CN101570185B - Method for operating vehicle control in vehicle, and vehicle control device - Google Patents
Method for operating vehicle control in vehicle, and vehicle control device Download PDFInfo
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- CN101570185B CN101570185B CN 200910137620 CN200910137620A CN101570185B CN 101570185 B CN101570185 B CN 101570185B CN 200910137620 CN200910137620 CN 200910137620 CN 200910137620 A CN200910137620 A CN 200910137620A CN 101570185 B CN101570185 B CN 101570185B
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- vehicle
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- propelled vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention relates to a method for operating vehicular control device in motor vehicle, a vehicular control device and an evaluation device for evaluating stability state of motor vehicle. The method involves determining the path curves for multiple different driving maneuvers of the motor vehicle, the path curves specifying correlation between a first status parameter and a second status parameter according to related driving maneuvers; determining stable region boundary curve based on path curves in a two-dimensional parameter chart including those path groups determined according to different driving maneuvers and related to the first and the second status parameters; distributing stable index representing stable state of the motor vehicle to the stable region boundary curve according to at least one current motor vehicle driving state and based on corresponding position of location in the state parameter chart to be distributed the current driving state; operating the vehicularcontrol device based on the stable index.
Description
Technical field
The present invention relates to method and the controller of vehicle of controller of vehicle in a kind of operating motor vehicle.
Background technology
Multiple controller of vehicle is disclosed in the prior art.For example, controller of vehicle stably occupies market by active deflector.The major part of this controller of vehicle is so-called apparatus for evaluating (Estimator), and it will necessary information send to controller for suitably controlling actuator.
(for example: cross-car speed or car body longitudinal velocity research has widely been carried out in) estimation though to state parameter indirectly measurement, that described vehicle-state, yet meanwhile, (for example: the stabilized conditions of estimation self-propelled vehicle) effort of having done is fewer to the message context that is combined by various state parameters in estimation.
Summary of the invention
Task of the present invention is to provide method and a kind of controller of vehicle of controller of vehicle in a kind of operating motor vehicle, and described controller of vehicle allows to pay close attention to efficiently astable that stabilized conditions and self-propelled vehicle will take place under situation compact and that realize simplifiedly.
This task by the operation controller of vehicle, according to the method for the feature of independent claims 1, and solve by the controller of vehicle according to the feature of independent claims 10.
The method of controller of vehicle may further comprise the steps in the operating motor vehicle:
-drive correspondingly definite track at a plurality of different bends of self-propelled vehicle, described track is driven the correlativity of having described first state parameter and second state parameter at relevant bend respectively;
-in the two-dimensional state parameter chart that comprises at a plurality of different bends driving those track families that determine, relevant with second state parameter with first state parameter, determine the stabilized zone boundary curve based on these geometric locuses;
-at least one current running state of automotive vehicle, according to the relative position in the place in the described state parameter chart that will distribute to described current driving state, the index of stability that has characterized this self-propelled vehicle stabilized conditions is distributed to described stabilized zone boundary curve; And
-operate described controller of vehicle based on described index of stability.
Therefore, sign to stabilized conditions according to the present invention can realize by index of stability simple and compactly, described index of stability especially can be selected from be in 0 to 1 interval interior continuous whole numerical value, at this, by the value of index of stability is provided, what make it possible to that the cognitron motor-car is beginning is astable, thereby the control of actv. stability is provided for this self-propelled vehicle.At this, first and second state parameters can be assessed or directly be calculated by available observed reading by standardization of application technical equipment (for example: by Kalman filter).The present invention is especially based on this understanding, namely, in two-dimensional state parameter chart of the present invention, under the situation of suitable selection mode parameter, can limit the stabilized zone by the stabilized zone boundary curve, described stabilized zone boundary curve comprises two hyperbolic type stabilized zone boundary curves and two rectilinear stabilized zone boundary curves, and the coefficientoffriction of road is all depended in their position.
According to a preferred implementation, first state parameter is the float angle (β) of this self-propelled vehicle.According to a preferred implementation, second state parameter is the float angle of self-propelled vehicle about the derivative of time (d β/dt).Can be by the standardization of application technical equipment (for example: Kalman filter) estimate float angle β.Float angle can directly calculate according to the observed reading that provides in commercial vehicle/comm..vehicle about derivative d β/dt of time.Certainly, also can adopt other parameters as first and second state parameters within the scope of the invention, approximate this float angle and/or those parameters proportional with it especially greatly.For example can adopt float angle β and yaw rate v
ψAs state parameter.
The invention still further relates to a kind of controller of vehicle and a kind of apparatus for evaluating for assessment of the self-propelled vehicle stabilized conditions.
Also comprise other makes of the present invention in specification sheets and the dependent claims.
Description of drawings
To illustrate with reference to the accompanying drawings below and following preferred implementation is further set forth the present invention.
In the accompanying drawing:
Each state parameter is shown to the example that Fig. 1 drives at the self-propelled vehicle hedging and time correlation;
Fig. 2 shows the bend of Fig. 1 and drives the β-d β/dt-characteristic curve that causes;
Fig. 3 to Fig. 6 shows in β-d β/dt-chart at longitudinal velocity v
xWith the geometric locus of dispersing or restraining of the different value of coefficientoffriction, in order to being described, an embodiment of the invention how to determine index of stability; And
Fig. 7 to Figure 10 shows β-v
ψIn-the chart at longitudinal velocity v
xWith the geometric locus of dispersing or restraining of the different value of coefficientoffriction, in order to being described, another embodiment of the invention how to determine index of stability.
The specific embodiment
According to a preferred implementation, the method according to this invention in operating motor vehicle the controller of vehicle most important input parameter be the float angle β (Schwimmwinkel) of automobile body and about derivative d β/dt (dessen zeitliche Ableitung) of time.Can be by the standardization of application technical equipment (for example: Kalman filter) estimate float angle β.Float angle can directly calculate according to the observed reading that provides in commercial vehicle/comm..vehicle about derivative d β/dt of time.
First embodiment of the invention, by using β-d β/dt-characteristic curve (after this also being referred to as β-d β/dt-chart), the actuator that determines whether to jeopardize self-propelled vehicle stability and correspondingly control controller of vehicle, in described β-d β/dt-characteristic curve, float angle records in the mode about float angle β about derivative d β/dt of time.
Be described below in conjunction with Fig. 1 and Fig. 2, wherein, the example that Fig. 1 drives at the self-propelled vehicle hedging and time correlation each state parameter is shown, and Fig. 2 show the β-d β/dt-characteristic curve that obtains at this bend driving.
State parameter shown in Figure 1 is car body longitudinal velocity v
x(unit is km/h), bearing circle angle HW (unit be °), vehicle body transverse acceleration a
yThe float angle β (unit be °) of (unit is g), estimation and yaw rate (unit is °/s), these state parameters are all driven with the time (unit is s) at illustrational self-propelled vehicle hedging and are recorded relatively.
Shown in the HW chart of Fig. 1, shown in driving process in, this chaufeur is (at longitudinal velocity v
xUnder the situation that continues to descend) at first make direction towards positive dirction, make direction towards reversing sense subsequently, wherein, the bearing circle angular curve totally is sinusoidal.Can see the dynamic driving effect of this driving process in other charts of Fig. 1.
Drive the β-d β/dt-characteristic curve that obtains according to the bend of Fig. 1 and in Fig. 2, show as such chart, wherein recorded float angle about derivative d β/dt of time (unit for °/s) with the correlativity of float angle β (unit for °).At this, obtained track (as shown in Figure 2) that conter clockwise change according to the value of the float angle β of the motor-driven vehicle going process of Fig. 1 and float angle about derivative d β/dt of time by record.
For definition is in the successive value interval [0 according to the present invention; ...; 1] (0 expression is stable for index of stability; 1 expression is unstable); according to Fig. 3 in following step at a large amount of track of a large amount of motor-driven vehicle going process records (perhaps also can simulate according to dynamic running model under some situation and obtain a large amount of tracks), and these tracks are plotted in a common β-d β/dt-chart.This all finishes under certain unified bend driving initial condition (IC), and wherein, described initial condition (IC) especially can comprise longitudinal velocity (v
x), the bearing circle angle (Δ) when beginning this driving and road friction coefficient (μ).So-called initial condition (IC) is similarly set for each β-d β/dt-chart, to realize comparability.
In selected figure, the track family that so obtains has shown a kind of feature, need not to analyze the process that bend drives according to this feature and just can determine that vehicle-state is stable or astable, its way is: launch when the track that bend is driven, it is astable so; And when bend driving stably, track is restrained, and this track is through the zero point of this chart.
Here show that the border between stable and astable track can be described by the stabilized zone boundary curve that extends fairly simplely at least approx.
Therefore, finally determine for the track of each motor-driven vehicle going process and adjust the stabilized zone boundary curve in other words.At this, for example can adopt known self-propelled vehicle list rut model (Einspurmodell), in order to determine believable stabilized zone boundary curve.In Fig. 3, show this possible boundary curve with lines.
If at different initial condition (IC) (for example: different cross velocity v
yWith yaw rate v
ψ, can be with (v at this
Y0, v
ψ 0) represent a pair of initial value) variation of research convergence and the track dispersed, can see that so the stabilized zone in β-d β/dt-chart can limit by the hyperbolic type boundary curve.In selected vehicle-state figure, as long as float angle β is smaller, so just can ignore the influence that is caused by driver's operation.
In Fig. 4, show β-d β/dt-track at the initial condition (IC) that changes, will be caused by driver's operation at this, size is that initial road-wheel angle of 1 ° is taken into account.Compare as can be seen with baseline stability zone boundary curve (referring to Fig. 3) of stipulating before, asymmetric slightly even these tracks become now, the position of dispersing limit (Divergenzpole) does not almost change.These tracks are only slightly towards the zone skew of float angle less than zero (β＜0).
According to Fig. 5 track and vehicular longitudinal velocity v as can be seen
xCorrelativity, be similar to Fig. 1 and Fig. 2 has also drawn baseline stability zone boundary curve at this.Even find that the stabilized zone has become greatly slightly, this stabilized zone remains unchanged in the normal region of vehicle-state in first implementation substantially.Yet, this implementation (v when vehicular longitudinal velocity is very little
x＜30km/h) be irrealizable, so v
xPrepare v in other words
xCondition is necessary for the stabilized zone boundary curve.
Fig. 6 is the correlativity of track and road friction coefficient (μ value) as can be seen, has shown the direction that coefficientoffriction increases at this arrow of drawing.In the value of coefficientoffriction hour, although the stabilized zone boundary curve also has hyp shape, compare the very big bigger difference of stabilized zone existence of friction coefficient.Can be by observed key character among a Fig. 6, the value of the permission of d β/dt (namely, be arranged in d β/dt value that the stabilized zone is positioned at the stabilized zone boundary curve in other words) except described hyperbolic type stabilized zone boundary curve before, also be subjected to the restriction of the stabilized zone boundary curve of level.
So, can will take into account with the correlativity of road friction coefficient so simply, that is, will depend on that the factor of coefficientoffriction is introduced in the boundary curve of hyperbolic type stabilized zone, it is that the border of parameter is consistent with μ with d β/dt axis.
Therefore can define a stable vehicle-state in β-d β/dt-chart at all vehicle-states is positioned at its regional area.Stabilized zone boundary curve (it will be stablized vehicle-state and separate with astable vehicle-state) comprises two hyperbolic type curves and two horizons, and coefficientoffriction is all depended on according to Fig. 6 in their position.The position of hyperbolic type curve (except the minimum situation of longitudinal velocity) is determined with depending on initial condition (IC) substantially.
The invention is not restricted in β-d β/dt-chart, define index of stability stabilized zone boundary curve in other words, at this alternatively, also can be used for the track record of explanation self-propelled vehicle bend driving at β-v
ψIn-the chart, at β-v
ψRecord yaw rate v about float angle β in the-chart
ψ
For corresponding other embodiments are shown, in Fig. 7 to Figure 10 at β-v
ψRecorded in-the chart and be used for the track that explanation self-propelled vehicle bend is driven.As shown in Figure 7, the limit of dispersing of track is positioned on the X-axis now.Yet, according to Fig. 8 to Figure 10 as can be seen, the stabilized zone boundary curve is with respect to the sensitivity of driver's operation (Fig. 8), car speed (Fig. 9) and road friction coefficient (Figure 10), than before bigger in conjunction with described first embodiment of Fig. 1 to Fig. 6, so, because variation has taken place the global shape of curve, represent to become more difficult with parameter here.
As table 1 illustrates relatedly, according to the present invention, can so limit index of stability based on described boundary curve before:
Table 1
| The index of stability value | At β-d β/dt-chart or β-v ψPosition in the-chart |
| 0 (=stable) | Be positioned on the track by stabilized zone boundary curve restricted portion |
| Between 0 to 1 | Abut against on the boundary curve of stabilized zone |
| 1 (=astable) | On the every other point of this 2D state diagram |
Can be according to current β and d β/dt position (perhaps β and v during travelling
ψThe position) with smaller overhead computational index of stability, its way is: at first definite, current location be within the boundary curve or outside? if this position is in outside the boundary curve, index of stability equals 1 so.If this position is positioned within the boundary curve, calculate the geometric distance of nearest boundary curve so.If this distance is less than certain predetermined threshold, so this index of stability is increased to 1 (distance is zero) since 0 (distance to boundary curve is equivalent to this threshold value) always.If this distance is set at 0 with index of stability so greater than this threshold value.
The index of stability that to determine like this is used for activating corresponding dynamically travel assist system subsequently.
Claims (11)
1. the method for controller of vehicle in the operating motor vehicle,
It is characterized in that,
Described method has following step:
Drive correspondingly definite track at a plurality of different bends of self-propelled vehicle, described track is driven the correlativity of having described first state parameter and second state parameter at relevant bend respectively;
In the two-dimensional state parameter chart that comprises " driving those tracks that determine, relevant with second state parameter with first state parameter at a plurality of different bends ", determine the stabilized zone boundary curve based on these geometric locuses;
At at least one current running state of automotive vehicle, relative position according to the place in the described state parameter chart that will distribute to described current driving state, the index of stability that characterizes this self-propelled vehicle stabilized conditions is distributed to described stabilized zone boundary curve, wherein, two curve shapes with hyperbolic type in the boundary curve of described stabilized zone, and in the boundary curve of described stabilized zone two other has the curve shape of straight line
Operate described controller of vehicle based on described index of stability.
2. method according to claim 1,
It is characterized in that,
The float angle (β) that described first state parameter is this self-propelled vehicle.
3. method according to claim 1,
It is characterized in that,
Described second state parameter is the float angle of described self-propelled vehicle about the derivative of time (d β/dt).
4. method according to claim 2,
It is characterized in that,
Described second state parameter is the float angle of described self-propelled vehicle about the derivative of time (d β/dt).
5. method according to claim 1,
It is characterized in that,
Yaw rate (the v that described second state parameter is this self-propelled vehicle
ψ).
6. method according to claim 2,
It is characterized in that,
Yaw rate (the v that described second state parameter is this self-propelled vehicle
ψ).
7. according to the arbitrary described method of claim 1-6,
It is characterized in that,
Drive at least one in those tracks of determining at a plurality of different self-propelled vehicle bends, in described two-dimensional state parameter chart, have the curve shape of dispersing.
8. according to the arbitrary described method of claim 1-6,
It is characterized in that,
" index of stability of described sign self-propelled vehicle stabilized conditions is distributed at least one current running state of automotive vehicle " and is based on that following distribution provisions realizes, select described index of stability in described distribution provisions from continuous value interval, described continuous value interval is in representative and stablizes the lower boundary of motoring condition and represent between the coboundary of astable motoring condition.
9. method according to claim 7,
It is characterized in that,
" index of stability of described sign self-propelled vehicle stabilized conditions is distributed at least one current running state of automotive vehicle " and is based on that following distribution provisions realizes, select described index of stability in described distribution provisions from continuous value interval, described continuous value interval is in representative and stablizes the lower boundary of motoring condition and represent between the coboundary of astable motoring condition.
10. the controller of vehicle of a self-propelled vehicle, wherein, described controller of vehicle has information that at least one apparatus for evaluating and at least one can provide based on described apparatus for evaluating and controlled actuator,
It is characterized in that,
Described apparatus for evaluating is arranged to carries out following step:
Drive correspondingly definite geometric locus at a plurality of different bends of self-propelled vehicle, described geometric locus is driven the correlativity of having described first state parameter and second state parameter at relevant bend respectively;
In the two-dimensional state parameter chart that comprises at a plurality of different bends driving those track families that determine, relevant with second state parameter with first state parameter, determine the stabilized zone boundary curve based on these geometric locuses; And
At at least one current running state of automotive vehicle, according to the relative position in the place in the described state parameter chart that will distribute to described current driving state, the index of stability that has characterized this self-propelled vehicle stabilized conditions is distributed to described stabilized zone boundary curve;
Wherein, two curve shapes with hyperbolic type in the boundary curve of described stabilized zone, and in the boundary curve of described stabilized zone two other has the curve shape of straight line.
11. for assessment of the apparatus for evaluating of self-propelled vehicle stabilized conditions,
It is characterized in that,
Dispose described apparatus for evaluating in order in controller of vehicle according to claim 10, use.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102008021533.3 | 2008-04-30 | ||
| DE200810021533 DE102008021533B4 (en) | 2008-04-30 | 2008-04-30 | Method for operating a vehicle control in a motor vehicle and device for controlling a motor vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101570185A CN101570185A (en) | 2009-11-04 |
| CN101570185B true CN101570185B (en) | 2013-09-04 |
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| CN 200910137620 Expired - Fee Related CN101570185B (en) | 2008-04-30 | 2009-04-23 | Method for operating vehicle control in vehicle, and vehicle control device |
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| Country | Link |
|---|---|
| CN (1) | CN101570185B (en) |
| DE (1) | DE102008021533B4 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102011016545A1 (en) * | 2010-04-22 | 2011-10-27 | Audi Ag | A method for checking a stability of the driving behavior of a motor vehicle and Kratfahrzeug with a driving dynamics control system associated control unit |
| US8676464B2 (en) * | 2010-09-29 | 2014-03-18 | Toyota Jidosha Kabushiki Kaisha | Vehicle control system |
| DE102015224553A1 (en) * | 2015-12-08 | 2017-06-08 | Robert Bosch Gmbh | Method, computer program, storage medium and electronic control unit for operating a vehicle |
| DE102016202070A1 (en) * | 2016-02-11 | 2017-08-17 | Volkswagen Aktiengesellschaft | Motor vehicle control device and method for determining avoidance trajectories for a collision-free avoidance maneuver of several motor vehicles |
| CN105946863B (en) * | 2016-06-23 | 2018-06-29 | 吉林大学 | A kind of determining method in vehicle run stability region |
| CN114056349A (en) * | 2021-09-30 | 2022-02-18 | 广州文远知行科技有限公司 | Control method and device for automatic driving vehicle, electronic equipment and storage medium |
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| US5640324A (en) * | 1994-02-02 | 1997-06-17 | Toyota Jidosha Kabushiki Kaisha | Dynamic behavior control apparatus of automotive vehicle |
| US6618655B2 (en) * | 2000-03-17 | 2003-09-09 | Honda Giken Kogyo Kabushiki Kaisha | Process for determining lateral overturning of vehicle and occupant protecting system in vehicle |
| CN1616271A (en) * | 2003-11-13 | 2005-05-18 | 日产自动车株式会社 | Turning control apparatus and method for automotive vehicle |
| CN1962326A (en) * | 2005-11-07 | 2007-05-16 | 日产自动车株式会社 | Deceleration controller for vehicle |
| CN101321654A (en) * | 2005-12-27 | 2008-12-10 | 本田技研工业株式会社 | Vehicle control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06122334A (en) * | 1992-10-12 | 1994-05-06 | Omron Corp | Vehicle control device |
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2008
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2009
- 2009-04-23 CN CN 200910137620 patent/CN101570185B/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5640324A (en) * | 1994-02-02 | 1997-06-17 | Toyota Jidosha Kabushiki Kaisha | Dynamic behavior control apparatus of automotive vehicle |
| US6618655B2 (en) * | 2000-03-17 | 2003-09-09 | Honda Giken Kogyo Kabushiki Kaisha | Process for determining lateral overturning of vehicle and occupant protecting system in vehicle |
| CN1616271A (en) * | 2003-11-13 | 2005-05-18 | 日产自动车株式会社 | Turning control apparatus and method for automotive vehicle |
| CN1962326A (en) * | 2005-11-07 | 2007-05-16 | 日产自动车株式会社 | Deceleration controller for vehicle |
| CN101321654A (en) * | 2005-12-27 | 2008-12-10 | 本田技研工业株式会社 | Vehicle control device |
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Also Published As
| Publication number | Publication date |
|---|---|
| DE102008021533A1 (en) | 2009-11-05 |
| DE102008021533B4 (en) | 2012-08-30 |
| CN101570185A (en) | 2009-11-04 |
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