CN205905961U - Control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change - Google Patents
Control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change Download PDFInfo
- Publication number
- CN205905961U CN205905961U CN201620736853.6U CN201620736853U CN205905961U CN 205905961 U CN205905961 U CN 205905961U CN 201620736853 U CN201620736853 U CN 201620736853U CN 205905961 U CN205905961 U CN 205905961U
- Authority
- CN
- China
- Prior art keywords
- speed
- vehicle
- rollover
- ecu
- unit
- 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.)
- Active
Links
- 230000008859 change Effects 0.000 title claims abstract description 16
- 238000011156 evaluation Methods 0.000 claims abstract description 44
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 abstract description 32
- 230000000694 effects Effects 0.000 abstract description 6
- 230000001629 suppression Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 16
- 230000008901 benefit Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Landscapes
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
Abstract
The utility model discloses a control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change prevents turning on one's side control system by sensor, ECU, actuating mechanism constitution. At first measured the wheel corner of vehicle by the sensor, vehicle parameter such as the speed of a motor vehicle transmit the turn on one's side demarcation of evaluation of estimate of ECU the control unit, and this evaluation method of turning on one's side is different from traditional evaluation mode, and the direct speed of a motor vehicle of gathering according to the sensor of this method and angle signal carry out the front and back wheel corner according to F (v, delta ) function and correspond the demarcation of the limit speed of a motor vehicle, having added the operating mode and having differentiated the unit, adopted not multi -purpose control model, fully considered driver's intention, be greater than this moment during vehicle limit corner when the speed of a motor vehicle, ECU is according to the speed of a motor vehicle, the wheel corner, and the bank velocity isoparametric is carried out the operating mode and is differentiated, carries out vehicle state's adjustment through differential brake and four wheel steering actuating mechanism, and then changes the state of vehicle, reaches the effect that the suppression was turned on one's side.
Description
Technical field
This utility model belong to automobile active safety technical field and in particular to a kind of fusion speed change four-wheel steering
Automobile rollover prevention control system.
Background technology
With expanding economy, whole world automobile pollution sustainable growth, automobile has become essential in people's life
The vehicles.In the last few years, transportation developed rapidly, and highway construction is increasingly perfect, and automobile driving speed improves constantly, so
And, the traffic safety problem producing therewith also becomes increasingly conspicuous, the casualties brought by vehicle accident and property loss problem
More serious.Therefore, people, in concern car comfort, while economy, have also more turned to safety sight.Vapour
Car rollover is the major issue of impact vehicle safety.National Highway Traffic safety management bureau (national highway
Traffic safety administration, nhtsa) statistical data show, 2010, caused by vehicle side turning
Vehicle accident only accounts for the 2.2% of total vehicle accident, but wherein 7659 people are dead, account for the 34.5% of total toll on traffic,
It can be seen that, although rollover event occurrence frequency is relatively low, the occupant's mortality rate being led to is very high.
At present anti-rollover control field mainly with anti-side control method have an active steering, differential braking, actively/
Semi-active suspension, in terms of rollover evaluation index commonly used be based on angle of heel, the ltr rollover of roll velocity evaluates
Method.The anti-rollover that wherein active steering mode is carried out controls and mainly carries out retroactive addition corner intervention by steer motor
Mode reduces rollover index, and differential braking can produce an additional yaw moment and reduce the wind that speed reduces rollover simultaneously
Danger, actively/semi-active suspension is mainly by changing the regulation that the hydraulic pressure hole of suspension damping device damped so that car
Anti- side rollover resistant capability strengthen.
But the rollover evaluation method of these control modes above-mentioned is mostly to employ based on roll velocity, angle of heel or
Person is the ltr evaluation index that lateral acceleration etc. is calculated and tried to achieve, and there is the impact to its precision for the speed.Traditional side
Method is to carry out roll velocity according to Vehicle dynamics and angle of heel calculates ltr value, because automobile is in control process
Have the change of speed, the ltr value that therefore the method obtains can not really react the roll-over state of vehicle.Therefore, also need
Want improvements.
Content of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, this utility model provides a kind of speed that merges to change
Four-wheel steering automobile anti-rollover control system and method, can solve the problem that the rollover evaluation index that leads to is forbidden because of speed change
True problem, by the variable advantage of four-wheel steering automobile trailing wheel corner, can be rapider for rollover control.
Technical scheme: for achieving the above object, this utility model obtains, using ltr-f (v, δ) function, evaluation of estimate of turning on one's side, from
And ensure that the accurate calculating of the rollover evaluation of estimate under different corners difference speed.The technical solution adopted in the utility model
For:
A kind of four-wheel steering automobile anti-rollover control system merging speed change, including interconnective sensor, ecu
Control unit and actuator；Described ecu control unit includes ecu rollover evaluation unit, operating mode judging unit and actuator
Control unit, wherein, described ecu rollover evaluation unit and operating mode judging unit are all connected with described sensor, described ecu rollover
Evaluation unit is connected with described operating mode judging unit by controller trigger element, and described operating mode judging unit is by described execution
Mechanism controls unit connects described actuator；The feedback of the information of described controller trigger element and actuator gives described ecu
Rollover evaluation unit.
Further, also include vehicle-state unit, the information of described controller trigger element and actuator is aggregated into
After described vehicle-state unit, then feed back to described ecu rollover evaluation unit；Described actuator is differential system motivation in parallel
Structure and active steering mechanism, wherein, described active steering mechanism includes front-wheel steer and rear-axle steering.
The method of the above-mentioned four-wheel steering automobile anti-rollover control system of fusion speed change, specifically comprises the following steps that
1) vehicle parameter is obtained by sensor, including speed v, corner δ and roll velocity p；
2) described vehicle parameter speed v, corner δ are updated in rollover evaluation function f (v, δ), are calculated real-time side
Turn over evaluation of estimate, including limit speed and ultimate angle；
3) described real-time rollover evaluation of estimate is compared with the rollover threshold value setting, if more than rollover threshold value, triggering
Controller starts, and carries out work condition judging, and the pressure differential exporting front and back wheel corner added value and differential braking is to actuator；
4) the front and back wheel corner added value that actuator exports according to described controller and the pressure differential of differential braking are carried out
The adjustment of vehicle running state.
Sensor includes vehicle speed sensor, rotary angle transmitter and steering wheel sensor.It is different from traditional automobile can only change
Become front wheel angle δf, the four-wheel steering automobile that this utility model all can be controlled by steer motor using front and back wheel, carry out
Front and back wheel corner (δf, δ r) independent control, such that it is able under rollover response operating mode quickly, to four-wheel steering automobile
The brake pressure of steer motor and four wheels controls simultaneously, reaches more preferably control effect, improves control efficiency, thus real
The anti-rollover having showed under different operating modes controls.
Preferably, described wheel steering angle δ includes front wheel angle δf, trailing wheel corner δr.
Preferably, described step 3) in carry out the parameter of work condition judging and include automobile speed, steering wheel angle and angle of heel
Speed, implementation automatically controls, and concrete grammar is as follows:
A GES that () records when sensor is constant, and angular signal constantly increases, and ecu judges that vehicle is in and enters at a high speed
Curved operating mode, preferentially carries out differential braking, and by differential braking, the additional yaw moment producing and the reduction to speed reach fall
Downside turns over the effect of danger；
B angular signal that () records when sensor is constant, and GES constantly increases, and ecu judges that vehicle is in and accelerated
Curved state, now, ecu receives body roll angular velocity signal, preferentially carries out active steering, corner δ is simultaneously controlled in front and back
In the case of carry out wagon control.
Preferably, in the case of in described (b), the method for wagon control is specific as follows:
1. when body roll angular velocity signal is less than p0During rad/s, it is controlled using active front wheel steering；
2. when body roll angular velocity signal is more than p0During rad/s, controlled using front-wheel, the common intervention of rear-axle steering
System；
Described p0The body roll magnitude of angular velocity setting for controller.
Steering wheel angle sensor transmission direction disk angular signal, for work condition judging.
Preferably, described p0Typically it is chosen for 0.4-0.6rad/s.
Preferably, the concrete the Fitting Calculation method of described rollover evaluation function f (v, δ) is:
Step one: set up one comprise to roll, laterally and three directions of yaw four-wheel steering vehicle trip model, try to achieve
The roll velocity p of current state four-wheel steering vehicle and angle of heel
(1) along y-axis dynamic balance column:
(2) around z-axis moment-equilibrium equation it is:
(3) around x-axis moment-equilibrium equation it is:
Wherein, m is vehicle mass；
φ is vehicle course angle；
R is yaw rate,
β is side slip angle；
For side slip angle acceleration
δf、δrIt is respectively vehicle front and rear wheel corner；For vehicle roll angle；
P is roll velocity,
U is the speed at vehicle centroid；
Iz, ix, ixz are the rotary inertia of respective shaft,
rf、rrFor in front and back's axletree roll stiffness,
hsFor height of center of mass,
msFor vehicle sprung mass；
k1、k2For tire cornering stiffness；
For rolling damping；
Step 2: the pressure of automobile tire road pavement carries out force analysis and obtains during rollover according to automobile:
In formula, h is the distance of automobile barycenter to rotary shaft.
Transverse load rate of transform ltr is the absolute value of difference of vehicle right and left both sides tire vertical reaction and the ratio of sum
Value:
Wherein, fzl is longitudinal counter-force sum of left side wheel, and fzr is longitudinal counter-force sum of right side wheels,
Obtain:
Step 3:
Set longitudinal speed and be followed successively by [30-150] km/h, be spaced apart 3-10km/h；Different longitudinal direction speeds v can be obtainedx
Under vehicle-state equation；When speed is for 120km/h, will be front, the input of trailing wheel corner starts to be gradually increased defeated to system from 0 °
Go outWithMake ltr value for 1, record front wheel angle δ nowf, trailing wheel corner δ r；Same method, tries to achieve it respectively
The ltr value that makes under his speed reaches the limit of front wheel angle δ during value 1f, trailing wheel corner δ r.
Step 4:
By the front wheel angle δ measured by step 3fAs x, trailing wheel corner δrAs y, speed vxAs z, carry out curve plan
Close, obtain speed vxWith respect to front wheel angle δf, trailing wheel corner δrRollover evaluation function.
The rollover evaluation function being obtained by said method matching is new rollover evaluation criterion, and sensor is recording car
Speed and front wheel angle after, ecu will calculate when the limit speed under front hook, and by current vehicle speed and limit speed pair
Ratio is thus control the start and stop of active steering and differential braking actuator.
Traditional rollover evaluation methodology is: is used as rollover prediction mould by setting up four-wheel steering vehicle Three Degree Of Freedom model
Type, receives, by ecu, speed and the angular signal that sensor records, corner and GES is input in forecast model, meter
Calculate angle of heel and roll velocity, be then brought in rollover judgement schematics and obtain evaluation of estimate of turning on one's side.But the method has one
Shortcoming seeks to set up linear Three Degree Of Freedom rollover prediction model must be given tacit consent to speed and keep constant, then this just gives rollover control
Mode processed addition of constraint, can only carry out the correction of the additional rotation angle control to reach roll stability using active steering,
And can not be controlled by differential braking, so just lack more reliable in the rollover research of many differential braking
Rollover Appreciation gist.
Beneficial effect: the four-wheel steering automobile anti-rollover control method of the fusion speed change that this utility model provides, phase
Compared with prior art, have the advantages that
(a) the utility model proposes new rollover evaluation function more accurate than what ltr method before obtained: ecu
Based on rotary angle transmitter, vehicle speed sensor signal, by above-mentioned rollover evaluation methodology calculated when under front hook
The speed that limit speed is exported with vehicle speed sensor is contrasted, and after carrying out operating mode judgement, controls actuator to carry out differential system
Move or front and back wheel active steering, carry out anti-rollover control；
(b), ecu execute above-mentioned work condition judging when, with rotary angle transmitter, vehicle speed sensor basis of signals, body roll
The signal of angular-rate sensor is auxiliary signal, when 1 ° of speed is constant or changes slower steering wheel angle and persistently increases, judges
For excessively curved operating mode at a high speed；2 °, when steering wheel angle is constant or change persistently increases compared with slow train speed, are judged to accelerate curved shape
State；
C (), this anti-rollover control strategy has introduced other module during operating mode: considered driver intention and be directed to multiple works
Condition multiple control modes, and there is the advantage that front and back wheel controls raising control efficiency simultaneously: enter at a high speed when ecu judges that vehicle is in
When curved operating mode produces rollover danger, preferentially carry out differential braking, do not disturb the steering of driver to be intended to, thus passing through differential braking
The additional yaw moment producing and the reduction to speed reduce the dangerous effect of rollover.Add when ecu judges that vehicle is in
Speed excessively curved state when, receive body roll angular velocity signal, if body roll angular velocity is less, entered using active front wheel steering
Row controls；When body roll angular velocity signal is larger, it is controlled using front-wheel plus the common intervention of rear-axle steering, reduces rollover
Dangerous.
This utility model method has merged the impact to vehicle rollover state for the speed, and the new rollover evaluation function of proposition will
More accurate than what ltr method before obtained.Secondly, front and back wheel controls simultaneously, in hgher efficiency.Additionally, this utility model side
Method has carried out difference and has controlled to different operating modes, greatly considers driver intention.
Brief description
Fig. 1 is system structure diagram of the present utility model；
Fig. 2 is this utility model rollover evaluation function fitting theory figure；
Fig. 3 is this utility model work condition judging schematic diagram；
The rollover control system schematic diagram that Fig. 4 adopts for this utility model.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is further described.
Structure of the present utility model is as shown in figure 1, anti-rollover control system includes interconnective sensor, ecu controls
Unit and actuator, also include vehicle-state unit；Ecu control unit includes ecu rollover evaluation unit, operating mode judging unit
With actuating mechanism controls unit, wherein, ecu rollover evaluation unit and operating mode judging unit are all connected with sensor, and ecu rollover is commented
Valency unit is connected with operating mode judging unit by controller trigger element, and operating mode judging unit passes through actuating mechanism controls unit even
Connect actuator；Actuator is differential braking mechanism in parallel and active steering mechanism, wherein, described active steering mechanism bag
Include front-wheel steer and rear-axle steering；After the information of controller trigger element and actuator is aggregated into vehicle-state unit, more instead
The ecu that feeds rollover evaluation unit.
Controller trigger element carries out signal transmission, also refers to logic gates, also referred to as " controller triggering ", figure
4 is the refinement version of Fig. 1, and therefore Fig. 1 is expressed as controller triggering, and Fig. 4 is expressed as logic gates.Actuating mechanism controls unit is
" the controller ecu " being connected with actuator in Fig. 4；Work condition judging unit exports corresponding corner letter after execution work condition judging
Number or GES or corner and GES, actuator ecu receives this signal, controls actual signal to reach ideal
Value, therefore can export brake pressure and additional rotation angle to actuator.
Measured the steering wheel angle of vehicle, the vehicle parameter such as speed first by sensor, be delivered to ecu control unit and carry out
The demarcation of rollover evaluation of estimate, this rollover evaluation methodology is different from traditional evaluation method, and the method is directly according to sensor acquisition
Speed and angular signal carry out the demarcation of ltr value with reference to ltr-f (v, δ) function；When ltr value is more than rollover threshold value, ecu
According to speed, steering wheel angle, the parameter such as roll velocity carries out work condition judging, executes machine by differential braking and four-wheel steering
Structure carries out the adjustment of vehicle running state, and then the state of change vehicle, reaches the effect of suppression rollover.
Rollover evaluation methodology is calculated in the following way:
Step one: set up one and comprise to roll, laterally and three directions of yaw four-wheel steering vehicle trip model:
(1) along y-axis dynamic balance column:
(2) around z-axis moment-equilibrium equation it is:
(3) around x-axis moment-equilibrium equation it is:
Wherein, m is vehicle mass；
φ is vehicle course angle；
R is yaw rate,
β is side slip angle；
For side slip angle acceleration
δf、δrIt is respectively vehicle front and rear wheel corner；For vehicle roll angle；
P is roll velocity,
U is the speed at vehicle centroid；
Iz, ix, ixz are the rotary inertia of respective shaft,
rf、rrFor in front and back's axletree roll stiffness,
hsFor height of center of mass,
msFor vehicle sprung mass；
k1、k2For tire cornering stiffness；
For rolling damping；
Current state four-wheel can be tried to achieve according to speed and corner by setting up this Three Degree Of Freedom four-wheel steering vehicle model
Turn to roll velocity and the angle of heel of vehicle.
Step 2: the pressure of automobile tire road pavement carries out force analysis and obtains during rollover according to automobile:
In formula, h is the distance of automobile barycenter to rotary shaft.
One kind highly effective rollover danger that the transverse load rate of transform (ltr) is conventional in current vehicle side turning research refers to
Mark.Due to subject to centrifugal forces in steering procedure, its vehicle body can tilt automobile to outside of turning, now vehicle outer side
The vertical load of two wheels can increase, and the vertical load of two wheels in inner side can reduce simultaneously.The transverse load rate of transform (ltr)
It is the ratio of the absolute value of difference and the sum of vehicle right and left both sides tire vertical reaction:
Fzl is longitudinal counter-force sum of left side wheel,
Fzr is longitudinal counter-force sum of right side wheels.
By on bring into and obtain:
Step 3:
Set longitudinal speed and be followed successively by [30-150] km/h, be spaced apart 3-10km/h；Can obtain under different longitudinal direction speeds
Vehicle-state equation；When speed is for 120km/h, front wheel angle input is started to be gradually increased to system output from 0 °
WithMake ltr value for 1, record front wheel angle δ nowf.Same method, tries to achieve making under other speeds respectively
Ltr value reaches the limit of front wheel angle δ during value 1f.
Step 4:
By the front wheel angle δ measured by step 3fAs y, longitudinal speed vxAs x, carry out curve fitting, obtain one
Speed vx is with respect to the function of front wheel angle.
Function is obtained by said method matching and is new rollover evaluation criterion, sensor record the speed of vehicle with
After front wheel angle, ecu will calculate when the limit speed under front hook, current vehicle speed is contrasted with limit speed, thus controlling master
The dynamic start and stop turning to differential braking actuator.
Embodiment
Flow process as shown in Figure 2:
(1) speed is set in [30,150] km/h interval range, is spaced apart 5-10km/h and is sampled；Wherein [30,
150] this interval of km/h is the common interval of running car, nonsensical to preventing from turning on one's side higher or lower than this interval；Too high nothing
Method controls, too low extremely difficult overturning；It is spaced more little then matched curve precision higher；
(2) when speed is for 30km/h, front and rear wheel corner is set to 0deg.This three parameter is inputted into Three Degree Of Freedom four
Rotate to trip model, obtain stable state roll velocity and angle of heel through differential equation；
(3) ltr value now is calculated by the angle of heel under this state and roll velocity, when ltr value is less than 0.8--
During 1 this scope, increase front and back wheel corner, and jump to step (2), until ltr reaches preset value；
(4) export corresponding front and back wheel corner value under this speed, now carry out the limit that next speed corresponds to default ltr
Corner
(5) different speeds and its corresponding front and back wheel corner are fully entered to curve fitting module, carry out curve fitting,
Obtain the function in [0.9,1] for the correlation coefficient, this function is i.e. as new ltr evaluation index.
Flow process receives GES and the angular signal of sensor transmissions for work condition judging ecu as shown in Figure 3.When corner letter
Number holding is constant, when GES constantly increases, judges that vehicle is in and enters curved operating mode at a high speed, then export preferable GES,
Angular signal is 0；When GES keeps constant, when angular signal constantly increases, judge that vehicle is in and accelerated curved operating mode, knot
Close the roll velocity signal of sensor output, as p < p0During rad/s, export front wheel angle signal, trailing wheel angular signal is 0,
Work as p > p0During rad/s, vehicle rollover danger is more serious, exports front and back wheel angular signal simultaneously.
Be different from traditional rollover control model (when rollover controls, simple reduction ltr value, does not consider actual condition,
Change driver intention), in order to not affect driver intention to greatest extent, this utility model is according to automobile speed, steering wheel
The parameter such as corner and roll velocity carries out work condition judging, and implementation automatically controls:
A GES that () records when sensor is constant, and angular signal constantly increases, and ecu judges that vehicle is in and enters at a high speed
Curved operating mode, preferentially carries out differential braking, does not disturb the steering of driver to be intended to, thus the additional yaw being produced by differential braking
Moment and the reduction to speed reduce the dangerous effect of rollover.
B angular signal that () records when sensor is constant, and GES constantly increases, and ecu judges that vehicle is in and accelerated
Curved state, now, ecu receives body roll angular velocity signal, and before and after above-mentioned four-wheel steering automobile model, corner is simultaneously controlled
Advantage under:
1. when body roll angular velocity signal is less than p0During rad/s, it is controlled using active front wheel steering；p0General choosing
It is taken as 0.4-0.6rad/s, similarly hereinafter.
2. when body roll angular velocity signal is more than p0During rad/s, controlled using front-wheel, the common intervention of rear-axle steering
System, reduces rollover dangerous.
Flow process as shown in Figure 4:
(1) sensor receives GES, tach signal and the roll velocity signal of Three Degree Of Freedom four-wheel steering automobile；
(2) by GES, angular signal is input in rollover evaluation function, and by turning on one's side, evaluation function calculates the limit
Speed and ultimate angle；
(3) logic gates is judged according to the signal that above-mentioned (1) (2) obtain, and output logical value triggers to be sentenced into operating mode
Other ecu；
(4) work condition judging ecu receives and carries out work condition judging from the GES of sensor and angular signal: when corner letter
Number holding is constant, when GES constantly increases, judges that vehicle is in and enters curved operating mode at a high speed；When GES keeps constant, turn
When angle signal constantly increases, judge that vehicle is in and accelerated curved operating mode；
(5) when work condition judging vehicle is in and enters curved operating mode at a high speed, the preferable GES of ecu output is to controller；Work as work
Condition differentiation is in when accelerating into curved operating mode, and ecu receives subsidiary discriminant signal roll velocity p, p < p0Before exporting ideal during rad/s
Wheel angular signal is to controller；p>p0During rad/s, export preferable front wheels and rear wheels angular signal to controller simultaneously；
(6) controller accepts from the speed of (1) (5) and angular signal, and output additional rotation angle and differential pressure signal are to holding
Row mechanism；
(7) actuator acts on the state that vehicle changes automobile, reduces rollover dangerous.
This utility model method has merged the impact to vehicle rollover state for the speed, and the new rollover evaluation function of proposition will
More accurate than what ltr method before obtained.Secondly, front and back wheel controls simultaneously, in hgher efficiency.Additionally, this utility model side
Method has carried out difference and has controlled to different operating modes, greatly considers driver intention.
The above be only preferred implementation of the present utility model it should be pointed out that: for the common skill of the art
For art personnel, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also should be regarded as protection domain of the present utility model.
Claims (2)
1. a kind of merge speed change four-wheel steering automobile anti-rollover control system it is characterised in that: include interconnective
Sensor, ecu control unit and actuator；Described ecu control unit includes ecu rollover evaluation unit, operating mode judging unit
With actuating mechanism controls unit, wherein, described ecu rollover evaluation unit and operating mode judging unit are all connected with described sensor,
Described ecu rollover evaluation unit is connected with described operating mode judging unit by controller trigger element, described operating mode judging unit
Described actuator is connected by described actuating mechanism controls unit；The information of described controller trigger element and actuator is anti-
Feed described ecu rollover evaluation unit.
2. according to claim 1 merge speed change four-wheel steering automobile anti-rollover control system it is characterised in that:
Also include vehicle-state unit, the information of described controller trigger element and actuator is aggregated into described vehicle-state unit
Afterwards, then feed back to described ecu rollover evaluation unit；Described actuator is differential braking mechanism in parallel and active steering machine
Structure, wherein, described active steering mechanism includes front-wheel steer and rear-axle steering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620736853.6U CN205905961U (en) | 2016-07-13 | 2016-07-13 | Control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620736853.6U CN205905961U (en) | 2016-07-13 | 2016-07-13 | Control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205905961U true CN205905961U (en) | 2017-01-25 |
Family
ID=57806063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620736853.6U Active CN205905961U (en) | 2016-07-13 | 2016-07-13 | Control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205905961U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080553A (en) * | 2016-07-13 | 2016-11-09 | 南京航空航天大学 | A kind of four-wheel steering automobile anti-rollover control system merging speed change and method |
| CN108838988A (en) * | 2018-07-27 | 2018-11-20 | 深圳市优必选科技有限公司 | Prevent robot of turning on one's side |
| CN108909705A (en) * | 2018-08-22 | 2018-11-30 | 北京航空航天大学 | A kind of control method for vehicle and device |
| CN109421639A (en) * | 2017-08-29 | 2019-03-05 | 比亚迪股份有限公司 | Vehicle safe driving control method, device and vehicle |
| CN110194213A (en) * | 2019-05-09 | 2019-09-03 | 上海工程技术大学 | Anti-rollover system for automobiles |
| CN112721910A (en) * | 2021-01-22 | 2021-04-30 | 浙江孔辉汽车科技有限公司 | Active anti-roll stability control system and method for automobile |
-
2016
- 2016-07-13 CN CN201620736853.6U patent/CN205905961U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080553A (en) * | 2016-07-13 | 2016-11-09 | 南京航空航天大学 | A kind of four-wheel steering automobile anti-rollover control system merging speed change and method |
| CN106080553B (en) * | 2016-07-13 | 2019-06-04 | 南京航空航天大学 | A kind of the four-wheel steering automobile anti-rollover control system and method for the variation of fusion speed |
| CN109421639A (en) * | 2017-08-29 | 2019-03-05 | 比亚迪股份有限公司 | Vehicle safe driving control method, device and vehicle |
| CN108838988A (en) * | 2018-07-27 | 2018-11-20 | 深圳市优必选科技有限公司 | Prevent robot of turning on one's side |
| CN108909705A (en) * | 2018-08-22 | 2018-11-30 | 北京航空航天大学 | A kind of control method for vehicle and device |
| CN108909705B (en) * | 2018-08-22 | 2020-01-07 | 北京航空航天大学 | Vehicle control method and device |
| CN110194213A (en) * | 2019-05-09 | 2019-09-03 | 上海工程技术大学 | Anti-rollover system for automobiles |
| CN110194213B (en) * | 2019-05-09 | 2023-11-24 | 上海工程技术大学 | Automobile rollover prevention system |
| CN112721910A (en) * | 2021-01-22 | 2021-04-30 | 浙江孔辉汽车科技有限公司 | Active anti-roll stability control system and method for automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106080553B (en) | A kind of the four-wheel steering automobile anti-rollover control system and method for the variation of fusion speed | |
| CN205905961U (en) | Control system that turns on one's side is prevented to four wheel steering car that fuses speed of a motor vehicle change | |
| CN106945670B (en) | Anti-rollover system for automobiles and control method based on driver's input prediction | |
| CN106585625B (en) | Four-wheel steering vehicle rollover prevention system and control method thereof | |
| CN100358766C (en) | Vehicle run stability control device based on wheel longitudinal force | |
| CN101311050B (en) | Motion control device of vehicle using acceleration information | |
| CN104176054B (en) | A kind of automatic lane change control system of automobile active anti-corrosion and method of work thereof | |
| US8862327B2 (en) | Process and device for stabilizing a vehicle | |
| CN107650893A (en) | Heavy vehicle brakeing during cornereing stability supplementary controlled system | |
| CN100333948C (en) | Roll-over suppressing control apparatus for a vehicle | |
| CN104011514B (en) | The loading condition presuming method of vehicle and device | |
| CN107117167A (en) | Automobile differential steering system and its control method with a variety of collision avoidance patterns | |
| CN109733382A (en) | A kind of car for guarding against side turned over method based on Model Predictive Control | |
| CN102910201B (en) | Steering-based automobile flat tire prevention control system | |
| CN109291932A (en) | Electric car Yaw stability real-time control apparatus and method based on feedback | |
| CN101537828B (en) | Four-wheel steering automobile stability control system | |
| CN106461052A (en) | Method and system for controlling stability and yaw response of a vehicle by locking a differential at elevated speeds | |
| CN105857304A (en) | Four-wheel drive vehicle-based moment of force distribution control system | |
| CN201362249Y (en) | Four-wheel steering vehicle stability controlling system | |
| CN110103950A (en) | A kind of Vehicle rollover mitigation system and control method based on electric power steering apparatus | |
| CN206781743U (en) | Automobile differential steering system with a variety of collision avoidance patterns | |
| CN110901630A (en) | Method and system for controlling lateral stability of semi-trailer train | |
| US20060041366A1 (en) | Motion control device of vehicle | |
| CN103171623A (en) | Control method and control system of vehicle yaw stability and system thereof | |
| CN104608820A (en) | Method for calibrating the optimal damping operating characteristic of motor steering damper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |