CN114274947A - Intelligent control device and method for vehicle driving stability and automobile - Google Patents
Intelligent control device and method for vehicle driving stability and automobile Download PDFInfo
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- CN114274947A CN114274947A CN202111510548.7A CN202111510548A CN114274947A CN 114274947 A CN114274947 A CN 114274947A CN 202111510548 A CN202111510548 A CN 202111510548A CN 114274947 A CN114274947 A CN 114274947A
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Abstract
The invention discloses an intelligent control device and method for vehicle running stability and an automobile, wherein the intelligent control device comprises the following steps: the front wheel steering angle sensor is arranged at the upper end of a front shock absorber, the left torque sensor and the right torque sensor are respectively arranged on a left transmission shaft ball cage and a right transmission shaft ball cage, the front wheel steering angle sensor, the left torque sensor and the right torque sensor are connected with an EPS (electric power steering) power-assisted steering system and an ESP (electronic stability program) brake control system of an automobile, the control device acquires a front wheel turning angle and a steering wheel turning angle of a steering wheel turning angle sensor through the front wheel steering angle sensor arranged at the upper end of the shock absorber and compares the front wheel turning angle and the steering wheel turning angle of the steering wheel turning angle sensor if deviation exists, the torque sensor arranged on the transmission shaft ball cage acquires a left half shaft torque difference and a right half shaft torque difference, and the system judges whether torque deviation exists or not, and combines an auxiliary wheel speed sensor and an automobile body yaw sensor to ensure the driving stability and safety of the automobile by adopting corresponding strategies through the control system.
Description
Technical Field
The invention belongs to the technical field of chassis control, and particularly relates to an intelligent control device and method for vehicle running stability and an automobile.
Background
Most of traditional passenger vehicles adopt front Wheel to drive front Wheel Steering, front suspensions mostly adopt Macpherson or double-wishbone (including double-shaft pin double-wishbone) structures, due to the requirements of arrangement space limitation and dynamic performance, a virtual main pin line (Steel axs inclusion) formed by connecting Center lines of upper and lower control arm ball hinges does not pass through a Wheel Center (Wheel Center), the distance between the main pin line and the Wheel Center is called as Wheel Center offset (Spindle length), the distance between the main pin and a grounding point is called as main pin offset (Scrub radius) (see a third figure and a fourth figure), the two distances form front Wheel Steering moment under the action of longitudinal force (driving force, braking force and the like), and if the left and right longitudinal force are unbalanced, the running deviation of the front wheels is directly caused.
Disclosure of Invention
The invention aims to provide an intelligent control method for vehicle running stability, aiming at the defects in the prior art, the control device obtains the front wheel steering angle through a front wheel steering angle sensor arranged on the upper end of a shock absorber and compares the front wheel steering angle with the steering wheel steering angle of a steering wheel steering angle sensor, if the front wheel steering angle sensor has deviation, then a torque sensor arranged on a transmission shaft ball cage is compared to obtain the moment difference between a left half shaft and a right half shaft, a system judges whether torque deviation exists, and an auxiliary wheel speed sensor and a vehicle body yaw sensor are combined, and a corresponding strategy is adopted through a control system to ensure the vehicle running stability and safety.
In order to achieve the above object, the present invention provides an intelligent control device for vehicle driving stability, comprising:
a front wheel steering angle sensor provided at an upper end of the front shock absorber;
the left torque sensor and the right torque sensor are respectively arranged on the left transmission shaft ball cage and the right transmission shaft ball cage;
the front wheel steering angle sensor, the left torque sensor and the right torque sensor are connected with an EPS steering power-assisted system and an ESP braking control system of the automobile.
An automobile, comprising: the intelligent control device for the vehicle running stability is connected with the vehicle-mounted host.
An intelligent control method for vehicle driving stability, which utilizes the intelligent control device for vehicle driving stability, comprises the following steps:
obtaining a front wheel turning angle by using a front wheel turning angle sensor;
obtaining a left front wheel torque and a right front wheel torque by using a left torque sensor and a right torque sensor;
controlling wheel torque steering using the front wheel steering angle, the left front wheel torque and the right front wheel torque in combination with a steering wheel steering angle;
the wheel torque steering is controlled based on the lateral acceleration and yaw rate.
Optionally, the vehicle is normally driven straight before the front wheel steering angle is detected using the front wheel steering angle sensor;
and when the steering wheel angle is not 0, controlling the power system to adjust the torque of the vehicle wheel to turn according to the difference value between the front wheel angle and the steering wheel angle.
Optionally, said controlling wheel torque steering using said front wheel steering angle, said left front wheel torque and said right front wheel torque in combination with a steering wheel steering angle comprises:
if the steering wheel angle is 0, the front wheel angle is 0 or smaller than a set threshold value, and the difference value between the left front wheel torque and the right front wheel torque is 0 or smaller than the set threshold value, keeping the straight running;
if the steering wheel angle is 0, the front wheel angle is not 0 or greater than a set threshold value, and the difference value between the left front wheel torque and the right front wheel torque is not 0 or greater than the set threshold value, the power system is controlled to adjust the vehicle wheel torque, and the deviation is eliminated.
Optionally, the controlling the wheel torque steering according to the lateral acceleration and the yaw rate includes:
if the corner of the front wheel is 0 and the acceleration in the Y direction is 0 or less than a set threshold value, keeping the front wheel moving straight;
if the corner of the front wheel is 0, the Y-direction acceleration sensor is not 0 or is larger than a set threshold value, and the steering system is adjusted to keep going straight.
Optionally, the controlling the wheel torque steering according to the lateral acceleration and the yaw rate further comprises:
and if the steering wheel angle is 0, the yaw velocity is 0 or less than a set threshold value, and the straight running is kept.
If the steering wheel angle is not 0, the yaw rate is not 0 or is greater than a set threshold value, and the braking control system is adjusted to keep moving straight.
Optionally, if the steering wheel angle is 0, the front wheel angle is not 0 or greater than a set threshold, the difference value between the left front wheel torque and the right front wheel torque is not 0 or greater than the set threshold, the power system is controlled to adjust the vehicle wheel torque to avoid deviation, and the ESP braking control system controls the vehicle to stop.
Optionally, the controlling wheel torque steering comprises reversing torque and reducing torque.
Optionally, the method further comprises monitoring the vehicle speed, and controlling the rotating speed of the two front wheels during steering according to the vehicle speed.
The invention provides an intelligent control method for vehicle running stability, which has the beneficial effects that:
1. the control device obtains the front wheel turning angle through a front wheel turning angle sensor arranged on the upper end of the shock absorber and compares the front wheel turning angle with the steering wheel turning angle of a steering wheel turning angle sensor, if deviation exists, a moment sensor arranged on a transmission shaft ball cage is compared to obtain the moment difference of a left half shaft and a right half shaft, a system judges whether torque deviation exists or not, and the control device combines an auxiliary wheel speed sensor and an automobile body transverse swing sensor and adopts a corresponding strategy through a control system to guarantee the driving stability and the safety of the automobile.
2. The front wheel corners correspond to the steering wheel corners one by one, and the steering system clearance detection and compensation are carried out and the sensitivity of the steering system is improved by comparing the front wheel corners with the steering wheel corners.
3. The front wheel steering angle sensor and the steering wheel steering angle sensor form steering angle redundancy, and the dual redundancy requirements of the L4-level automatic driving steering safety are met.
4. The novel energy vehicle and the hybrid vehicle are suitable for solving the problems of new energy vehicles and hybrid vehicle types in recent years, the large torque output of the novel energy vehicle and the hybrid vehicle is easy to cause torque steering, the driving stability and safety of the vehicle are effectively improved, the driving safety and comfort are improved, and the follow-up automatic driving function is convenient to perfect.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 is a schematic structural diagram illustrating a vehicle driving stability intelligent control device according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating a vehicle driving stability intelligent control apparatus according to an embodiment of the present invention.
Fig. 3 shows a side view of fig. 2 of a vehicle driving stability intelligent control apparatus according to an embodiment of the present invention.
Fig. 4 shows a flowchart of a vehicle driving stability intelligent control method according to an embodiment of the invention.
Fig. 5 is a schematic diagram illustrating a method for intelligently controlling driving stability of a vehicle according to an embodiment of the present invention.
Description of reference numerals:
1. a front wheel steering angle sensor; 2. a right torque sensor; 3. a right drive shaft ball cage; 4. front shock absorbers.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 is a schematic structural diagram illustrating a vehicle driving stability intelligent control device according to an embodiment of the present invention; fig. 2 is a schematic diagram illustrating a vehicle driving stability intelligent control apparatus according to an embodiment of the present invention; fig. 3 shows a side view of fig. 2 of a vehicle driving stability intelligent control apparatus according to an embodiment of the present invention.
As shown in fig. 1 to 3, an intelligent control apparatus for vehicle driving stability, the apparatus comprising:
the front wheel steering angle sensor 1, the front wheel steering angle sensor 1 is set up in the front 4 upper ends of shock absorber;
the left torque sensor and the right torque sensor 2 are respectively arranged on the left transmission shaft ball cage and the right transmission shaft ball cage 3;
the front wheel steering angle sensor 1 and the left torque sensor and the right torque sensor 2 are connected with an EPS steering power-assisted system and an ESP braking control system of the automobile.
An automobile, comprising: the intelligent control device for the vehicle running stability is connected with the vehicle-mounted host.
Fig. 4 shows a flowchart of a vehicle driving stability intelligent control method according to an embodiment of the present invention; fig. 5 is a schematic diagram illustrating a method for intelligently controlling driving stability of a vehicle according to an embodiment of the present invention.
As shown in fig. 4 to 5, a method for intelligently controlling the driving stability of a vehicle, which uses the above-mentioned intelligent control device for the driving stability of a vehicle, includes:
obtaining a front wheel turning angle by using a front wheel turning angle sensor;
obtaining a left front wheel torque and a right front wheel torque by using a left torque sensor and a right torque sensor;
controlling the torque steering of the wheels by combining the front wheel steering angle, the left front wheel torque and the right front wheel torque with the steering wheel steering angle;
the wheel torque steering is controlled based on the lateral acceleration and yaw rate.
Alternatively, the vehicle is normally made to travel straight before the front wheel steering angle is detected using the front wheel steering angle sensor;
and when the steering wheel angle is not 0, controlling the power system to adjust the torque of the vehicle wheel to turn according to the difference value between the front wheel angle and the steering wheel angle.
Alternatively, controlling the wheel torque steering according to the steering wheel angle, the front wheel angle, the left front wheel torque, and the right front wheel torque includes:
if the steering wheel angle is 0, the front wheel angle is 0 or smaller than a set threshold value, and the difference value between the left front wheel torque and the right front wheel torque is 0 or smaller than the set threshold value, keeping the straight running;
if the steering wheel angle is 0, the front wheel angle is not 0 or greater than a set threshold value, and the difference value between the left front wheel torque and the right front wheel torque is not 0 or greater than the set threshold value, the power system is controlled to adjust the vehicle wheel torque, and the deviation is eliminated.
Optionally, controlling the wheel torque steering according to the lateral acceleration and the yaw rate comprises:
if the corner of the front wheel is 0 and the acceleration in the Y direction is 0 or less than a set threshold value, keeping the front wheel moving straight;
if the corner of the front wheel is 0, the Y-direction acceleration sensor is not 0 or is larger than a set threshold value, and the steering system is adjusted to keep going straight.
Optionally, controlling the wheel torque steering according to the lateral acceleration and the yaw rate further comprises:
and if the steering wheel angle is 0, the yaw velocity is 0 or less than a set threshold value, and the straight running is kept.
If the steering wheel angle is not 0, the yaw rate is not 0 or is greater than a set threshold value, and the braking control system is adjusted to keep moving straight.
Optionally, if the steering wheel angle is 0, the front wheel angle is not 0 or greater than a set threshold, the difference value between the left front wheel torque and the right front wheel torque is not 0 or greater than the set threshold, the power system is controlled to adjust the vehicle wheel torque to avoid deviation, and the ESP braking control system controls the vehicle to stop.
Optionally, controlling wheel torque steering comprises reversing torque and reducing torque.
Optionally, the method further comprises monitoring the vehicle speed, and controlling the rotating speed of the two front wheels during steering according to the vehicle speed.
When the intelligent control method for the vehicle running stability is used, taking the communication through a PCAN (Power Chassis CAN System) as an example,
(1) after the vehicle is started, reading gear information, vehicle voltage, EPS electric steering system and ESP (or ABS) brake stabilization system information, determining that each system works normally and is in a D gear, and executing the next item, otherwise, waiting, alarming or limiting operation;
(2) comparing the read vehicle speed data with a set threshold value, and determining whether the straight-going stabilizing system participates in work;
(3) in a normal driving state, the front wheel corners correspond to the steering wheel corner sensor data one by one, when the steering wheel corner sensor data is zero and the front wheel corners are not 0, the system requests the EPS to provide proper compensation torque, and the front wheel corners are ensured to be in a straight driving state.
(4) If the steering wheel angle is not 0, it indicates that the driver needs to steer, the system judges whether the steering system has a clearance to be compensated or not by comparing the two sensing data, and if the clearance is proper, the control system does not participate in the work;
(5) reading the corner of the front wheel and the torque data of the transmission shaft:
a) the steering wheel angle is 0, if the front wheel angle is 0 (or smaller than a set threshold), and the torque difference of the left transmission shaft and the right transmission shaft is 0 (or smaller than a set threshold), the vehicle is in a straight-ahead state, and the system has no request.
b) The steering wheel corner is 0, if the front wheel corner is not 0, the torques of the left and right transmission shafts are also unequal, and the torque of the side with small wheel speed is large, which indicates that the road adhesion coefficient is insufficient, and the power system requests to reduce the torque until the deviation phenomenon disappears;
c) the steering wheel rotating angle is 0, the front wheel rotating angle is not 0, the torque is reduced and still deviates, an ESP braking stabilizing system requests, and the vehicle is decelerated and is in a safe state;
d) if the steering wheel angle is not 0, comparing the steering wheel angle with the front wheel steering angle, and if deviation exists, applying appropriate steering torque through the EPS to eliminate the steering system clearance;
e) and the auxiliary wheel speed sensor/omega z yaw acceleration sensor/Y-direction acceleration sensor data comprehensively judge the vehicle running state and ensure the accuracy of system strategy control.
(6) Reading front wheel steering angle and Y-direction accelerometer data:
a) if the front wheel rotation angle is 0 and the Y-direction acceleration sensor is 0 (or smaller than a set threshold), the road level is indicated, the vehicle is in a straight-going state, and the system has no request.
b) If the front wheel corner is 0, the Y-direction acceleration sensor is not 0 (or is larger than a set threshold), the road surface inclination is judged, the steering system provides proper torque, PID dynamic regulation is carried out, and the vehicle is ensured to run straight.
(7) Reading front wheel angle and ω z yaw acceleration sensor data:
a) if the front wheel rotation angle is 0 and the ω z-direction acceleration sensor is 0 (or less than a set threshold), the vehicle is already in a straight-ahead state and the system has no request.
If the phase difference is 0 (or smaller than a set threshold), the Y-direction acceleration sensor is not 0 (or larger than the set threshold), the road surface inclination is judged, the steering system provides proper torque, PID dynamic regulation is carried out, and the vehicle is ensured to run straight.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. An intelligent control device for vehicle running stability, characterized in that the device comprises:
a front wheel steering angle sensor provided at an upper end of the front shock absorber;
the left torque sensor and the right torque sensor are respectively arranged on the left transmission shaft ball cage and the right transmission shaft ball cage;
the front wheel steering angle sensor, the left torque sensor and the right torque sensor are connected with an EPS steering power-assisted system and an ESP braking control system of the automobile.
2. An automobile, comprising: the intelligent control device for the vehicle running stability according to claim 1, which is connected with an on-board host.
3. A vehicle running stability intelligent control method, characterized by using the vehicle running stability intelligent control apparatus according to claim 1, the method comprising:
obtaining a front wheel turning angle by using a front wheel turning angle sensor;
obtaining a left front wheel torque and a right front wheel torque by using a left torque sensor and a right torque sensor;
controlling wheel torque steering using the front wheel steering angle, the left front wheel torque and the right front wheel torque in combination with a steering wheel steering angle;
the wheel torque steering is controlled based on the lateral acceleration and yaw rate.
4. The intelligent control method for the running stability of the vehicle according to claim 3, wherein the vehicle is caused to run straight normally before the front wheel steering angle is detected by the front wheel steering angle sensor;
and when the steering wheel angle is not 0, controlling the power system to adjust the torque of the vehicle wheel to turn according to the difference value between the front wheel angle and the steering wheel angle.
5. The intelligent control method for the running stability of the vehicle according to claim 4, wherein the controlling of the wheel torque steering using the front wheel steering angle, the left front wheel torque and the right front wheel torque in combination with the steering wheel steering angle comprises:
if the steering wheel angle is 0, the front wheel angle is 0 or smaller than a set threshold value, and the difference value between the left front wheel torque and the right front wheel torque is 0 or smaller than the set threshold value, keeping the straight running;
if the steering wheel angle is 0, the front wheel angle is not 0 or greater than a set threshold value, and the difference value between the left front wheel torque and the right front wheel torque is not 0 or greater than the set threshold value, the power system is controlled to adjust the vehicle wheel torque, and the deviation is eliminated.
6. The intelligent control method for the running stability of the vehicle according to claim 3, wherein the controlling of the wheel torque steering according to the lateral acceleration and the yaw rate comprises:
if the corner of the front wheel is 0 and the acceleration in the Y direction is 0 or less than a set threshold value, keeping the front wheel moving straight;
if the corner of the front wheel is 0, the Y-direction acceleration sensor is not 0 or is larger than a set threshold value, and the steering system is adjusted to keep going straight.
7. The intelligent control method for the running stability of the vehicle according to claim 6, wherein the controlling the wheel torque steering according to the lateral acceleration and the yaw rate further comprises:
and if the steering wheel angle is 0, the yaw velocity is 0 or less than a set threshold value, and the straight running is kept.
If the steering wheel angle is not 0, the yaw rate is not 0 or is greater than a set threshold value, and the braking control system is adjusted to keep moving straight.
8. The intelligent control method for the running stability of the vehicle as claimed in claim 5, wherein if the steering wheel angle is 0, the front wheel angle is not 0 or greater than a set threshold value, the difference value between the left front wheel torque and the right front wheel torque is not 0 or greater than the set threshold value, and the power system is controlled to adjust the vehicle wheel torque so as not to eliminate the deviation, the ESP brake control system controls the vehicle to stop.
9. The intelligent control method for the running stability of the vehicle according to claim 3, wherein the controlling of the wheel torque steering comprises reversing torque and reducing torque.
10. The intelligent control method for the running stability of the vehicle as claimed in claim 3, further comprising monitoring the vehicle speed and controlling the rotation speed of the two front wheels during steering according to the vehicle speed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111510548.7A CN114274947A (en) | 2021-12-10 | 2021-12-10 | Intelligent control device and method for vehicle driving stability and automobile |
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| CN202111510548.7A CN114274947A (en) | 2021-12-10 | 2021-12-10 | Intelligent control device and method for vehicle driving stability and automobile |
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2021
- 2021-12-10 CN CN202111510548.7A patent/CN114274947A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| KR20100005355A (en) * | 2008-07-07 | 2010-01-15 | 주식회사 만도 | A steering assist torque control method of vehicle |
| CN104401392A (en) * | 2014-09-28 | 2015-03-11 | 奇瑞汽车股份有限公司 | System and method for correcting deviation direction of vehicle |
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