CN116080757A - Vehicle stability control method and system - Google Patents
Vehicle stability control method and system Download PDFInfo
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- CN116080757A CN116080757A CN202111315506.8A CN202111315506A CN116080757A CN 116080757 A CN116080757 A CN 116080757A CN 202111315506 A CN202111315506 A CN 202111315506A CN 116080757 A CN116080757 A CN 116080757A
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- yaw
- steering
- yaw rate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a vehicle stability control method, which comprises the steps of acquiring steering angle value Steer_angle and lateral acceleration value Ay of a steering wheel in real time in the running process of a vehicle, and calculating real-time maximum Yaw rate Yaw_max and minimum Yaw rate Yaw_min; when the current Yaw rate Yaw acquired in real time is greater than the maximum Yaw rate Yaw_max, determining that the whole vehicle is oversteered; when the current Yaw rate Yaw acquired in real time is smaller than the minimum Yaw rate Yaw_min, determining that the whole vehicle is under-steered; controlling the corresponding steering wheel to deflect when oversteer or understeer occurs, generating correction moment, and ensuring the tracking property and stability of the whole vehicle; the invention is assembled on the whole vehicle of the electric control steering system, the cost is lower, and when the whole vehicle is in a unstable state, the control system automatically adjusts the steering angle of the corresponding wheel, thereby generating correction moment and maintaining the stability of the whole vehicle.
Description
Technical Field
The invention relates to the field of vehicle driving safety.
Background
During running of the vehicle, if a destabilizing state occurs, a conventional method of controlling the destabilization is realized by applying a brake to a corresponding wheel through an active brake system (e.g., ESC). As shown in fig. 2, when the whole vehicle is in a unstable state, the active braking system generates correction moment by adding the brakes f_lf_1 and f_lr_1 to the outer wheels, so as to maintain the stability of the whole vehicle. However, the active braking system is an additional safety component and is relatively costly, so that it is necessary to develop a vehicle stability travel system that is less expensive than existing vehicle stability systems and that can utilize the existing resources of the vehicle to control the vehicle body stability.
Disclosure of Invention
The invention aims to solve the technical problem of realizing a novel vehicle stability control method, and on a whole vehicle assembled with an electric control steering system, when the whole vehicle is in a unstable state, the control system automatically adjusts the steering angle of a corresponding wheel, thereby generating correction moment and maintaining the stability of the whole vehicle.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: a vehicle stability control method:
in the running process of the vehicle, a steering angle value Steer_angle and a lateral acceleration value Ay of the steering wheel are obtained in real time, and a maximum Yaw rate Yaw_max and a minimum Yaw rate Yaw_min are calculated in real time;
when the current Yaw rate Yaw acquired in real time is greater than the maximum Yaw rate Yaw_max, determining that the whole vehicle is oversteered;
when the current Yaw rate Yaw acquired in real time is smaller than the minimum Yaw rate Yaw_min, determining that the whole vehicle is under-steered;
when the steering is excessive or insufficient, the corresponding steering wheel is controlled to deflect, so that correction moment is generated, and the tracking property and stability of the whole vehicle are ensured.
When the steering is oversteered, calculating a difference value Yaw_Error_Os between the current Yaw rate Yaw and the maximum Yaw rate Yaw_max, and calculating the steering angle delta of the corresponding wheel according to the Yaw_Error_Os, wherein the larger the steering angle delta is, the larger the Yaw_Error_Os is.
When the steering is insufficient, calculating a difference value between the current Yaw rate Yaw and the maximum Yaw rate yaw_min acquired in real time, which is calculated as a yaw_error_us, and calculating a steering angle delta of a corresponding wheel according to the yaw_error_us, wherein the larger the yaw_error_us is, the larger the steering angle delta is.
When the vehicle stability control method is executed, the steering angle delta is controlled by taking the Yaw_Error_Os or the Yaw_Error_us as a control variable, and the steering angle delta of the corresponding wheels is adjusted in real time through PID control.
A vehicle stability control system characterized by: the sensor assembly of the system comprises a steering wheel angle sensor for collecting the steering angle of the steering wheel, a lateral acceleration sensor for collecting the lateral acceleration of the vehicle and a yaw rate sensor for collecting the yaw rate, wherein the sensor assembly outputs signals to the controller, and the controller outputs control signals to the electric control steering system according to the vehicle stability control method.
The invention is assembled on the whole vehicle of the electric control steering system, the cost is lower, and when the whole vehicle is in a unstable state, the control system automatically adjusts the steering angle of the corresponding wheel, thereby generating correction moment and maintaining the stability of the whole vehicle.
Drawings
The contents of each drawing in the specification of the present invention are briefly described as follows:
fig. 1 is a schematic diagram of the prior art in the background of the invention (taking oversteer of a front axle electronically controlled steering vehicle as an example).
In fig. 1:
f_lf: braking force resultant force of the front left wheel after active steering;
m_2: correction moment generated by the angle delta of independent steering of the left front wheel. :
FIG. 2 is a schematic diagram of a conventional active braking system control (for example, vehicle oversteer);
in fig. 2:
f_lf_1: left front wheel braking force;
f_lr_1: left rear wheel braking force;
m_1: the correction moment generated by the left wheel brake.
Detailed Description
The following detailed description of the embodiments of the invention, such as the shape and construction of the components, the mutual positions and connection relationships between the components, the roles and working principles of the components, the manufacturing process and the operating and using method, etc., is provided to assist those skilled in the art in a more complete, accurate and thorough understanding of the inventive concept and technical solution of the present invention.
A vehicle stability control system is provided with a sensor assembly, the sensor assembly comprises a steering wheel angle sensor, a lateral acceleration sensor, a yaw rate sensor and a wheel speed sensor, the steering wheel angle sensor is used for collecting the current steering angle of a steering wheel, the lateral acceleration sensor is used for collecting the current lateral acceleration of the vehicle, the yaw rate sensor is used for collecting the current yaw rate of the vehicle, the wheel speed sensor is used for collecting the current vehicle speed, the sensor assembly is connected with a controller through a hard wire, the controller synthesizes the information of the sensor, the steering wheel (front wheel) is controlled through analysis, and the control mode is to only control one-side wheels to deflect, so that the instability state of the whole vehicle is solved. The whole vehicle unstable state comprises an oversteering state and an understeering state, and when the whole vehicle is in an unstable state, the controller automatically adjusts the steering angle of the corresponding wheel, so that correction moment is generated, and the stability of the whole vehicle is maintained.
The strategy (vehicle stability control method) for the controller to execute the control is as follows:
when oversteer occurs: the maximum Yaw rate yaw_max is calculated according to the steering wheel angle Steer_angle and the lateral acceleration Ay, and the stability deviation value yaw_error_Os is calculated according to the difference between the Yaw rates Yaw and yaw_max:
Yaw_Error_Os＝Yaw-Yaw_max；
if the stability_error is greater than 0, the whole vehicle turns excessively, the stability_error is used as a control variable, the steering angle delta of the corresponding wheel (for example, the outer front wheel) is adjusted in real time through PID control, and a correction moment opposite to the steering direction is generated, so that the Stability of the whole vehicle is ensured. As shown in fig. 1, when oversteer occurs in the right turn (clockwise), the left front wheel is controlled to deflect delta to generate a moment M2 (anticlockwise, opposite to the steering direction), so that the stability of the whole vehicle is ensured.
When understeer occurs: the minimum Yaw rate yaw_min is calculated according to the steering wheel angle Steer_angle and the lateral acceleration Ay value, and the stability deviation value yaw_error_us is calculated according to the difference value between the Yaw rates Yaw and yaw_min:
Yaw_Error_Us＝Yaw_min-Yaw；
if the Yaw_Error_us is larger than 0, the whole vehicle is in understeer, the Yaw_Error_us is taken as a control variable, the steering angle delta of the corresponding wheel (such as an internal measurement rear wheel) is adjusted in real time through PID control, the correction moment same as the steering direction is generated, and the steering performance of the whole vehicle is enhanced.
The vehicle stability control method comprises the steps that in the running process of a vehicle, a steering angle value Steer_angle and a lateral acceleration value Ay of the steering wheel are obtained in real time, and a real-time maximum Yaw rate Yaw_max and a real-time minimum Yaw rate Yaw_min are calculated; when the current Yaw rate Yaw acquired in real time is greater than the maximum Yaw rate Yaw_max, determining that the whole vehicle is oversteered; when the current Yaw rate Yaw acquired in real time is smaller than the minimum Yaw rate Yaw_min, determining that the whole vehicle is under-steered; controlling the corresponding steering wheel to deflect when oversteer or understeer occurs, generating correction moment, and ensuring the tracking property and stability of the whole vehicle; the invention is assembled on the whole vehicle of the electric control steering system, the cost is lower, and when the whole vehicle is in a unstable state, the control system automatically adjusts the steering angle of the corresponding wheel, thereby generating correction moment and maintaining the stability of the whole vehicle.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified or applied directly to other applications without modification, as long as various insubstantial modifications of the method concept and technical solution of the invention are adopted, all within the scope of the invention.
Claims (5)
1. A vehicle stability control method characterized by:
in the running process of the vehicle, a steering angle value Steer_angle and a lateral acceleration value Ay of the steering wheel are obtained in real time, and a maximum Yaw rate Yaw_max and a minimum Yaw rate Yaw_min are calculated in real time;
when the current Yaw rate Yaw acquired in real time is greater than the maximum Yaw rate Yaw_max, determining that the whole vehicle is oversteered;
when the current Yaw rate Yaw acquired in real time is smaller than the minimum Yaw rate Yaw_min, determining that the whole vehicle is under-steered;
when the steering is excessive or insufficient, the corresponding steering wheel is controlled to deflect, so that correction moment is generated, and the tracking property and stability of the whole vehicle are ensured.
2. The vehicle stability control method according to claim 1, characterized in that:
when the steering is oversteered, calculating a difference value Yaw_Error_Os between the current Yaw rate Yaw and the maximum Yaw rate Yaw_max, and calculating the steering angle delta of the corresponding wheel according to the Yaw_Error_Os, wherein the larger the steering angle delta is, the larger the Yaw_Error_Os is.
3. The vehicle stability control method according to claim 1, characterized in that:
when the steering is insufficient, calculating a difference value between the current Yaw rate Yaw and the maximum Yaw rate yaw_min acquired in real time, which is calculated as a yaw_error_us, and calculating a steering angle delta of a corresponding wheel according to the yaw_error_us, wherein the larger the yaw_error_us is, the larger the steering angle delta is.
4. The vehicle stability control method according to claim 2, 3, characterized in that: when the vehicle stability control method is executed, the steering angle delta is controlled by taking the Yaw_Error_Os or the Yaw_Error_us as a control variable, and the steering angle delta of the corresponding wheels is adjusted in real time through PID control.
5. A vehicle stability control system characterized by: the sensor assembly of the system comprises a steering wheel angle sensor for collecting steering angle of the steering wheel, a lateral acceleration sensor for collecting lateral acceleration of the vehicle and a yaw rate sensor for collecting yaw angular velocity, wherein the sensor assembly outputs signals to a controller, and the controller outputs control signals to an electric control steering system according to the vehicle stability control method of any one of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111315506.8A CN116080757A (en) | 2021-11-08 | 2021-11-08 | Vehicle stability control method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111315506.8A CN116080757A (en) | 2021-11-08 | 2021-11-08 | Vehicle stability control method and system |
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| CN116080757A true CN116080757A (en) | 2023-05-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117432173A (en) * | 2023-12-21 | 2024-01-23 | 广东九为工程安全科技股份有限公司 | Safety scaffold |
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2021
- 2021-11-08 CN CN202111315506.8A patent/CN116080757A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117432173A (en) * | 2023-12-21 | 2024-01-23 | 广东九为工程安全科技股份有限公司 | Safety scaffold |
| CN117432173B (en) * | 2023-12-21 | 2024-03-15 | 广东九为工程安全科技股份有限公司 | Safety scaffold |
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