CN115973272B - Control method and device for automobile turning - Google Patents

Control method and device for automobile turning Download PDF

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Publication number
CN115973272B
CN115973272B CN202211738805.7A CN202211738805A CN115973272B CN 115973272 B CN115973272 B CN 115973272B CN 202211738805 A CN202211738805 A CN 202211738805A CN 115973272 B CN115973272 B CN 115973272B
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torque
shaft end
adhesion
maximum
obtaining
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CN115973272A (en
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李良浩
黄大飞
刘小飞
滕国刚
谭开波
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Chongqing Selis Phoenix Intelligent Innovation Technology Co ltd
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Chongqing Selis Phoenix Intelligent Innovation Technology Co ltd
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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

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Abstract

The application relates to a vehicle turning control method and device. The method comprises the following steps: determining a maximum adhesion force of a shaft end, wherein the shaft end comprises a front shaft and a rear shaft; acquiring the actual adhesive force of the shaft end; calculating an available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end; and when the requested torque of the shaft end is received and one available attachment torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of the target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end to which the available attachment torque is smaller than the torque threshold value. The method can improve the stability of the automobile in the prior art during turning.

Description

Control method and device for automobile turning
Technical Field
The present disclosure relates to the field of automobile control technologies, and in particular, to a method and an apparatus for controlling a vehicle to turn.
Background
The steering of the automobile is realized mainly by driving a steering wheel to drive a steering wheel, so that a gear rack steering gear acts, and a front transverse pull rod swings left and right to enable front wheels to generate angles so as to generate steering. When the vehicle is traveling on a curve, the driver needs to control the vehicle speed in addition to steering the steering wheel so that the vehicle travels through the curve at a low vehicle speed.
At present, an automobile generally adopts a front wheel steering mode to control the steering of the automobile, and in the turning process of the automobile, the automobile speed can be difficult to control accurately because of a driver, so that the required torque received by an axle end exceeds the normal working range, the automobile is unstable if the required torque is light, and the safety accident is caused if the required torque is heavy.
Therefore, the stability of the automobile in the prior art during turning is still to be improved.
Disclosure of Invention
Based on the control method and the device for vehicle turning, the stability of the vehicle during turning in the prior art is improved.
In a first aspect, a method for controlling turning of a vehicle is provided, the method comprising:
determining a maximum adhesion force of a shaft end, wherein the shaft end comprises a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating an available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
and when the requested torque of the shaft end is received and one available attachment torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of the target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end to which the available attachment torque is smaller than the torque threshold value.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the step of transferring a part or all of the requested torque of the target shaft end to the other shaft end includes:
determining whether a sum of the requested torques of the front axle and the rear axle is greater than an available attachment torque of the other axle end;
if yes, calculating a difference torque between the available attachment torque and the requested torque of the other shaft end, and transferring the requested torque of a part of the target shaft end to the other shaft end, wherein the requested torque of the part is smaller than or equal to the difference torque;
if not, transferring all the requested torque of the target shaft end to the other shaft end.
With reference to the first aspect or the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of determining the maximum adhesion force of the shaft end includes:
collecting a first acceleration of a current vehicle in a running direction and a second acceleration which is horizontal and vertical to the running direction;
acquiring the whole vehicle quality, wheel tread, wheel base and preset attachment coefficient of the current vehicle;
and obtaining the maximum adhesive force of the front axle and the rear axle based on the first acceleration, the second acceleration, the whole vehicle mass, the wheel base and the adhesion coefficient.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the step of obtaining the maximum adhesion force of the front axle includes:
setting a mass center of the current vehicle, and acquiring a first distance from the mass center to the front axle, a second distance from the mass center to the rear axle and a third distance from the mass center to the ground;
taking the running direction as a reference direction, and obtaining the maximum left front wheel adhesion and the maximum right front wheel adhesion according to the adhesion coefficient, the whole vehicle mass, the second distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum left front wheel adhesion comprises:
obtaining a mathematical representation of the maximum adhesion of the right front wheel comprises:
F 1 for the maximum adhesion force of the left front wheel, F 2 For the maximum adhesive force of the right front wheel, mu is the adhesive coefficient, m is the mass of the whole vehicle, g is gravity acceleration, L r For the second distance, h is the third distance, a x For the first acceleration, L is theWheelbase, a y For the second acceleration, L w Is the track;
and calculating the sum of the maximum adhesive force of the left front wheel and the maximum adhesive force of the right front wheel to obtain the maximum adhesive force of the front axle.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the step of obtaining the maximum adhesion force of the rear axle includes:
obtaining the maximum left rear wheel adhesion and the maximum right rear wheel adhesion according to the adhesion coefficient, the whole vehicle mass, the first distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum left rear wheel adhesion comprises:
obtaining a mathematical representation of the maximum adhesion of the right rear wheel comprises:
F 3 for the maximum adhesion force of the left rear wheel, F 4 For the maximum adhesion force of the right rear wheel, L f Is the first distance;
and calculating the sum of the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel to obtain the maximum adhesive force of the rear axle.
With reference to the second possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the step of obtaining an actual adhesion force of the shaft end includes:
acquiring the whole vehicle required torque of the current vehicle;
based on the whole vehicle mass and the first acceleration, obtaining the load of the shaft end;
And obtaining the actual adhesive force of the front axle and the rear axle based on the whole vehicle required torque, the whole vehicle mass and the load of the axle end.
With reference to the fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the step of obtaining the load of the shaft end based on the entire vehicle mass and the first acceleration includes:
setting a mass center of the current vehicle, and acquiring a first distance between the mass center and the front axle, a second distance between the rear axle and a third distance between the ground respectively;
obtaining the load of the front axle according to the whole vehicle mass, the second distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the front axle comprises:
M 1 for the load of the front axle, m is the mass of the whole vehicle, g is the gravitational acceleration, L r For the second distance, h is the third distance, a x And L is the wheelbase for the first acceleration.
With reference to the sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the step of obtaining the load of the shaft end based on the entire vehicle mass and the first acceleration further includes:
Obtaining the load of the rear axle according to the whole vehicle mass, the first distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the rear axle comprises:
M 2 for the load of the rear axle, L f Is the first distance.
With reference to the fifth possible implementation manner of the first aspect, in an eighth possible implementation manner of the first aspect, the step of obtaining the actual adhesion force of the front axle based on the vehicle required torque, the vehicle mass and the load of the axle end includes:
acquiring the wheel rolling radius of the current vehicle;
obtaining the actual adhesive force of the front axle according to the whole vehicle required torque, the whole vehicle mass, the wheel rolling radius and the load of the front axle, wherein obtaining the mathematical expression of the actual adhesive force of the front axle comprises:
F a1 t is the actual adhesion of the front axle v For the whole vehicle required torque, M is the whole vehicle mass, r is the wheel rolling radius, M 1 Is the load of the front axle.
With reference to the eighth possible implementation manner of the first aspect, in a ninth possible implementation manner of the first aspect, the step of obtaining the actual adhesion force of the rear axle based on the vehicle required torque, the vehicle mass and the load of the axle end includes:
Obtaining the actual adhesive force of the rear axle according to the whole vehicle required torque, the whole vehicle mass, the wheel rolling radius and the rear axle load, wherein obtaining the mathematical expression of the actual adhesive force of the rear axle comprises:
F a2 for the actual adhesion of the rear axle, M 2 Is the load of the rear axle.
With reference to the fifth possible implementation manner of the first aspect, in a tenth possible implementation manner of the first aspect, the step of calculating the available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end includes:
acquiring the wheel rolling radius of the current vehicle;
obtaining an available adhesion torque of the front axle based on a maximum adhesion force of the front axle, a load of the front axle, the second acceleration, an actual adhesion force of the front axle, and the wheel rolling radius, wherein obtaining a mathematical expression of the available adhesion torque of the front axle comprises:
T 1 f for the available attachment torque of the front axle f For maximum adhesion of the front axle, M 1 A for loading the front axle y For the second acceleration, F a1 R is the rolling radius of the wheel, which is the actual adhesion of the front axle.
With reference to the tenth possible implementation manner of the first aspect, in an eleventh possible implementation manner of the first aspect, the step of calculating the available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end further includes:
obtaining an available adhesion torque of the rear axle based on the maximum adhesion force of the rear axle, the load of the rear axle, the second acceleration, the actual adhesion force of the rear axle, and the wheel rolling radius, wherein obtaining a mathematical expression of the available adhesion torque of the rear axle comprises:
T 2 f for the available adhesion torque of the rear axle r For maximum adhesion of the rear axle, M 2 F for loading the rear axle a2 Is the actual adhesion of the rear axle.
With reference to the first aspect or any one of the first to eleventh possible implementation manners of the first aspect, in a twelfth possible implementation manner of the first aspect, after the step of calculating the available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end, the method further includes:
acquiring a preset torque interval, and judging whether the available attachment torque of the shaft end is positioned in the torque interval;
If yes, executing the step of transferring part or all of the requested torque of one target shaft end to the other shaft end when the requested torque of the shaft end is received and the available attachment torque of the target shaft end is smaller than the torque threshold value;
if not, when the available attachment torque of the shaft end is smaller than the minimum value of the torque section, the minimum value of the torque section is used as the available attachment torque of the shaft end, and when the available attachment torque of the shaft end is larger than the maximum value of the torque section, the maximum value of the torque section is used as the available attachment torque of the shaft end.
In a second aspect, a control device for turning an automobile is provided, where the device includes a vehicle controller, and the vehicle controller is configured to:
determining a maximum adhesion force of a shaft end, wherein the shaft end comprises a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating an available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
and when the requested torque of the shaft end is received and one available attachment torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of the target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end to which the available attachment torque is smaller than the torque threshold value.
According to the vehicle turning control method and device, the maximum adhesive force of the shaft end is determined, and the actual adhesive force of the shaft end is obtained, wherein the shaft end comprises a front shaft and a rear shaft; calculating the available attachment torque of the shaft end according to the maximum attachment force and the actual attachment force of the shaft end; when the requested torque of one shaft end is received and one available attachment torque is smaller than a preset torque threshold value, part or all of the requested torque of the target shaft end is transferred to the other shaft end, wherein the target shaft end is used for indicating the shaft end pointed by the available attachment torque smaller than the torque threshold value. The available attachment torque is a threshold value for ensuring the running stability of the vehicle, when the available attachment torque of the shaft end is smaller than a preset torque threshold value, the shaft end cannot continue to control the torque, and if the torque control is continued, the vehicle is unstable, so that the requested torque received by the shaft end needs to be transferred to the other shaft end in order to keep the stability of the vehicle. Therefore, compared with the prior art, the method of the application improves the stability of the automobile when the automobile turns.
Drawings
FIG. 1 is a flow chart of a method of controlling a turn of a vehicle in one embodiment;
Fig. 2 is a block diagram of a control device for turning a vehicle in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
It should be noted that, the illustrations provided in the present embodiment merely illustrate the basic concepts of the application by way of illustration, and only the components related to the application are shown in the drawings, rather than being drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and should not be construed as limiting the scope of the invention, since any structural modifications, changes in proportions, or adjustments of sizes, which may be made by those skilled in the art, should not be construed as limiting the scope of the invention, which is otherwise, limited to the specific embodiments disclosed herein, without affecting the efficiency and objects attained by the subject invention.
References in this specification to orientations or positional relationships as indicated by "upper", "lower", "left", "right", "intermediate", "longitudinal", "transverse", "horizontal", "inner", "outer", "radial", "circumferential", etc., are based on the orientation or positional relationships shown in the drawings, and are for ease of description only, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In one embodiment, as shown in fig. 1, a method for controlling turning of a vehicle is provided, and a vehicle controller is taken as an execution body of the method for explanation, and the method includes the following steps:
s101: the method comprises determining a maximum adhesion force of shaft ends, wherein the shaft ends comprise a front shaft and a rear shaft.
Here, the adhesion refers to an interaction force between an automobile tire and the ground, and the magnitude of the interaction force is related to factors such as the mass of the whole automobile, the material, the type, the pattern, the tire pressure, the type of the ground, the speed of the automobile and the like. In one embodiment, the maximum adhesion force can be calculated according to physical quantities such as the mass of the whole vehicle and the speed of the vehicle, and the method specifically comprises the following steps: collecting a first acceleration of a current vehicle in a running direction and a second acceleration which is horizontal and vertical to the running direction; acquiring the whole vehicle quality, wheel tread, wheel base and preset attachment coefficient of the current vehicle; and obtaining the maximum adhesive force of the front axle and the rear axle based on the first acceleration, the second acceleration, the whole vehicle mass, the wheel base and the adhesion coefficient. In other embodiments, the maximum adhesion may also be determined by performing a real vehicle test based on the particular vehicle model.
Further, the maximum left and right front wheel adhesion forces are calculated respectively by taking the current running direction of the vehicle as a reference direction, and then the maximum front axle adhesion force is obtained according to the sum of the maximum left and right front wheel adhesion forces, specifically comprising the following steps:
setting a mass center of the current vehicle, and acquiring a first distance from the mass center to the front axle, a second distance from the mass center to the rear axle and a third distance from the mass center to the ground;
taking the running direction as a reference direction, and obtaining the maximum left front wheel adhesion and the maximum right front wheel adhesion according to the adhesion coefficient, the whole vehicle mass, the second distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum left front wheel adhesion comprises:
obtaining a mathematical representation of the maximum adhesion of the right front wheel comprises:
F 1 for the maximum adhesion force of the left front wheel, F 2 For the maximum adhesive force of the right front wheel, mu is the adhesive coefficient, m is the mass of the whole vehicle, g is gravity acceleration, L r For the second distance, h is the third distance, a x For the first acceleration, L is the wheelbase, a y For the second acceleration, L w Is the track;
and calculating the sum of the maximum adhesive force of the left front wheel and the maximum adhesive force of the right front wheel to obtain the maximum adhesive force of the front axle.
Similarly, the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel are calculated respectively, and then the maximum adhesive force of the rear axle is obtained according to the sum value of the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel, and the method specifically comprises the following steps:
obtaining the maximum left rear wheel adhesion and the maximum right rear wheel adhesion according to the adhesion coefficient, the whole vehicle mass, the first distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum left rear wheel adhesion comprises:
obtaining a mathematical representation of the maximum adhesion of the right rear wheel comprises:
F 3 for the maximum adhesion force of the left rear wheel, F 4 For the maximum adhesion force of the right rear wheel, L f Mu, m, g, h, a for the first distance x 、L、a y L and w the meaning of (a) is described in the step of obtaining the maximum adhesion force of the front axle, and the related content refers to the content described in the foregoing, and is not repeated here;
And calculating the sum of the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel to obtain the maximum adhesive force of the rear axle.
The maximum adhesion force of the left front wheel, the maximum adhesion force of the right front wheel, the maximum adhesion force of the left rear wheel and the maximum adhesion force of the right rear wheel are calculated respectively, and the maximum adhesion force of the front axle and the rear axle are calculated.
S102: and obtaining the actual adhesive force of the shaft end.
In one embodiment, the step of obtaining the actual adhesion of the shaft end comprises: acquiring the whole vehicle required torque of the current vehicle; based on the whole vehicle mass and the first acceleration, obtaining the load of the shaft end; and obtaining the actual adhesive force of the front axle and the rear axle based on the whole vehicle required torque, the whole vehicle mass and the load of the axle end. In other embodiments, the actual adhesion of the front and rear axles may also be acquired in real time by sensors.
Further, the step of obtaining the load of the shaft end based on the whole vehicle mass and the first acceleration includes:
setting a mass center of the current vehicle, and acquiring a first distance between the mass center and the front axle, a second distance between the rear axle and a third distance between the ground respectively;
obtaining the load of the front axle according to the whole vehicle mass, the second distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the front axle comprises:
M 1 for the load of the front axle, m is the mass of the whole vehicle, g is the gravitational acceleration, L r For the second distance, h is the third distance, a x And L is the wheelbase for the first acceleration.
Similarly, the load of the rear axle may be calculated, specifically, the step of obtaining the load of the axle end based on the mass of the whole vehicle and the first acceleration further includes:
obtaining the load of the rear axle according to the whole vehicle mass, the first distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the rear axle comprises:
M 2 For the load of the rear axle, L f For the first distance m, g, h, a x The meaning of L has been described in the step of calculating the load of the front axle, and the relevant content is referred to the above description, and will not be described herein.
Further, based on the loads of the front axle and the rear axle, the required torque of the whole vehicle and the mass of the whole vehicle, the actual adhesive force of the front axle can be calculated, and the method specifically comprises the following steps:
acquiring the wheel rolling radius of the current vehicle;
obtaining the actual adhesive force of the front axle according to the whole vehicle required torque, the whole vehicle mass, the wheel rolling radius and the load of the front axle, wherein obtaining the mathematical expression of the actual adhesive force of the front axle comprises:
F a1 t is the actual adhesion of the front axle v For the whole vehicle required torque, M is the whole vehicle mass, r is the wheel rolling radius, M 1 Is the load of the front axle.
Similarly, the actual adhesion of the rear axle can also be calculated, specifically comprising the following steps:
obtaining the actual adhesive force of the rear axle according to the whole vehicle required torque, the whole vehicle mass, the wheel rolling radius and the rear axle load, wherein obtaining the mathematical expression of the actual adhesive force of the rear axle comprises:
F a2 For the actual adhesion of the rear axle, M 2 T is the load of the rear axle v The meaning of m and r has been described in the previous step of calculating the actual adhesion of the front axle, phaseThe content is referred to the above description, and will not be described in detail herein.
The load of the front axle and the rear axle and the actual adhesion force of the front axle and the rear axle may be calculated by a serial time sequence control method or a parallel time sequence control method, and from the viewpoint of improving the control efficiency, the load of the front axle and the load of the rear axle are calculated simultaneously and the actual adhesion force of the front axle and the rear axle is calculated simultaneously based on the load, the torque required by the whole vehicle and other parameters.
S103: and calculating the available attachment torque of the shaft end according to the maximum attachment force and the actual attachment force of the shaft end.
In one embodiment, the step of calculating the available adhesion torque of the shaft end from the maximum adhesion force and the actual adhesion force of the shaft end comprises:
acquiring the wheel rolling radius of the current vehicle;
obtaining an available adhesion torque of the front axle based on a maximum adhesion force of the front axle, a load of the front axle, the second acceleration, an actual adhesion force of the front axle, and the wheel rolling radius, wherein obtaining a mathematical expression of the available adhesion torque of the front axle comprises:
T 1 F for the available attachment torque of the front axle f For maximum adhesion of the front axle, M 1 A for loading the front axle y For the second acceleration, F a1 R is the rolling radius of the wheel, which is the actual adhesion of the front axle.
The step of calculating the available adhesion torque of the shaft end based on the maximum adhesion force and the actual adhesion force of the shaft end, further comprises:
obtaining an available adhesion torque of the rear axle based on the maximum adhesion force of the rear axle, the load of the rear axle, the second acceleration, the actual adhesion force of the rear axle, and the wheel rolling radius, wherein obtaining a mathematical expression of the available adhesion torque of the rear axle comprises:
T 2 f for the available adhesion torque of the rear axle r For maximum adhesion of the rear axle, M 2 F for loading the rear axle a2 A is the actual adhesion of the rear axle y And r has the same meaning as that described in the above step of calculating the available adhesion torque of the front axle, and the description thereof is referred to above, and will not be repeated here.
In this embodiment, the available attachment torques of the front axle and the rear axle are calculated in a parallel time series control manner, that is, the available attachment torques of the front axle and the rear axle are calculated simultaneously.
S104: and when the requested torque of the shaft end is received and one available attachment torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of the target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end to which the available attachment torque is smaller than the torque threshold value.
For example, the torque threshold may be zero, the available adhesion torque is a threshold for ensuring the running stability of the vehicle, and when the available adhesion torque at the axle end is smaller than zero, it indicates that the axle end cannot continue to perform torque control any more, and if the torque control is continued, the vehicle will be unstable, so in order to maintain the stability of the vehicle, the available adhesion torque is used as a condition for determining whether the requested torque transfer is required. For example, if the available adhesion torque of the rear axle is less than zero and the available adhesion torque of the front axle is greater than zero, then some or all of the requested torque of the rear axle is transferred to the front axle.
Specifically, the step of transferring a part or all of the requested torque of the target shaft end to the other shaft end includes: determining whether a sum of the requested torques of the front axle and the rear axle is greater than an available attachment torque of the other axle end; if yes, calculating a difference torque between the available attachment torque and the requested torque of the other shaft end, and transferring the requested torque of a part of the target shaft end to the other shaft end, wherein the requested torque of the part is smaller than or equal to the difference torque; if not, transferring all the requested torque of the target shaft end to the other shaft end.
If the available attachment torques of the front axle and the rear axle are smaller than the torque threshold, the maximum attachment forces of the front axle and the rear axle are multiplied by the rolling radii of the wheels respectively, so that the maximum attachment torques of the front axle and the rear axle are obtained, and the maximum attachment torques of the front axle and the rear axle are used as limiting values of the request torques of the front axle and the rear axle respectively, so that the vehicle is prevented from being unstable due to the fact that the request torques of the front axle and the rear axle are too high. In other embodiments, the avoidance of vehicle instability may also be achieved by automatically activating a vehicle body electronic stability control system (Electronic Stability Controller, ESC) of the vehicle when the available adhesion torque of both the front and rear axles is less than a torque threshold. If the available attachment torque of the front axle and the rear axle is larger than zero, the current running of the vehicle is considered to be stable, and other intervening operations are not needed temporarily.
Preferably, in some embodiments, after the step of calculating the available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end, a filtering process may be further performed and a maximum value may be set to limit the available adhesion torque, and specifically, the method further includes the steps of:
acquiring a preset torque interval, and judging whether the available attachment torque of the shaft end is positioned in the torque interval;
If yes, executing the step of transferring part or all of the requested torque of one target shaft end to the other shaft end when the requested torque of the shaft end is received and the available attachment torque of the target shaft end is smaller than the torque threshold value;
if not, when the available attachment torque of the shaft end is smaller than the minimum value of the torque section, the minimum value of the torque section is used as the available attachment torque of the shaft end, and when the available attachment torque of the shaft end is larger than the maximum value of the torque section, the maximum value of the torque section is used as the available attachment torque of the shaft end.
In summary, in the above-described vehicle turning control method, the available adhesion torque at the shaft end is calculated when the vehicle turns, and the available adhesion torque is used as a condition for determining whether the requested torque needs to be transferred, and the requested torque is transferred when the available adhesion torque is smaller than the torque threshold. Since the available attachment torque is a threshold value for ensuring the running stability of the vehicle, when the available attachment torque of the shaft end is smaller than a preset torque threshold value, it indicates that the shaft end cannot continue torque control any more, and if the torque control is continued, the vehicle is unstable, so that the requested torque received by the shaft end needs to be transferred to the other shaft end in order to maintain the stability of the vehicle. Therefore, compared with the prior art, the method of the application improves the stability of the automobile when the automobile turns.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of other steps or sub-steps of other steps.
In one embodiment, a control device for turning an automobile is provided, the device comprising a whole automobile controller, wherein the whole automobile controller is used for:
determining a maximum adhesion force of a shaft end, wherein the shaft end comprises a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating an available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
And when the requested torque of the shaft end is received and one available attachment torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of the target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end to which the available attachment torque is smaller than the torque threshold value.
Specifically, the whole vehicle controller is further used for: determining whether a sum of the requested torques of the front axle and the rear axle is greater than an available attachment torque of the other axle end; if yes, calculating a difference torque between the available attachment torque and the requested torque of the other shaft end, and transferring the requested torque of a part of the target shaft end to the other shaft end, wherein the requested torque of the part is smaller than or equal to the difference torque; if not, transferring all the requested torque of the target shaft end to the other shaft end.
Specifically, referring to fig. 2, the device may further include a speed sensor, where the speed sensor is electrically connected to the vehicle controller, and the speed sensor is configured to collect a first acceleration of the current vehicle in a running direction and a second acceleration of the current vehicle that is horizontal and perpendicular to the running direction; the whole vehicle controller is also used for acquiring the whole vehicle quality, the wheel track, the wheel base and a preset attachment coefficient of the current vehicle; and obtaining the maximum adhesive force of the front axle and the rear axle based on the first acceleration, the second acceleration, the whole vehicle mass, the wheel base and the adhesion coefficient.
Specifically, the whole vehicle controller is further used for: setting a mass center of the current vehicle, and acquiring a first distance from the mass center to the front axle, a second distance from the mass center to the rear axle and a third distance from the mass center to the ground; taking the running direction as a reference direction, and obtaining the maximum left front wheel adhesion and the maximum right front wheel adhesion according to the adhesion coefficient, the whole vehicle mass, the second distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum left front wheel adhesion comprises:
obtaining a mathematical representation of the maximum adhesion of the right front wheel comprises:
F 1 for the maximum adhesion force of the left front wheel, F 2 For the maximum adhesive force of the right front wheel, mu is the adhesive coefficient, m is the mass of the whole vehicle, g is gravity acceleration, L r For the second distance, h is the third distance, a x For the first acceleration, L is the wheelbase, a y For the second acceleration, L w Is the track; and calculating the sum of the maximum adhesive force of the left front wheel and the maximum adhesive force of the right front wheel to obtain the maximum adhesive force of the front axle.
Specifically, the whole vehicle controller is further used for: obtaining the maximum left rear wheel adhesion and the maximum right rear wheel adhesion according to the adhesion coefficient, the whole vehicle mass, the first distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum left rear wheel adhesion comprises:
obtaining a mathematical representation of the maximum adhesion of the right rear wheel comprises:
F 3 for the maximum adhesion force of the left rear wheel, F 4 For the maximum adhesion force of the right rear wheel, L f Is the first distance; and calculating the sum of the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel to obtain the maximum adhesive force of the rear axle.
Specifically, the whole vehicle controller is further used for: acquiring the whole vehicle required torque of the current vehicle; based on the whole vehicle mass and the first acceleration, obtaining the load of the shaft end; and obtaining the actual adhesive force of the front axle and the rear axle based on the whole vehicle required torque, the whole vehicle mass and the load of the axle end.
Specifically, the whole vehicle controller is further used for: setting a mass center of the current vehicle, and acquiring a first distance between the mass center and the front axle, a second distance between the rear axle and a third distance between the ground respectively; obtaining the load of the front axle according to the whole vehicle mass, the second distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the front axle comprises:
M 1 For the load of the front axle, m is the mass of the whole vehicle, g is the gravitational acceleration, L r For the second distance, h is the third distance, a x And L is the wheelbase for the first acceleration.
Specifically, the whole vehicle controller is further used for: obtaining the load of the rear axle according to the whole vehicle mass, the first distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the rear axle comprises:
M 2 to be the instituteThe load of the rear axle, L f Is the first distance.
Specifically, the whole vehicle controller is further used for: acquiring the wheel rolling radius of the current vehicle; obtaining the actual adhesive force of the front axle according to the whole vehicle required torque, the whole vehicle mass, the wheel rolling radius and the load of the front axle, wherein obtaining the mathematical expression of the actual adhesive force of the front axle comprises:
F a1 t is the actual adhesion of the front axle v For the whole vehicle required torque, M is the whole vehicle mass, r is the wheel rolling radius, M 1 Is the load of the front axle.
Specifically, the whole vehicle controller is further used for: obtaining the actual adhesive force of the rear axle according to the whole vehicle required torque, the whole vehicle mass, the wheel rolling radius and the rear axle load, wherein obtaining the mathematical expression of the actual adhesive force of the rear axle comprises:
F a2 For the actual adhesion of the rear axle, M 2 Is the load of the rear axle.
Specifically, the whole vehicle controller is further used for: acquiring the wheel rolling radius of the current vehicle; obtaining an available adhesion torque of the front axle based on a maximum adhesion force of the front axle, a load of the front axle, the second acceleration, an actual adhesion force of the front axle, and the wheel rolling radius, wherein obtaining a mathematical expression of the available adhesion torque of the front axle comprises:
T 1 f for the available attachment torque of the front axle f For maximum adhesion of the front axle, M 1 A for loading the front axle y For the second acceleration, F a1 R is the rolling radius of the wheel, which is the actual adhesion of the front axle.
Specifically, the whole vehicle controller is further used for: obtaining an available adhesion torque of the rear axle based on the maximum adhesion force of the rear axle, the load of the rear axle, the second acceleration, the actual adhesion force of the rear axle, and the wheel rolling radius, wherein obtaining a mathematical expression of the available adhesion torque of the rear axle comprises:
T 2 f for the available adhesion torque of the rear axle r For maximum adhesion of the rear axle, M 2 F for loading the rear axle a2 Is the actual adhesion of the rear axle.
Specifically, the whole vehicle controller is further used for: acquiring a preset torque interval, and judging whether the available attachment torque of the shaft end is positioned in the torque interval; if yes, executing the step of transferring part or all of the requested torque of one target shaft end to the other shaft end when the requested torque of the shaft end is received and the available attachment torque of the target shaft end is smaller than the torque threshold value; if not, when the available attachment torque of the shaft end is smaller than the minimum value of the torque section, the minimum value of the torque section is used as the available attachment torque of the shaft end, and when the available attachment torque of the shaft end is larger than the maximum value of the torque section, the maximum value of the torque section is used as the available attachment torque of the shaft end.
For specific limitations on the control device for turning the automobile, reference may be made to the above limitation on the control method for turning the automobile, and no further description is given here.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims (14)

1. A method for controlling turning of an automobile, the method comprising:
determining a maximum adhesion force of a shaft end, wherein the shaft end comprises a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating an available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
and when the requested torque of the shaft end is received and one available attachment torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of the target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end to which the available attachment torque is smaller than the torque threshold value.
2. The method of controlling turning of an automobile according to claim 1, wherein the step of transferring a part or all of the requested torque of the target shaft end to the other shaft end includes:
determining whether a sum of the requested torques of the front axle and the rear axle is greater than an available attachment torque of the other axle end;
if yes, calculating a difference torque between the available attachment torque and the requested torque of the other shaft end, and transferring the requested torque of a part of the target shaft end to the other shaft end, wherein the requested torque of the part is smaller than or equal to the difference torque;
if not, transferring all the requested torque of the target shaft end to the other shaft end.
3. The method of controlling turning of an automobile according to claim 1, wherein the step of determining the maximum adhesion force of the shaft end includes:
collecting a first acceleration of a current vehicle in a running direction and a second acceleration which is horizontal and vertical to the running direction;
acquiring the whole vehicle quality, wheel tread, wheel base and preset attachment coefficient of the current vehicle;
and obtaining the maximum adhesive force of the front axle and the rear axle based on the first acceleration, the second acceleration, the whole vehicle mass, the wheel base and the adhesion coefficient.
4. A control method for turning a vehicle according to claim 3, characterized in that the step of obtaining the maximum adhesion force of the front axle comprises:
setting a mass center of the current vehicle, and acquiring a first distance from the mass center to the front axle, a second distance from the mass center to the rear axle and a third distance from the mass center to the ground;
taking the running direction as a reference direction, and obtaining the maximum left front wheel adhesion and the maximum right front wheel adhesion according to the adhesion coefficient, the whole vehicle mass, the second distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum left front wheel adhesion comprises:
obtaining a mathematical representation of the maximum adhesion of the right front wheel comprises:
F 1 for the maximum adhesion force of the left front wheel, F 2 For the maximum adhesive force of the right front wheel, mu is the adhesive coefficient, m is the mass of the whole vehicle, g is gravity acceleration, L r For the second distance, h is the third distance, a x For the first acceleration, L is the wheelbase, a y For the second acceleration, L w Is the track;
and calculating the sum of the maximum adhesive force of the left front wheel and the maximum adhesive force of the right front wheel to obtain the maximum adhesive force of the front axle.
5. The method of controlling turning of an automobile according to claim 4, wherein the step of obtaining the maximum adhesion force of the rear axle comprises:
obtaining the maximum left rear wheel adhesion and the maximum right rear wheel adhesion according to the adhesion coefficient, the whole vehicle mass, the first distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum left rear wheel adhesion comprises:
obtaining a mathematical representation of the maximum adhesion of the right rear wheel comprises:
F 3 for the maximum adhesion force of the left rear wheel, F 4 For the maximum adhesion force of the right rear wheel, L f Is the first distance;
and calculating the sum of the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel to obtain the maximum adhesive force of the rear axle.
6. A control method for turning a vehicle according to claim 3, wherein said step of obtaining the actual adhesion force of said shaft end comprises:
acquiring the whole vehicle required torque of the current vehicle;
based on the whole vehicle mass and the first acceleration, obtaining the load of the shaft end;
and obtaining the actual adhesive force of the front axle and the rear axle based on the whole vehicle required torque, the whole vehicle mass and the load of the axle end.
7. The method for controlling turning of an automobile according to claim 6, wherein the step of obtaining the load of the shaft end based on the entire vehicle mass and the first acceleration includes:
setting a mass center of the current vehicle, and acquiring a first distance between the mass center and the front axle, a second distance between the rear axle and a third distance between the ground respectively;
obtaining the load of the front axle according to the whole vehicle mass, the second distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the front axle comprises:
M 1 for the load of the front axle, m is the mass of the whole vehicle, g is the gravitational acceleration, L r For the second distance, h is the third distance, a x And L is the wheelbase for the first acceleration.
8. The method for controlling turning of an automobile according to claim 7, wherein the step of obtaining the load of the shaft end based on the entire vehicle mass and the first acceleration further comprises:
obtaining the load of the rear axle according to the whole vehicle mass, the first distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the rear axle comprises:
M 2 For the load of the rear axle, L f Is the first distance.
9. The method for controlling turning of an automobile according to claim 6, wherein the step of obtaining the actual adhesion force of the front axle based on the vehicle-required torque, the vehicle mass, and the load of the axle end comprises:
acquiring the wheel rolling radius of the current vehicle;
obtaining the actual adhesive force of the front axle according to the whole vehicle required torque, the whole vehicle mass, the wheel rolling radius and the load of the front axle, wherein obtaining the mathematical expression of the actual adhesive force of the front axle comprises:
F a1 t is the actual adhesion of the front axle v For the whole vehicle required torque, M is the whole vehicle mass, r is the wheel rolling radius, M 1 Is the load of the front axle.
10. The method for controlling turning of an automobile according to claim 9, wherein the step of obtaining the actual adhesion force of the rear axle based on the vehicle-mounted required torque, the vehicle-mounted mass, and the load of the axle end comprises:
obtaining the actual adhesive force of the rear axle according to the whole vehicle required torque, the whole vehicle mass, the wheel rolling radius and the rear axle load, wherein obtaining the mathematical expression of the actual adhesive force of the rear axle comprises:
F a2 For the actual adhesion of the rear axle, M 2 Is the load of the rear axle.
11. The method of controlling turning of an automobile according to claim 6, wherein the step of calculating an available adhesion torque of the shaft end based on the maximum adhesion force and the actual adhesion force of the shaft end includes:
acquiring the wheel rolling radius of the current vehicle;
obtaining an available adhesion torque of the front axle based on a maximum adhesion force of the front axle, a load of the front axle, the second acceleration, an actual adhesion force of the front axle, and the wheel rolling radius, wherein obtaining a mathematical expression of the available adhesion torque of the front axle comprises:
T 1 f for the available attachment torque of the front axle f For maximum adhesion of the front axle, M 1 A for loading the front axle y For the second acceleration, F a1 R is the rolling radius of the wheel, which is the actual adhesion of the front axle.
12. The method of controlling turning of an automobile according to claim 11, wherein said step of calculating an available adhesion torque of said axle end based on said maximum adhesion force and said actual adhesion force of said axle end further comprises:
obtaining an available adhesion torque of the rear axle based on the maximum adhesion force of the rear axle, the load of the rear axle, the second acceleration, the actual adhesion force of the rear axle, and the wheel rolling radius, wherein obtaining a mathematical expression of the available adhesion torque of the rear axle comprises:
T 2 F for the available adhesion torque of the rear axle r For maximum adhesion of the rear axle, M 2 F for loading the rear axle a2 Is the actual adhesion of the rear axle.
13. The method of controlling turning of an automobile according to any one of claims 1 to 12, characterized by further comprising, after said step of calculating an available adhesion torque of said shaft end from said maximum adhesion force and said actual adhesion force of said shaft end:
acquiring a preset torque interval, and judging whether the available attachment torque of the shaft end is positioned in the torque interval;
if yes, executing the step of transferring part or all of the requested torque of one target shaft end to the other shaft end when the requested torque of the shaft end is received and the available attachment torque of the target shaft end is smaller than the torque threshold value;
if not, when the available attachment torque of the shaft end is smaller than the minimum value of the torque section, the minimum value of the torque section is used as the available attachment torque of the shaft end, and when the available attachment torque of the shaft end is larger than the maximum value of the torque section, the maximum value of the torque section is used as the available attachment torque of the shaft end.
14. The control device for turning of the automobile is characterized by comprising a whole automobile controller, wherein the whole automobile controller is used for:
determining a maximum adhesion force of a shaft end, wherein the shaft end comprises a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating an available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
and when the requested torque of the shaft end is received and one available attachment torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of the target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end to which the available attachment torque is smaller than the torque threshold value.
CN202211738805.7A 2022-12-30 2022-12-30 Control method and device for automobile turning Active CN115973272B (en)

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CN116443022B (en) * 2023-06-19 2023-08-15 成都赛力斯科技有限公司 Method and device for adjusting vehicle based on road surface tire adhesion coefficient

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