric vehicle |
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| Publication Number | Publication Date |
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| CN113635889A true CN113635889A (en) | 2021-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110928673.3A Pending CN113635889A (en) | 2021-08-13 | 2021-08-13 | Vehicle body stability control method and system based on four-wheel independent drive electric vehicle |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1439556A (en) * | 2002-02-23 | 2003-09-03 | 株式会社万都 | Control method for vehicle running stability |
| CN105691241A (en) * | 2014-12-16 | 2016-06-22 | 比亚迪股份有限公司 | Electric vehicle, active safety control system for electric vehicle and control method for active safety control system |
| CN106427957A (en) * | 2015-08-11 | 2017-02-22 | 比亚迪股份有限公司 | Stabilization control system and stabilization control method based on four-wheel drive for electric vehicle, as well as electric vehicle |
| CN106794777A (en) * | 2014-09-01 | 2017-05-31 | Ntn株式会社 | Prevent the control device of the horizontal sliding of vehicle |
| US20200290596A1 (en) * | 2015-12-17 | 2020-09-17 | Jaguar Land Rover Limited | Method for controlling a vehicle |
-
2021
- 2021-08-13 CN CN202110928673.3A patent/CN113635889A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1439556A (en) * | 2002-02-23 | 2003-09-03 | 株式会社万都 | Control method for vehicle running stability |
| CN106794777A (en) * | 2014-09-01 | 2017-05-31 | Ntn株式会社 | Prevent the control device of the horizontal sliding of vehicle |
| CN105691241A (en) * | 2014-12-16 | 2016-06-22 | 比亚迪股份有限公司 | Electric vehicle, active safety control system for electric vehicle and control method for active safety control system |
| CN106427957A (en) * | 2015-08-11 | 2017-02-22 | 比亚迪股份有限公司 | Stabilization control system and stabilization control method based on four-wheel drive for electric vehicle, as well as electric vehicle |
| US20200290596A1 (en) * | 2015-12-17 | 2020-09-17 | Jaguar Land Rover Limited | Method for controlling a vehicle |
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Application publication date: 20211112 |
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