CN115158282A - 一种降低车辆高速行驶中横摆失控风险的主动安全系统 - Google Patents

一种降低车辆高速行驶中横摆失控风险的主动安全系统 Download PDF

Info

Publication number
CN115158282A
CN115158282A CN202210747264.8A CN202210747264A CN115158282A CN 115158282 A CN115158282 A CN 115158282A CN 202210747264 A CN202210747264 A CN 202210747264A CN 115158282 A CN115158282 A CN 115158282A
Authority
CN
China
Prior art keywords
vehicle
controller
yaw
reducing
risk
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.)
Granted
Application number
CN202210747264.8A
Other languages
English (en)
Other versions
CN115158282B (zh
Inventor
邹利军
毕思刚
王建勋
刘彦博
蒋瀚颉
张悦
王润锦
齐晓明
沙磊
郑煜
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 Besturn Automotive Co ltd
Original Assignee
FAW Bestune Car Co Ltd
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 Bestune Car Co Ltd filed Critical FAW Bestune Car Co Ltd
Priority to CN202210747264.8A priority Critical patent/CN115158282B/zh
Publication of CN115158282A publication Critical patent/CN115158282A/zh
Application granted granted Critical
Publication of CN115158282B publication Critical patent/CN115158282B/zh
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
    • B60W10/22—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
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0164—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during accelerating or braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B60G17/0182—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method involving parameter estimation, e.g. observer, Kalman filter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/06—Characteristics of dampers, e.g. mechanical dampers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/02—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected
    • B60G21/04—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically
    • B60G21/05—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces permanently interconnected mechanically between wheels on the same axle but on different sides of the vehicle, i.e. the left and right wheel suspensions being interconnected
    • B60G21/055—Stabiliser bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/90—Details or parts not otherwise provided for
    • B60N2/986—Side-rests
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60N—SEATS SPECIALLY ADAPTED FOR VEHICLES; VEHICLE PASSENGER ACCOMMODATION NOT OTHERWISE PROVIDED FOR
    • B60N2/00—Seats specially adapted for vehicles; Arrangement or mounting of seats in vehicles
    • B60N2/90—Details or parts not otherwise provided for
    • B60N2/986—Side-rests
    • B60N2/99—Side-rests adjustable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • 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
    • B60W10/30—Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
    • 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
    • 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
    • B60W30/045—Improving turning performance
    • 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
    • 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
    • B60W40/109—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
    • 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
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • 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
    • B60W2510/22—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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • 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
    • B60W2520/10—Longitudinal 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
    • 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
    • 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
    • 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
    • B60W2710/223—Stiffness
    • 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
    • B60W2710/226—Damping
    • 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
    • B60W2710/30—Auxiliary equipments

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

本发明涉及一种降低车辆高速行驶中横摆失控风险的主动安全系统，由2个侧向加速度传感器、轮速传感器、2个悬架位置传感器、电磁减振器、电动防倾杆、转向助力电机、安全带卷轴器、座椅侧翼、车辆控制器、5个控制器构成。本发明能在车辆静态载荷增加时同步调整悬架刚度和阻尼，在车辆进入动态钟摆状态前及时提升悬架刚度和阻尼，减少载荷转移时间并将车辆固有横摆频率提升至驾驶员操作频率以上，降低驾驶员主动干预导致车辆失控的概率，在车辆横摆发生时通过约束系统的调整让驾驶员更准确感知车辆姿态并对驾驶员提供更多约束保护；转向助力调整能让驾驶员更准确感知前轮与地面附着力情况并让紧张状态下的驾驶员做出准确而不过度的转向输入操作。

Description

一种降低车辆高速行驶中横摆失控风险的主动安全系统
技术领域
本发明属于汽车技术领域，具体涉及一种降低车辆高速行驶中横摆失控风险的主动安全系统。
背景技术
目前，ESP车身电子稳定系统是防止车辆失控的主要手段，但在车辆速度过高或者失去抓地力情况下，ESP就无能为力了。高速行驶的车辆为避让障碍物急打方向会导致车辆发生钟摆并失控，分析其原因为：车辆固有横摆频率随速度提升而降低。高速行驶中车辆固有横摆频率从低速时的10Hz以上降低至1Hz以下，而驾驶员能够做出有效应对的频率区间不超过1Hz，与高速行驶车辆的固有横摆频率非常接近。并且，普通驾驶员从感知车态到做出修正动作会存在零点几秒的滞后，其对转向的输入不仅不能正确抑制车辆横摆，反而其输入频率与车辆固有横摆频率共振放大了车辆横摆，随后车辆进入逐渐恶化的钟摆状态，如果此时驾驶员再进行制动操作导致车辆载荷前移，后轮与地面附着力下降，车辆还会发生甩尾，失控的车辆对车内乘员的生命安全构成极大威胁。
现有技术中，可用来提升车辆固有横摆频率的方式包括：降低车辆载荷，降低重心高度，提升悬架刚度和阻尼，但均不具备普遍适应性。与此同时，现有技术公开了根据路况或车辆实时状态对悬架刚度和阻尼参数进行实时调节的方案，但并无预防车辆发生横摆失控和车辆已生横摆失控时降低损失的系统性解决方案。
发明内容
本发明的目的就在于提供一种具有普遍适用性的降低车辆高速行驶中横摆失控风险的主动安全系统，以解决预防车辆发生横摆失控和车辆已生横摆失控时如何降低损失的问题。
本发明的目的是通过以下技术方案实现的：
一种降低车辆高速行驶中横摆失控风险的主动安全系统，由侧向加速度传感器g1、侧向加速度传感器g2、轮速传感器v、悬架位置传感器s1、悬架位置传感器s2、电磁减振器、电动防倾杆、转向助力电机、安全带卷轴器、座椅侧翼、车辆控制器M、控制器A、控制器B、控制器C、控制器D、以及控制器E构成；
所述控制器A与电磁减振器控制连接；所述控制器B与电动防倾杆控制连接；所述控制器C与转向助力电机控制连接；所述控制器D与安全带卷轴器控制连接；所述控制器E与座椅侧翼控制连接；
所述侧向加速度传感器g1、侧向加速度传感器g2、轮速传感器v、悬架位置传感器s1和悬架位置传感器s2分别通过硬线与车辆控制器M相连，车辆控制器M通过车辆动力CAN网络与控制器A、控制器B、控制器C通讯，通过车辆舒适CAN网络与控制器D、控制器E通讯。
进一步地，所述侧向加速度传感器g1和侧向加速度传感器g2用于监测车辆载荷，分别安装在前、后轮轴中间或附近。
进一步地，所述轮速传感器v用于监测车速，安装在车轮轮毂上。
进一步地，所述悬架位置传感器s1和悬架位置传感器s2安装在后悬架左、右下摆臂上。
进一步地，所述控制器A用于控制电磁减振器压缩阻尼的调整。
进一步地，所述控制器B用于控制电动防倾杆刚度的调整。
进一步地，所述控制器C用于控制转向助力电机输出扭矩的调整。
进一步地，所述控制器D用于控制安全带卷轴器进行电动收紧。
进一步地，所述控制器E用于座椅侧翼电动夹紧乘员。
进一步地，所述车辆控制器M通过轮速传感器v得知车速超过预设值后，车辆控制器M一旦检测到前、后轴侧向加速度传感器g1、g2信号至少有一个发生超过预设幅度的突变，立即开始对采集到的加速度信号进行计算，如果信号波形与标定的车辆横摆波形相吻合，并且后悬架左、右下摆臂位置传感器s1、s2信号节拍相反，即判定车辆进入横摆状态，此时车辆控制器M对控制器A、B、C、D、E同时发出工作信号：电磁减振器压缩阻尼调整至最大，防倾杆刚度调整至最高，转向助力电机扭矩降至预设值，电动安全带卷轴器收紧织带，座椅侧翼自动夹紧乘员。
与现有技术相比，本发明的有益效果是：
本发明能在车辆静态载荷增加时同步调整悬架刚度和阻尼，并在车辆进入动态钟摆状态前及时提升悬架刚度和阻尼，减少载荷转移时间并将车辆固有横摆频率提升至驾驶员操作频率以上，能明显降低驾驶员主动干预导致车辆失控的概率，同时，本发明还能在车辆横摆发生时通过约束系统的调整让驾驶员更准确感知车辆姿态并对驾驶员提供更多约束保护；而转向助力的调整能让驾驶员更准确感知前轮与地面附着力情况并让紧张状态下的驾驶员做出准确而不过度的转向输入操作。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1降低车辆高速行驶中横摆失控风险的主动安全系统示意图。
具体实施方式
下面结合实施例对本发明作进一步说明：
下面结合附图和实施例对本发明作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。同时，在本发明的描述中，术语“第一”、“第二”等仅用于区分描述，而不能理解为指示或暗示相对重要性。
如图1所示，本发明降低车辆高速行驶中横摆失控风险的主动安全系统，由侧向加速度传感器g1、侧向加速度传感器g2、轮速传感器v、悬架位置传感器s1、悬架位置传感器s2、电磁减振器、电动防倾杆、转向助力电机、安全带卷轴器、座椅侧翼、车辆控制器M、控制器A、控制器B、控制器C、控制器D、以及控制器E构成。
所述侧向加速度传感器g1和侧向加速度传感器g2分别安装在前、后轮轴中间或附近。
所述轮速传感器v安装在车轮轮毂上。
所述悬架位置传感器s1和悬架位置传感器s2安装在后悬架左、右下摆臂上。
所述控制器A与电磁减振器控制连接，电磁减振器阻尼可调。
所述控制器B与电动防倾杆控制连接，电动防倾杆刚度可调。
所述控制器C与转向助力电机控制连接，转向助力电机输出扭矩可变。
所述控制器D与安全带卷轴器控制连接，安全带卷轴器可电动收紧。
所述控制器E与座椅侧翼控制连接，座椅侧翼可电动夹紧乘员。
各传感器通过硬线与车辆控制器M相连，车辆控制器M通过车辆动力CAN网络与控制器A、控制器B、控制器C通讯，通过车辆舒适CAN网络与控制器控制器D、控制器E通讯。
系统工作过程：
车辆启动后，车辆控制器M开始监测各传感器信号，后悬架左、右下摆臂位置传感器s1、s2数据均超过预设值后，说明车辆载荷发生较大变化，车辆控制器M向控制器A、B发出工作信号，A、B按照设定值调整减振器压缩阻尼和防倾杆刚度；
车辆控制器M通过轮速传感器v得知车速超过预设值后，车辆控制器M一旦检测到前、后轴侧向加速度传感器g1、g2信号至少有一个发生超过预设幅度的突变，立即开始对采集到的加速度信号进行计算，如果信号波形与标定的车辆横摆波形相吻合，并且后悬架左、右下摆臂位置传感器s1、s2信号节拍相反，即判定车辆进入横摆状态，此时车辆控制器M对控制器A、B、C、D、E同时发出工作信号：电磁减振器压缩阻尼调整至最大，防倾杆刚度调整至最高，转向助力电机扭矩降至预设值，电动安全带卷轴器收紧织带，座椅侧翼自动夹紧乘员。
注意，上述仅为本发明的较佳实施例及所运用技术原理。本领域技术人员会理解，本发明不限于这里所述的特定实施例，对本领域技术人员来说能够进行各种明显的变化、重新调整和替代而不会脱离本发明的保护范围。因此，虽然通过以上实施例对本发明进行了较为详细的说明，但是本发明不仅仅限于以上实施例，在不脱离本发明构思的情况下，还可以包括更多其他等效实施例，而本发明的范围由所附的权利要求范围决定。

Claims (10)

1.一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：由侧向加速度传感器g1、侧向加速度传感器g2、轮速传感器v、悬架位置传感器s1、悬架位置传感器s2、电磁减振器、电动防倾杆、转向助力电机、安全带卷轴器、座椅侧翼、车辆控制器M、控制器A、控制器B、控制器C、控制器D、以及控制器E构成；
所述控制器A与电磁减振器控制连接；所述控制器B与电动防倾杆控制连接；所述控制器C与转向助力电机控制连接；所述控制器D与安全带卷轴器控制连接；所述控制器E与座椅侧翼控制连接；
所述侧向加速度传感器g1、侧向加速度传感器g2、轮速传感器v、悬架位置传感器s1和悬架位置传感器s2分别通过硬线与车辆控制器M相连，车辆控制器M通过车辆动力CAN网络与控制器A、控制器B、控制器C通讯，通过车辆舒适CAN网络与控制器D、控制器E通讯。
2.根据权利要求1所述的一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：所述侧向加速度传感器g1和侧向加速度传感器g2用于监测车辆载荷，分别安装在前、后轮轴中间或附近。
3.根据权利要求1所述的一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：所述轮速传感器v用于监测车速，安装在车轮轮毂上。
4.根据权利要求1所述的一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：所述悬架位置传感器s1和悬架位置传感器s2安装在后悬架左、右下摆臂上。
5.根据权利要求1所述的一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：所述控制器A用于控制电磁减振器压缩阻尼的调整。
6.根据权利要求1所述的一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：所述控制器B用于控制电动防倾杆刚度的调整。
7.根据权利要求1所述的一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：所述控制器C用于控制转向助力电机输出扭矩的调整。
8.根据权利要求1所述的一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：所述控制器D用于控制安全带卷轴器进行电动收紧。
9.根据权利要求1所述的一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：所述控制器E用于座椅侧翼电动夹紧乘员。
10.根据权利要求1所述的一种降低车辆高速行驶中横摆失控风险的主动安全系统，其特征在于：所述车辆控制器M通过轮速传感器v得知车速超过预设值后，车辆控制器M一旦检测到前、后轴侧向加速度传感器g1、g2信号至少有一个发生超过预设幅度的突变，立即开始对采集到的加速度信号进行计算，如果信号波形与标定的车辆横摆波形相吻合，并且后悬架左、右下摆臂位置传感器s1、s2信号节拍相反，即判定车辆进入横摆状态，此时车辆控制器M对控制器A、B、C、D、E同时发出工作信号：电磁减振器压缩阻尼调整至最大，防倾杆刚度调整至最高，转向助力电机扭矩降至预设值，电动安全带卷轴器收紧织带，座椅侧翼自动夹紧乘员。
CN202210747264.8A 2022-06-28 2022-06-28 一种降低车辆高速行驶中横摆失控风险的主动安全系统 Active CN115158282B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210747264.8A CN115158282B (zh) 2022-06-28 2022-06-28 一种降低车辆高速行驶中横摆失控风险的主动安全系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210747264.8A CN115158282B (zh) 2022-06-28 2022-06-28 一种降低车辆高速行驶中横摆失控风险的主动安全系统

Publications (2)

Publication Number Publication Date
CN115158282A true CN115158282A (zh) 2022-10-11
CN115158282B CN115158282B (zh) 2024-06-18

Family

ID=83490026

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210747264.8A Active CN115158282B (zh) 2022-06-28 2022-06-28 一种降低车辆高速行驶中横摆失控风险的主动安全系统

Country Status (1)

Country Link
CN (1) CN115158282B (zh)

Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05278429A (ja) * 1992-04-02 1993-10-26 Fuji Heavy Ind Ltd 車両の横加速度検出方法及びそれを用いたアクティブ サスペンション装置
JPH0939535A (ja) * 1995-07-27 1997-02-10 Isuzu Motors Ltd 電子制御式空気ばね懸架装置
US5825284A (en) * 1996-12-10 1998-10-20 Rollover Operations, Llc System and method for the detection of vehicle rollover conditions
US20030236603A1 (en) * 2002-06-19 2003-12-25 Jianbo Lu System for sensing vehicle global and relative attitudes using suspension height sensors
US20050149240A1 (en) * 2004-01-07 2005-07-07 Tseng Hongtei E. Attitude sensing system for an automotive vehicle relative to the road
US20050273240A1 (en) * 2004-06-02 2005-12-08 Brown Todd A System and method for determining desired yaw rate and lateral velocity for use in a vehicle dynamic control system
JP2006335193A (ja) * 2005-06-01 2006-12-14 Advics:Kk 車両のロール特性推定装置、及び該装置を用いた車両のローリング運動安定化制御装置
US20070185623A1 (en) * 2006-02-03 2007-08-09 Shih-Ken Chen Vehicle wheel lift detection
US20080183353A1 (en) * 2007-01-25 2008-07-31 Honda Motor Co., Ltd. Vehicle systems control for improving stability
JP2010228692A (ja) * 2009-03-30 2010-10-14 Honda Motor Co Ltd 車両挙動制御装置
CN103921719A (zh) * 2014-04-01 2014-07-16 清华大学 驾驶员交互式商用车辆侧翻预警方法和系统
CN104573322A (zh) * 2014-12-12 2015-04-29 山东交通学院 一种汽车侧倾中心轴位置动态测量装置及其确定方法
US20160229252A1 (en) * 2015-02-10 2016-08-11 Ford Global Technologies, Llc Enhanced Road Characterization for Adaptive Mode Drive
CN109693663A (zh) * 2017-10-24 2019-04-30 上汽通用汽车有限公司 基于主动干预转向系统的车辆稳定性控制系统
CN110775046A (zh) * 2019-10-22 2020-02-11 浙江万安科技股份有限公司 一种车辆防侧翻控制系统和防侧翻控制方法
WO2020187259A1 (zh) * 2019-03-18 2020-09-24 长城汽车股份有限公司 自动驾驶车辆的安全监测方法、系统及运动控制系统
CN112440648A (zh) * 2020-11-23 2021-03-05 一汽奔腾轿车有限公司 一种侧倾刚度可调横向稳定杆拉杆总成
US20210245733A1 (en) * 2020-02-12 2021-08-12 Ferrari S.P.A. Method to control, while driving along a curve, a road vehicle with a variable stiffness and with rear steering wheels
KR20210146685A (ko) * 2020-05-27 2021-12-06 현대자동차주식회사 차량의 액티브 서스펜션 제어 시스템 및 방법
US20220080953A1 (en) * 2020-09-17 2022-03-17 Hyundai Motor Company Device and method for improving turning motion of vehicle

Patent Citations (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05278429A (ja) * 1992-04-02 1993-10-26 Fuji Heavy Ind Ltd 車両の横加速度検出方法及びそれを用いたアクティブ サスペンション装置
JPH0939535A (ja) * 1995-07-27 1997-02-10 Isuzu Motors Ltd 電子制御式空気ばね懸架装置
US5825284A (en) * 1996-12-10 1998-10-20 Rollover Operations, Llc System and method for the detection of vehicle rollover conditions
US20030236603A1 (en) * 2002-06-19 2003-12-25 Jianbo Lu System for sensing vehicle global and relative attitudes using suspension height sensors
US20050149240A1 (en) * 2004-01-07 2005-07-07 Tseng Hongtei E. Attitude sensing system for an automotive vehicle relative to the road
US20050273240A1 (en) * 2004-06-02 2005-12-08 Brown Todd A System and method for determining desired yaw rate and lateral velocity for use in a vehicle dynamic control system
JP2006335193A (ja) * 2005-06-01 2006-12-14 Advics:Kk 車両のロール特性推定装置、及び該装置を用いた車両のローリング運動安定化制御装置
US20070185623A1 (en) * 2006-02-03 2007-08-09 Shih-Ken Chen Vehicle wheel lift detection
US20080183353A1 (en) * 2007-01-25 2008-07-31 Honda Motor Co., Ltd. Vehicle systems control for improving stability
JP2010228692A (ja) * 2009-03-30 2010-10-14 Honda Motor Co Ltd 車両挙動制御装置
CN103921719A (zh) * 2014-04-01 2014-07-16 清华大学 驾驶员交互式商用车辆侧翻预警方法和系统
CN104573322A (zh) * 2014-12-12 2015-04-29 山东交通学院 一种汽车侧倾中心轴位置动态测量装置及其确定方法
US20160229252A1 (en) * 2015-02-10 2016-08-11 Ford Global Technologies, Llc Enhanced Road Characterization for Adaptive Mode Drive
CN109693663A (zh) * 2017-10-24 2019-04-30 上汽通用汽车有限公司 基于主动干预转向系统的车辆稳定性控制系统
WO2020187259A1 (zh) * 2019-03-18 2020-09-24 长城汽车股份有限公司 自动驾驶车辆的安全监测方法、系统及运动控制系统
CN110775046A (zh) * 2019-10-22 2020-02-11 浙江万安科技股份有限公司 一种车辆防侧翻控制系统和防侧翻控制方法
US20210245733A1 (en) * 2020-02-12 2021-08-12 Ferrari S.P.A. Method to control, while driving along a curve, a road vehicle with a variable stiffness and with rear steering wheels
KR20210146685A (ko) * 2020-05-27 2021-12-06 현대자동차주식회사 차량의 액티브 서스펜션 제어 시스템 및 방법
US20220080953A1 (en) * 2020-09-17 2022-03-17 Hyundai Motor Company Device and method for improving turning motion of vehicle
CN112440648A (zh) * 2020-11-23 2021-03-05 一汽奔腾轿车有限公司 一种侧倾刚度可调横向稳定杆拉杆总成

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
刘伟;刘文营;刘威;张琨;: "一种基于车辆运动状态估计的商用车侧翻预警方法", 北京汽车, no. 05, 25 October 2016 (2016-10-25) *
王奥博;唐炜;赵喻贤;: "基于感知悬架载荷的车辆防侧翻控制策略研究", 科技资讯, no. 26, 13 September 2013 (2013-09-13) *

Also Published As

Publication number Publication date
CN115158282B (zh) 2024-06-18

Similar Documents

Publication Publication Date Title
US11254353B2 (en) Control device and steering device
US6315373B1 (en) Roll control device of vehicle manageable of sudden failure of rolling condition detection means
US11912351B2 (en) Steering control device and steering device
US20070124051A1 (en) Vehicle drive control system and method
US20050192728A1 (en) Stabilizer control apparatus
US20070150144A1 (en) Stabilizer control apparatus
US20040267428A1 (en) Method for coordinating a vehicle dynamics control system with an active normal force adjustment system
US11639178B2 (en) Vehicle control method and device
US20080251307A1 (en) Speed Limiting for a Light-Weight Utility Vehicle
CN110550024A (zh) 一种基于自动驾驶的车辆运行控制方法和装置
WO2019130599A1 (ja) 制御装置、および、ステアリング装置
US20070021887A1 (en) Method and system for controlling a yawing moment actuator in a motor vehicle
US8930061B2 (en) Method and apparatus for influencing the transverse dynamics of a vehicle
US20060155457A1 (en) Method and system for stabilizing a vehicle combination
US20060178799A1 (en) Enhanced roll control system
US8818642B2 (en) Control of active vehicle devices during cornering
CN115158282A (zh) 一种降低车辆高速行驶中横摆失控风险的主动安全系统
JP4193648B2 (ja) 車輌の走行状態判定装置
WO1996036521A1 (fr) Dispositif pour la direction assistee repondant au poids du vehicule
EP3109107B1 (en) Flying car extended vehicle control method
US20230241940A1 (en) Suspension control device, vehicle, and suspension control method
WO2017108507A1 (en) Improvements to vehicle handling
CN112721560B (zh) 一种通过电阻调节的高频响底盘防侧翻控制系统以及防侧翻控制方法
JP5081650B2 (ja) 車両用減衰力制御装置
JP4251166B2 (ja) 車輌制御装置

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
CP03 Change of name, title or address

Address after: 130012 no.4888, Yushan Road, Changchun high tech Development Zone, Jilin Province

Patentee after: FAW Besturn Automotive Co.,Ltd.

Country or region after: China

Address before: No. 4888, Yushan Road, Changchun high tech Industrial Development Zone, Changchun City, Jilin Province

Patentee before: FAW Pentium Car Co.,Ltd.

Country or region before: China

CP03 Change of name, title or address