WO2021175102A1 - Procédé et appareil de commande d'attitude de virage de véhicule, et véhicule - Google Patents

Procédé et appareil de commande d'attitude de virage de véhicule, et véhicule Download PDF

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Publication number
WO2021175102A1
WO2021175102A1 PCT/CN2021/075814 CN2021075814W WO2021175102A1 WO 2021175102 A1 WO2021175102 A1 WO 2021175102A1 CN 2021075814 W CN2021075814 W CN 2021075814W WO 2021175102 A1 WO2021175102 A1 WO 2021175102A1
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WIPO (PCT)
Prior art keywords
vehicle
turning
force output
posture
detection information
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PCT/CN2021/075814
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English (en)
Chinese (zh)
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刘泽勇
张鹏
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纳恩博（常州）科技有限公司
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Publication of WO2021175102A1 publication Critical patent/WO2021175102A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/12—Conjoint control of vehicle sub-units of different type or different function including control of differentials
    • B60W10/16—Axle differentials, e.g. for dividing torque between left and right wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • 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

Definitions

  • the present disclosure relates to the field of vehicle technology, and in particular, to a method for controlling the turning posture of a vehicle, and a device and a vehicle for controlling the turning posture of the vehicle.
  • drift a driving skill that is generally seen in performances and off-road races.
  • the drift of a vehicle is divided into two characteristics: understeer (also known as “push head”) and oversteer (also known as “tail flick”). These characteristics depend on the design of the vehicle's drive form, wheelbase, steering, and suspension structure.
  • an object of the present disclosure is to provide a method for controlling the turning posture of a vehicle, which can adjust the turning posture of the vehicle to meet more diverse drifting requirements.
  • the second purpose of the present disclosure is to provide a non-temporary computer storage medium.
  • the third purpose of the present disclosure is to provide a device for controlling the turning posture of a vehicle.
  • the third purpose of the present disclosure is to propose a vehicle.
  • the method for controlling the turning posture of a vehicle in an embodiment of the first aspect of the present disclosure includes: acquiring vehicle posture detection information and driving brake detection information; determining vehicle steering according to the posture detection information; And the drive brake detection information to determine the left wheel drive value and the right wheel drive value of the vehicle; control the left wheel drive unit according to the left wheel drive value and control the right wheel drive unit according to the right wheel drive value Side wheel drive unit to adjust the turning posture.
  • the steering is determined according to the posture detection signal, and the left and right wheel drive values of the vehicle are determined according to the steering and drive brake detection signals to control the left and right wheels respectively.
  • Output strength so that the turning posture can be adjusted in real time when the vehicle is turning.
  • the output strength of the left and right wheels can be different in different turning states. Combined with the characteristics of the vehicle itself, it can provide different drift characteristics to meet more diversified drift requirements .
  • determining the left wheel drive value and the right wheel drive value of the vehicle according to the vehicle steering and the drive brake detection information includes: according to the vehicle steering and the drive brake information Determine that the vehicle accelerates and turns left; determine that the product of the maximum drive value corresponding to the accelerator pedal detection information and the preset first left wheel force output coefficient is the left wheel drive value; and determine that the accelerator pedal detection information corresponds to The product of the maximum drive value of and the preset first right wheel force output coefficient is the right wheel drive value, wherein the first right wheel force output coefficient is greater than the first left wheel force output coefficient Therefore, when the vehicle turns left when fueling, the required drift characteristics can be met.
  • determining the left wheel drive value and the right wheel drive value of the vehicle according to the vehicle steering and the drive brake detection information includes: according to the vehicle steering and the drive brake information It is determined that the vehicle accelerates and turns right; it is determined that the product of the maximum drive value corresponding to the accelerator pedal detection information and the preset second left wheel force output coefficient is the left wheel drive value; and it is determined that the accelerator pedal detection information corresponds to The product of the maximum drive value of and the preset second right wheel force output coefficient is the right wheel drive value, wherein the second right wheel force output coefficient is less than the first left wheel force output coefficient Therefore, the required drift characteristics can be met when the vehicle accelerates to turn right.
  • determining the left wheel drive value and the right wheel drive value of the vehicle according to the vehicle steering and the drive brake detection information includes: according to the vehicle steering and the drive brake information Determine that the vehicle is braking and turning left; determine that the product of the maximum drive value corresponding to the brake pedal detection information and the preset third left wheel force output coefficient is the left wheel drive value; and determine that the brake pedal is detected
  • the product of the maximum drive value corresponding to the information and the preset third right wheel force output coefficient is the right wheel drive value, where the third right wheel force output coefficient is less than the third left wheel force Output coefficient. Therefore, when the vehicle brakes to turn left, the drift characteristics required by the user can be met.
  • determining the left wheel drive value and the right wheel drive value of the vehicle according to the vehicle steering and the drive brake detection information includes: according to the vehicle steering and the drive brake information Determine that the vehicle is braking and turning right; determine that the product of the maximum drive value corresponding to the brake pedal detection information and the preset fourth left wheel force output coefficient is the left wheel drive value; and determine that the brake pedal is detected
  • the product of the maximum drive value corresponding to the information and the preset fourth right wheel force output coefficient is the right wheel drive value, where the fourth right wheel force output coefficient is greater than the fourth left wheel force Output coefficient. Therefore, when the vehicle brakes to turn right, the drift characteristics required by the user can be met.
  • the braking turning control of the vehicle has a higher priority than the acceleration turning control.
  • the method before determining the steering of the vehicle based on the posture detection information, the method further includes: acquiring vehicle speed information; determining a vehicle speed value based on the vehicle speed information, and determining the steering of the vehicle based on the posture detection information The vehicle speed value is greater than the preset vehicle speed threshold and the turning amount is greater than the preset turning amount threshold, then the vehicle turning attitude control mode is activated.
  • the method further includes: updating the maximum turning amount of the vehicle in real time, and exiting the vehicle turning when the difference between the maximum turning amount and the turning amount of the vehicle is greater than a preset turning amount failure value Attitude control mode; or, if the vehicle speed value is less than the preset vehicle speed threshold, exit the vehicle turning attitude control mode.
  • the method further includes: acquiring parameter setting information; and updating the first left wheel force output coefficient, the first right wheel force output coefficient, and the second left wheel force output coefficient according to the parameter setting information ,
  • the second right wheel force output coefficient, the third left wheel force output coefficient, the third right wheel force output coefficient, the fourth left wheel force output coefficient, the fourth right wheel force output coefficient, the preset vehicle speed threshold And the preset turning vector failure value can meet the needs of users.
  • the non-transitory computer storage medium of the embodiment of the second aspect of the present disclosure has a computer program stored thereon, and when the computer program is executed, the method for controlling the turning posture of the vehicle is realized.
  • the device for controlling the turning posture of a vehicle includes: at least one processor; a memory communicatively connected to the at least one processor; When the computer program is executed by the at least one processor, the method for controlling the turning posture of the vehicle is realized.
  • the vehicle of the embodiment of the fourth aspect of the present disclosure includes: a posture detection device for detecting the posture of the vehicle and outputting posture detection information; an accelerator pedal detection device for detecting accelerator pedal information and outputting acceleration detection information; brake pedal A detection device for detecting brake pedal information and outputting brake detection information, where the acceleration detection information and the brake detection information are used as drive brake detection information; the left wheel drive unit and the right wheel drive unit
  • the device for controlling the turning posture of a vehicle according to claim 11, and the posture detection device, the accelerator pedal detection device, the brake pedal detection device, the left wheel drive unit and the right wheel drive The unit is electrically connected.
  • the vehicle according to the embodiment of the present disclosure detects the posture information by the posture detection device, and detects the driving brake information by the accelerator pedal detection device and the brake pedal detection device, and the device for controlling the turning posture of the vehicle is based on the vehicle
  • the steering and driving brake detection information dynamically adjusts the turning posture, and then combines the drift characteristics of the vehicle itself to meet the requirements of different drift characteristics, and the drift characteristics are more diversified.
  • the vehicle further includes: a vehicle speed detection device, which is electrically connected to the device for controlling the turning posture of the vehicle, and is used for detecting vehicle speed information.
  • a vehicle speed detection device which is electrically connected to the device for controlling the turning posture of the vehicle, and is used for detecting vehicle speed information.
  • the vehicle further includes: a communication device, connected to the device for controlling the turning posture of the vehicle, and configured to receive parameter setting information sent by the mobile terminal.
  • Fig. 1 is a flowchart of a method for controlling a turning posture of a vehicle according to an embodiment of the present disclosure
  • Fig. 2 is a block diagram of a device for controlling a turning posture of a vehicle according to an embodiment of the present disclosure
  • Fig. 3 is a block diagram of a vehicle according to an embodiment of the present disclosure.
  • FIG. 4 is a block diagram of a vehicle according to another embodiment of the present disclosure.
  • Fig. 1 is a flowchart of a method for controlling a turning posture of a vehicle according to an embodiment of the present disclosure.
  • the method of an embodiment of the present disclosure at least includes steps S1-step S4.
  • Step S1 Obtain vehicle attitude detection information and driving brake detection information.
  • the vehicle’s posture information can be detected by the vehicle’s posture detection device, such as an accelerometer, gyroscope or other sensor that can detect the vehicle’s running posture, and output the posture detection information to the control device; and, it can be refueled
  • the pedal detection device detects the driving information such as the depth of the accelerator pedal
  • the brake pedal detection device detects the brake information such as the depth of the brake pedal, and outputs the driving brake detection information to the control device for subsequent turning Attitude control.
  • Step S2 Determine the steering of the vehicle according to the posture detection information, that is, determine whether the vehicle turns left or right.
  • Step S3 Determine the left wheel drive value and the right wheel drive value of the vehicle according to the vehicle steering and drive brake detection information.
  • the wheel force output coefficients of the left and right wheels of the vehicle in different turning states can be preset to limit the allowable maximum force output of the driving wheels on both sides of the vehicle, and the refueling or brake pedals are correspondingly output to the wheels.
  • the product of the maximum force at the end and the output coefficient of the corresponding wheel force is used as the wheel drive value.
  • step S4 the left wheel drive unit is controlled according to the left wheel drive value and the right wheel drive unit is controlled according to the right wheel drive value to adjust the turning posture.
  • the left and right wheels of the vehicle can be driven by two motors to achieve independent driving of the wheels on both sides.
  • the wheel force output coefficients of the left wheel and the right wheel are different, and the left and right wheel ends have a difference in force, thus providing a certain steering characteristic for the vehicle.
  • the steering force interacts with the steering characteristics determined by the vehicle's own characteristics, and finally determines the turning posture of the vehicle, so as to achieve the purpose of adjusting the turning posture of the vehicle to meet the different turning characteristics requirements of the driver.
  • the steering is determined according to the posture detection signal, and the left and right wheel drive values of the vehicle are determined according to the steering and drive brake detection signals to control the left and right wheels respectively.
  • Output strength so that the turning posture can be adjusted in real time when the vehicle is turning.
  • the output strength of the left and right wheels can be different in different turning states, and combined with the characteristics of the vehicle itself, it can provide different drift characteristics to meet more diversified drift requirements .
  • the method of the embodiment of the present disclosure before determining the vehicle steering according to the attitude detection information, further includes: obtaining vehicle speed information; determining the vehicle speed value according to the vehicle speed information, and determining the steering amount of the vehicle according to the attitude detection information; If the vehicle speed threshold is set and the turning vector is greater than the preset turning vector threshold, the vehicle turning attitude control mode is activated.
  • the minimum speed and system sensitivity at which the vehicle turning attitude control mode takes effect can be preset, that is, the preset vehicle speed threshold and the preset turning amount threshold.
  • the vehicle speed information is detected by the vehicle speed sensor, and the vehicle attitude is detected by the attitude sensor.
  • the vehicle turning amount is greater than the preset turning amount threshold, then the vehicle is determined to start turning.
  • the vehicle speed is greater than the preset speed threshold and the turning amount is greater than the preset turning amount threshold , It is considered that the vehicle will drift, and the turning attitude control mode of the vehicle is activated to meet the needs of users.
  • vehicle posture detection devices such as accelerometers, gyroscopes or other sensors that can detect vehicle running posture, can detect the vehicle’s turning vector such as steering angle speed, steering acceleration, etc. in real time, and can analyze the vehicle’s steering angle
  • the brake signal detection device such as accelerator pedal detection device, brake pedal detection device, real-time acquisition of signals such as accelerator or brake signal
  • the control device combines the collected steering information, accelerator and brake information to calculate, according to The calculation result controls the drive execution unit, such as the drive motors of the wheels on both sides of the vehicle, and dynamically adjusts the output strength of the drive execution units on both sides to the wheel ends, so as to achieve the effect of adjusting the turning posture of the vehicle.
  • the driver can modify the relevant parameters of the vehicle turning attitude control mode online through the on-board output device or mobile terminal such as mobile phone APP according to different driving roads and driving preferences.
  • each road software can have a corresponding Adjust the system to the most comfortable state for the driver.
  • the parameter setting information is obtained; the wheel force output coefficient and various parameters in different turning states are updated according to the parameter setting information, for example, the first left wheel force output coefficient, the first right wheel force output coefficient, and the second left wheel force output coefficient are updated.
  • the preset vehicle speed threshold and preset steering vector failure value can be understood as limiting the ratio of acceleration or braking force transmitted to the wheel ends, and the preset steering amount failure value can be understood as the lower limit of the effective steering amount for starting the vehicle turning attitude control mode.
  • the drive execution unit will, according to the calculation result of the control device, set the maximum allowable wheel force output of the left wheel corresponding to the drive execution unit Limited to the range of 50%-100%, that is, the first left wheel force output coefficient can be set between 50% and 100%, and the maximum allowable wheel force output of the right wheel corresponding to the drive execution unit is limited to 100 %-200%, that is, the first right wheel force output coefficient can be set between 100%-200%.
  • the drive execution unit limits the allowable maximum wheel force output of the right wheel corresponding to the drive execution unit within the range of 50%-100% according to the calculation result of the control device, that is, the second right
  • the side wheel force output coefficient can be set between 50%-100%, and the maximum allowable wheel force output of the left wheel corresponding to the drive execution unit is limited to the range of 100%-200%, that is, the second left wheel force
  • the output coefficient can be set between 100% and 200%.
  • the vehicle turns left when stepping on the brakes, and the drive execution unit limits the maximum allowable wheel force output of the left wheel corresponding to the drive execution unit within the range of 100%-200% according to the calculation result of the control device, that is, the third right side
  • the wheel force output coefficient can be set between 100% and 200%, and the maximum allowable wheel force output of the right wheel corresponding to the drive execution unit is limited to the range of 20%-100%, that is, the third right wheel force output
  • the coefficient can be set between 20%-100%.
  • the vehicle turns right when stepping on the brakes, and the driving execution unit limits the allowable maximum wheel force output of the right wheel corresponding to the driving execution unit within the range of 100%-200% according to the calculation result of the control device, that is, the fourth right side.
  • the wheel force output coefficient can be set between 100% and 200%, and the maximum allowable value of the wheel force output of the left wheel corresponding to the drive execution unit is limited to the range of 20%-100%, that is, the fourth left wheel force output
  • the coefficient can be set between 20%-100%.
  • the vehicle running posture is monitored.
  • the vehicle turning amount is greater than the set turning amount threshold
  • the vehicle turning attitude control mode is activated.
  • the control device combines The collected rotation vector and acceleration and braking detection information are judged and calculated, and the driving execution unit, such as the driving motors on both sides of the vehicle, dynamically adjusts the driving force of the driving motors on both sides according to the calculation results.
  • the product of the maximum driving value corresponding to the accelerator pedal detection information and the preset first left wheel force output coefficient is the left wheel Drive value; and, determining that the product of the maximum drive value corresponding to the accelerator pedal detection information and the preset first right wheel force output coefficient is the right wheel drive value, where the first right wheel force output coefficient is greater than the first left Side wheel force output coefficient.
  • the product of the maximum driving value corresponding to the accelerator pedal detection information and the preset second left wheel force output coefficient is left Side wheel drive value; and, determining that the product of the maximum drive value corresponding to the accelerator pedal detection information and the preset second right wheel force output coefficient is the right wheel drive value, where the second right wheel force output coefficient is less than the first A left-hand wheel force output coefficient to meet the drift characteristics requirements when accelerating right turning.
  • the vehicle is braking and turning left according to the vehicle steering and driving braking information, and it is determined that the product of the maximum driving value corresponding to the brake pedal detection information and the preset third left wheel force output coefficient is left Side wheel drive value; and, determining that the product of the maximum drive value corresponding to the brake pedal detection information and the preset third right wheel force output coefficient is the right wheel drive value, where the third right wheel force output coefficient is less than The third left wheel force output coefficient.
  • the drive motors on both sides are respectively controlled to make the output power of the left and right wheels different, so as to adjust the vehicle's posture when turning, so as to meet the requirements of braking left turning The drift characteristics of the time required.
  • the vehicle is braking and turning right according to the vehicle steering and driving braking information, and it is determined that the product of the maximum driving value corresponding to the brake pedal detection information and the preset fourth left wheel force output coefficient is left Side wheel drive value; and determining that the product of the maximum drive value corresponding to the brake pedal detection information and the preset fourth right wheel force output coefficient is the right wheel drive value, where the fourth right wheel force output coefficient is greater than The fourth left wheel force output coefficient.
  • the drive motors on both sides are respectively controlled to make the output power of the left and right wheels different, so as to adjust the vehicle's posture when turning, so as to meet the requirements of braking right turning The drift characteristics of the time required.
  • the braking turning control of the vehicle has a higher priority than the acceleration turning control. That is to say, the vehicle is turning while stepping on the brake and the accelerator, and the turning attitude of the vehicle is adjusted according to the braking turning method described above to meet the demand for turning drift characteristics.
  • the maximum turning amount of the vehicle is updated in real time.
  • the difference between the maximum turning amount and the turning amount of the vehicle is greater than the preset turning amount failure value, it is determined that the vehicle has exited the curve, and then the vehicle is exited.
  • Turning attitude control mode or, if the vehicle speed value is less than the preset speed threshold, even if it is in a curve, there is generally no drift phenomenon, then exit the turning attitude control mode of the vehicle. After exiting the vehicle turning attitude control mode, the vehicle can perform normal driving control.
  • the posture of the vehicle is detected by the posture detection detection device, and the turning amount of the vehicle is obtained, and the brake pedal detection device and the accelerator pedal detection device are used to collect and drive braking in real time.
  • the control device combines the collected steering vector and the driving brake information to calculate.
  • the driving execution unit dynamically adjusts the force output of the driving execution units on both sides, such as the drive motor, according to the calculation result, and then dynamically adjusts the vehicle's turning posture to satisfy More demand for drift characteristics.
  • the method for controlling the turning posture of a vehicle in the embodiments of the present disclosure is suitable for electric four-wheeled vehicles or other available vehicles, such as electric cars, go-karts, and racing cars.
  • the non-transitory computer storage medium of the embodiment of the second aspect of the present disclosure has a computer program stored thereon, and when the computer program is executed, the method for controlling the turning posture of the vehicle in the above embodiment can be realized.
  • FIG. 2 is a block diagram of a device for controlling a turning posture of a vehicle according to an embodiment of the present disclosure.
  • the device 10 includes at least one processor 11 and a memory 12 communicatively connected with the at least one processor 11.
  • the memory 12 stores a computer program that can be executed by at least one processor 11, and when the computer program is executed by at least one processor, the method for controlling the turning posture of the vehicle in the above embodiment is implemented.
  • FIG. 3 is a block diagram of a vehicle according to an embodiment of the present disclosure.
  • the vehicle of the embodiment of the present disclosure may include a four-wheeled vehicle such as an electric car, a kart, a racing car, or other types of vehicles, and is not specifically limited.
  • the vehicle 1 of the embodiment of the present disclosure includes a posture detection device 20, an accelerator pedal detection device 30, a brake pedal detection device 40, a left wheel drive unit 50, a right wheel drive unit 60, and those of the above embodiment A device 10 for controlling a turning posture of a vehicle.
  • the device 10 for controlling the turning posture of the vehicle is electrically connected to the posture detection device 20, the accelerator pedal detection device 30, the brake pedal detection device 40, the left wheel drive unit 50, and the right wheel drive unit 60.
  • the posture detection device 20 such as an accelerometer, a gyroscope, or other sensors that can detect the running posture of the vehicle, is used to detect the posture of the vehicle and output posture detection information;
  • the accelerator pedal detection device 30 is used to detect accelerator pedal information and output acceleration detection information ;
  • the brake pedal detection device 40 is used to detect brake pedal information and output brake detection information, where acceleration detection information and brake detection information are used as drive brake detection information.
  • the device 10 for controlling the turning posture of a vehicle is used at least to obtain the posture detection information and drive brake detection information of the vehicle, determine the vehicle steering according to the posture detection information, and determine the left wheel drive value and the drive brake detection information of the vehicle according to the vehicle steering and drive brake detection information.
  • the right wheel drive value is used to control the left wheel drive unit 50 according to the left wheel drive value and the right wheel drive unit 60 according to the right wheel drive value to adjust the turning posture to meet the needs of different turning drift characteristics.
  • the posture information is detected by the posture detection device 20, and the driving brake information is detected by the accelerator pedal detection device 30 and the brake pedal detection device 40, and the device 10 for controlling the turning posture of the vehicle is based on the steering and driving of the vehicle.
  • the brake detection information dynamically adjusts the turning posture, and combined with the drift characteristics of the vehicle itself, it can meet the requirements of different drift characteristics, and the drift characteristics are more diversified.
  • the turning attitude control mode of controlling the vehicle Before controlling the turning attitude of the vehicle, it is also determined whether the turning attitude control mode of controlling the vehicle is activated at this time. Specifically, as shown in FIG. Electrical connection for detecting vehicle speed information.
  • the device 10 for controlling the turning posture of a vehicle is also used to obtain vehicle speed information, determine the vehicle speed value according to the vehicle speed information, and determine the turning amount of the vehicle according to the attitude detection information, and when the vehicle speed value is greater than the preset vehicle speed threshold and the turning amount is greater than the preset turning amount threshold At this time, the turning attitude control mode of the vehicle is activated, and the turning attitude is adjusted in real time according to the method of the above embodiment, so as to meet the characteristic requirements of turning drift.
  • the vehicle 1 further includes a communication device 80, which is connected to the device 10 for controlling the turning posture of the vehicle, and is used for receiving parameter setting information sent by a mobile terminal such as a mobile phone.
  • the parameter setting information may include related parameters when controlling the turning posture of the vehicle, such as a preset vehicle speed threshold, a preset turning vector failure value, and a wheel force output system in various turning states. For example, the driver can adjust the system to the state where the driver feels most comfortable according to different driving roads and driving preferences.
  • the device 10 for controlling the turning posture of the vehicle receives parameter setting information, updates related parameters, and saves the updated parameters.
  • the method and device 10 for controlling the turning posture of a vehicle and the vehicle 1 of the embodiments of the present disclosure activate the vehicle turning posture control mode when it is determined that the vehicle is turning and the vehicle speed exceeds the preset vehicle speed threshold. Adjust the turning posture in real time with the driving and braking information, and combine the drift characteristics of the vehicle to provide different drift wheel end forces to meet different drift characteristics requirements and be more personalized.
  • any process or method description in the flowchart or described in other ways herein can be understood as meaning that includes one or more executable instructions for implementing custom logic functions or steps of the process.
  • Modules, fragments, or parts of code, and the scope of the preferred embodiments of the present disclosure includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner or in the reverse order according to the functions involved , To perform functions, which should be understood by those skilled in the art to which the embodiments of the present disclosure belong.
  • a "computer-readable medium” can be any device that can contain, store, communicate, propagate, or transmit a program for use by an instruction execution system, device, or device or in combination with these instruction execution systems, devices, or devices.
  • computer readable media include the following: electrical connections (electronic devices) with one or more wiring, portable computer disk cases (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable and editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because it can be used, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable media if necessary. The program is processed in a manner to obtain the program electronically, and then stored in the computer memory.
  • each part of the present disclosure can be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • Discrete logic gate circuits with logic functions for data signals Logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate array (PGA), field programmable gate array (FPGA), etc.
  • a person of ordinary skill in the art can understand that all or part of the steps carried in the method of the foregoing embodiments can be implemented by a program instructing relevant hardware to complete.
  • the program can be stored in a computer-readable storage medium. When executed, it includes one of the steps of the method embodiment or a combination thereof.
  • the functional units in the various embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.
  • the aforementioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

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  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Est divulgué un procédé de commande d'une attitude de virage d'un véhicule. Le procédé comprend : l'acquisition d'informations de surveillance d'attitude et d'informations de surveillance d'entraînement et de freinage d'un véhicule (1) ; la détermination d'une direction du véhicule en fonction des informations de surveillance d'attitude ; la détermination d'une valeur d'entraînement de roue gauche et d'une valeur d'entraînement de roue droite du véhicule (1) en fonction de la direction du véhicule et des informations de commande d'entraînement et de freinage ; et la commande d'une unité d'entraînement de roue gauche (50) en fonction de la valeur d'entraînement de roue gauche et la commande d'une unité d'entraînement de roue droite (60) en fonction de la valeur d'entraînement de roue droite. Est en outre divulgué un appareil de commande d'une attitude de virage d'un véhicule, et un véhicule.
PCT/CN2021/075814 2020-03-05 2021-02-07 Procédé et appareil de commande d'attitude de virage de véhicule, et véhicule WO2021175102A1 (fr)

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