CN103488165A - Method for acquiring control parameters of yaw moment - Google Patents
Method for acquiring control parameters of yaw moment Download PDFInfo
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- CN103488165A CN103488165A CN201310440068.7A CN201310440068A CN103488165A CN 103488165 A CN103488165 A CN 103488165A CN 201310440068 A CN201310440068 A CN 201310440068A CN 103488165 A CN103488165 A CN 103488165A
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Abstract
The invention discloses a method for acquiring control parameters of yaw moment. The method includes the steps that a vehicle is placed on a test road surface, the wheel cylinder brake pressure on wheels is gradually increased from a preset smallest value according to a preset pressurizing gradient or a wheel cylinder brake pressure change gradient gradually increasing according to a preset change ratio, and a corresponding performance parameter is recorded to acquire the corresponding relation between the wheel cylinder brake pressure on the wheels or the wheel cylinder brake pressure change gradient and the performance parameter; according to corresponding relation, the wheel cylinder brake pressure on the wheels or the wheel cylinder brake pressure change gradient is acquired when the performance parameter reaches a preset threshold value, and the acquired wheel cylinder brake pressure on the wheels or the wheel cylinder brake pressure change gradient is identified as the largest wheel cylinder brake pressure on the wheels or the largest wheel cylinder brake pressure change gradient of the wheels as one of the control parameters of the yaw moment. The method for acquiring control parameters of yaw moment solves the problem that the acquisition efficiency of the control parameters of the yaw moment is low and improves the acquisition efficiency and accuracy of the control parameters of the yaw moment.
Description
Technical field
The application relates to electric brake system, controls the acquisition methods of parameter in particular to a kind of yaw moment for electronic system.
Background technology
When automobile is braked on splitting road surface, due to left and right sides coefficient of road adhesion difference, can produce the yaw moment around the automobile Z axis, the anti-lock braking system of automobile (Anti-lock braking system, lower abbreviation ABS) yaw moment is controlled, to reduce the rising gradient of high attached wheel brake pressure, so that the driver can keep vehicle steadily.At yaw moment, control in the calibration process of function, the coupling slip-stick artist can rule of thumb reach the main control parameter of physical characteristics adjustment of actual vehicle.
The coupling work of controlling function due to current yaw moment (, the adjusting of control parameter) there is no clear and definite theoretical foundation, therefore, the adjusting of existing control parameter is mainly experience and the technology that depends on the coupling slip-stick artist, repeatedly in test, by the parameter of once setting before analyzing, is making further adjustment.Yet this adjustment mode has produced impact to efficiency, traceability and the reliability of coupling work.
Summary of the invention
The acquisition methods that the application's fundamental purpose is to provide a kind of yaw moment to control parameter, with the problem that efficiency is lower of obtaining of the control parameter that at least solves yaw moment in prior art.
The aspect according to the application, provide a kind of yaw moment to control the acquisition methods of parameter, it comprises: vehicle is placed on the test road surface, it is different that the coefficient of road adhesion on the road surface that wherein, the revolver of vehicle travels on the test road surface and vehicle right taken turns the coefficient of road adhesion on the road surface of travelling; Progressively increase the wheel cylinder brake pressure of revolver at Vehicle Driving Cycle since the first minimum value with the first supercharging gradient in the process on test road surface, and record corresponding for controlling the performance parameter of yaw moment, with the wheel cylinder brake pressure that obtains revolver and the first corresponding relation between performance parameter; The wheel cylinder brake pressure of corresponding revolver while according to the first corresponding relation acquisition performance parameter, reaching the first predetermined threshold, be designated using the wheel cylinder brake pressure of the revolver of acquisition the maximum wheel cylinder brake pressure of revolver of controlling one of parameter as yaw moment; Progressively increase right wheel cylinder brake pressure of taking turns with the second supercharging gradient since the second minimum value at Vehicle Driving Cycle in the process on test road surface, and record corresponding performance parameter, to obtain right wheel cylinder brake pressure of taking turns and the second corresponding relation between performance parameter; Corresponding right wheel cylinder brake pressure of taking turns when according to the second corresponding relation, obtaining performance parameter and reach the second predetermined threshold, be designated using the right wheel cylinder brake pressure of taking turns obtained control one of parameter as yaw moment right and take turns maximum wheel cylinder brake pressure; Since three minimum value progressively increase the wheel cylinder brake pressure of revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change at Vehicle Driving Cycle in the process on test road surface, and record corresponding performance parameter, to obtain the 3rd corresponding relation between revolver wheel cylinder brake pressure variations gradient and performance parameter; Corresponding revolver wheel cylinder brake pressure variations gradient when according to the 3rd corresponding relation, obtaining performance parameter and reach the 3rd predetermined threshold, be designated using the revolver wheel cylinder brake pressure variations gradient of acquisition the maximum variable gradient of revolver wheel cylinder brake pressure of controlling one of parameter as yaw moment; Progressively increase right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change since the 4th minimum value at Vehicle Driving Cycle in the process on test road surface, and record corresponding performance parameter, to obtain the 4th corresponding relation between right wheel cylinder brake pressure variations gradient and performance parameter; Corresponding right wheel cylinder brake pressure variations gradient when according to the 4th corresponding relation, obtaining performance parameter and reach the 4th predetermined threshold, be designated using the right wheel cylinder brake pressure variations gradient obtained the maximum variable gradient of right wheel cylinder brake pressure of controlling one of parameter as yaw moment.
As a kind of optional implementation, when when Vehicle Driving Cycle progressively increases the wheel cylinder brake pressure of revolver with the first supercharging gradient since the first minimum value in the process on test road surface, and, when when Vehicle Driving Cycle progressively increases the wheel cylinder brake pressure of revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change since the 3rd minimum value in the process on test road surface, the coefficient of road adhesion on the road surface that the revolver of vehicle travels is greater than the right coefficient of road adhesion of taking turns the road surface of travelling of vehicle.
As a kind of optional implementation, when when Vehicle Driving Cycle progressively increases right wheel cylinder brake pressure of taking turns with the second supercharging gradient since the second minimum value in the process on test road surface, and, when when Vehicle Driving Cycle progressively increases right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change since the 4th minimum value in the process on test road surface, the coefficient of road adhesion on the road surface that the revolver of vehicle travels is less than the right coefficient of road adhesion of taking turns the road surface of travelling of vehicle.
As a kind of optional implementation, with the left and right wheel cylinder brake pressure of taking turns of the first supercharging gradient, the second supercharging step increase of fixing and the revolver wheel cylinder brake pressure variations gradient, the left and right wheel cylinder brake pressure of taking turns of right wheel cylinder brake pressure variations step increase that increase progressively with first, second rate of change by fixing, comprise respectively: the step that increases left and right wheel cylinder brake pressure of taking turns is carried out in the switching of controlling the wheel cylinder liquid feed valve of vehicle according to each self-corresponding switching cycle parameter.
As a kind of optional implementation, performance parameter comprise following one of at least: side slip angle, braking deceleration, yaw velocity.
As a kind of optional implementation, at least two in the first minimum value, the second minimum value, the 3rd minimum value and the 4th minimum value equate.
As a kind of optional implementation, the first minimum value equates with the second minimum value, the 3rd minimum value is equal with the 4th minimum value.
As a kind of optional implementation, the first minimum value, the second minimum value, the 3rd minimum value and the 4th minimum value are 0 bar.
As a kind of optional implementation, the first supercharging gradient is identical with the second supercharging gradient, and the first rate of change is identical with the second rate of change.
In the application's optional technical scheme, automatically perform test process by system, can obtain left and right maximum wheel cylinder brake pressure of taking turns and the maximum variable gradient of left and right wheel cylinder brake pressure of taking turns, avoided being tested by rule of thumb by the slip-stick artist problem that caused testing efficiency is lower, this has not only effectively shortened the time of test, more can obtain exactly the control parameter of yaw moment, guarantee to use and controlled the reliability that parameter is carried out yaw moment control.
The accompanying drawing explanation
Accompanying drawing described herein is used to provide the further understanding to the application, forms the application's a part, and the application's schematic description and description, for explaining the application, does not form the improper restriction to the application.In the accompanying drawings:
Fig. 1 controls a kind of optional process flow diagram of the acquisition methods of parameter according to the yaw moment of the embodiment of the present application;
Fig. 2 controls the optional process flow diagram of another kind of the acquisition methods of parameter according to the yaw moment of the embodiment of the present application;
Fig. 3 controls a kind of optional structural representation of the deriving means of parameter according to the yaw moment of the embodiment of the present application.
Embodiment
Hereinafter with reference to accompanying drawing, also describe the application in detail in conjunction with the embodiments.It should be noted that, in the situation that do not conflict, embodiment and the feature in embodiment in the application can combine mutually.
As used in this application, term " module ", " assembly " or " unit " can refer to software object or the routine carried out on computers.Although system and method described herein realizes with software, the realization of the combination of hardware or software and hardware also may and be conceived.
The acquisition methods that the present embodiment provides a kind of yaw moment to control parameter, as shown in Figure 1, the acquisition methods that the yaw moment in the present embodiment is controlled parameter comprises:
S102: vehicle is placed on the test road surface, and wherein, it is different that the coefficient of road adhesion on the road surface that the revolver of vehicle travels on the test road surface and vehicle right taken turns the coefficient of road adhesion on the road surface of travelling; Progressively increase the wheel cylinder brake pressure of revolver with the first supercharging gradient since the first minimum value, and record corresponding performance parameter, with the wheel cylinder brake pressure of acquisition revolver and the first corresponding relation between performance parameter; The wheel cylinder brake pressure of corresponding revolver while according to the first corresponding relation acquisition performance parameter, reaching the first predetermined threshold, be designated using the wheel cylinder brake pressure of the revolver of acquisition the maximum wheel cylinder brake pressure of revolver of controlling one of parameter as described yaw moment;
S104: progressively increase right wheel cylinder brake pressure of taking turns with the second supercharging gradient since the second minimum value, and record corresponding performance parameter, to obtain right wheel cylinder brake pressure of taking turns and the second corresponding relation between performance parameter; Corresponding right wheel cylinder brake pressure of taking turns when according to the second corresponding relation, obtaining performance parameter and reach the second predetermined threshold, be designated using the right wheel cylinder brake pressure of taking turns obtained control one of parameter as yaw moment right and take turns maximum wheel cylinder brake pressure;
S106: with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change, progressively increase the wheel cylinder brake pressure of revolver since the 3rd minimum value, and record corresponding performance parameter, to obtain the 3rd corresponding relation between revolver wheel cylinder brake pressure variations gradient and performance parameter; Corresponding revolver wheel cylinder brake pressure variations gradient when according to the 3rd corresponding relation, obtaining performance parameter and reach the 3rd predetermined threshold, be designated using the revolver wheel cylinder brake pressure variations gradient of acquisition the maximum variable gradient of revolver wheel cylinder brake pressure of controlling one of parameter as yaw moment;
S108: with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change, since the 4th minimum value, progressively increase right wheel cylinder brake pressure of taking turns, and record corresponding performance parameter, to obtain the 4th corresponding relation between right wheel cylinder brake pressure variations gradient and performance parameter; Corresponding right wheel cylinder brake pressure variations gradient when according to the 4th corresponding relation, obtaining performance parameter and reach the 4th predetermined threshold, be designated using the right wheel cylinder brake pressure variations gradient obtained the maximum variable gradient of right wheel cylinder brake pressure of controlling one of parameter as yaw moment.
In the application's optional technical scheme, automatically perform test process by system, can obtain left and right maximum wheel cylinder brake pressure of taking turns and the maximum variable gradient of left and right wheel cylinder brake pressure of taking turns, avoided being tested by rule of thumb by the slip-stick artist problem that caused testing efficiency is lower, this has not only effectively shortened the time of test, more can obtain exactly the control parameter of yaw moment, guarantee to use and controlled the reliability that parameter is carried out yaw moment control.
As a kind of optional embodiment, when when described Vehicle Driving Cycle progressively increases the wheel cylinder brake pressure of described revolver with the first supercharging gradient since the first minimum value in the process on described test road surface, and, when when described Vehicle Driving Cycle progressively increases the wheel cylinder brake pressure of described revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change since the 3rd minimum value in the process on described test road surface, the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is greater than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle.
For example, when revolver is tested, the revolver of vehicle can be travelled on asphalt road, the right wheel of vehicle travelled on the ice face.Certainly, the present embodiment is not limited in this, as long as guarantee that the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is greater than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle.
As a kind of optional embodiment, when when described Vehicle Driving Cycle progressively increases described right wheel cylinder brake pressure of taking turns with the second supercharging gradient since the second minimum value in the process on described test road surface, and, when when described Vehicle Driving Cycle progressively increases described right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change since the 4th minimum value in the process on described test road surface, the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is less than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle.
For example, taking turns while being tested right, the revolver of vehicle can be travelled on the ice face, the right wheel of vehicle travelled on asphalt road.Certainly, the present embodiment is not limited in this, as long as guarantee that the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is less than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle.
As a kind of optional embodiment, with described the first supercharging gradient, the described left and right wheel cylinder brake pressure of taking turns of the second supercharging step increase of fixing and the described left and right wheel cylinder brake pressure of taking turns of described revolver wheel cylinder brake pressure variations gradient, right wheel cylinder brake pressure variations step increase increased progressively with described first, second rate of change by fixing, comprise respectively: the step that increases described left and right wheel cylinder brake pressure of taking turns is carried out in the switching of controlling the wheel cylinder liquid feed valve of described vehicle according to each self-corresponding switching cycle parameter.
Describe the process of above-mentioned control wheel cylinder liquid feed valve below in conjunction with Fig. 2, the switching of controlling the wheel cylinder liquid feed valve of described vehicle according to each self-corresponding switching cycle parameter is carried out the step that increases described left and right wheel cylinder brake pressure of taking turns and is comprised:
S202: at Vehicle Driving Cycle, in the process on test road surface, wherein, it is different that the coefficient of road adhesion on the road surface that the revolver of vehicle travels on the test road surface and vehicle right taken turns the coefficient of road adhesion on the road surface of travelling; The wheel cylinder brake pressure that progressively increases revolver since the first minimum value with the first supercharging gradient comprises: read pre-configured first in the electric brake system from vehicle and open and close cycle parameter, open and close cycle parameter according to described first and control the switching of wheel cylinder liquid feed valve of vehicle so that start progressively to increase the wheel cylinder brake pressure of described revolver from described the first minimum value with described the first gradient;
S204: progressively increase right wheel cylinder brake pressure of taking turns with the second supercharging gradient since the second minimum value and comprise: read pre-configured second in the electric brake system from vehicle and open and close cycle parameter, open and close cycle parameter according to described second and control the switching of wheel cylinder liquid feed valve of vehicle so that start progressively to increase described right wheel cylinder brake pressure of taking turns with described the second gradient from described the second minimum value;
S206: the wheel cylinder brake pressure that progressively increases revolver since the 3rd minimum value with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change comprises: read the pre-configured the 3rd in the electric brake system from vehicle and open and close cycle parameter, open and close cycle parameter according to the described the 3rd and control the switching of wheel cylinder liquid feed valve of described vehicle so that start progressively to increase the wheel cylinder brake pressure of described revolver from described the 3rd minimum value with the revolver gradient increased progressively by described the first rate of change;
S208: progressively increase right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change since the 4th minimum value and comprise: read the pre-configured the 4th in the electric brake system from vehicle and open and close cycle parameter, open and close cycle parameter according to the described the 4th and control the switching of wheel cylinder liquid feed valve of described vehicle so that start progressively to increase described right wheel cylinder brake pressure of taking turns with the right gradient of taking turns increased progressively by described the second rate of change from described the 4th minimum value.
In the above-described embodiments, can realize the increase of wheel cylinder brake pressure by the open and close controlling to the wheel cylinder liquid feed valve.
As a kind of optional embodiment, above-mentioned for the performance parameter of controlling yaw moment include but not limited to following one of at least: maximum side slip angle, minimum braking deceleration, maximum yaw velocity.
As a kind of optional embodiment, described the first minimum value equates with described the second minimum value, in described the 3rd minimum value and described the 4th minimum value at least two equate.Optionally, described the first minimum value equates with described the second minimum value, described the 3rd minimum value equates with described the 4th minimum value.
As a kind of optional embodiment, described the first minimum value, described the second minimum value, described the 3rd minimum value and described the 4th minimum value are 0 bar (bar).It should be noted that, the first minimum value, described the second minimum value, described the 3rd minimum value and described the 4th minimum value also can be worth for other.
As a kind of optional embodiment, described the first supercharging gradient is identical with described the second supercharging gradient, and described the first rate of change is identical with described the second rate of change.
In above-mentioned each optional embodiment, the maximum wheel cylinder brake pressure of the revolver got, right maximum wheel cylinder brake pressure, the maximum variable gradient of revolver wheel cylinder brake pressure and the maximum variable gradient of right wheel cylinder brake pressure of taking turns can be recorded in vehicle-mounted deceleration of electrons control system (EBS).Like this, in the process of travelling at the vehicle real road, if the deceleration of electrons control system detects current revolver wheel cylinder brake pressure while being greater than the maximum wheel cylinder brake pressure of revolver, by adjusting relevant control parameter or carrying out relevant control operation current revolver wheel cylinder brake pressure is adjusted to and is less than or equal to the maximum wheel cylinder brake pressure of revolver.Above-mentioned adjustment process is applicable to right maximum wheel cylinder brake pressure, the maximum variable gradient of revolver wheel cylinder brake pressure and the maximum variable gradient of right wheel cylinder brake pressure of taking turns too, and the present embodiment does not repeat them here.
In order to describe better the application's embodiment, below take performance parameter as yaw velocity be example, in conjunction with Fig. 3, the scheme of obtaining that yaw moment is controlled parameter is described.
As shown in Figure 3, the deriving means 300 of the control of the yaw moment in the present embodiment parameter comprises: processor 302 and the wheel cylinder liquid feed valve 304 be connected with processor 302.In the present embodiment, processor 302 can be, but not limited to as the processor (ECU) in deceleration of electrons control system (EBS).
In the process of test, processor 302 and wheel cylinder liquid feed valve 304 carry out following four groups of tests:
1) (revolver travels on the attached road surface of height, the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is greater than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle), control the switching of wheel cylinder liquid feed valve 304 by processor 302 output control signals, the wheel cylinder brake pressure that makes revolver since 0 bar (bar) with minimum supercharging step increase, each wheel cylinder brake pressure can correspondingly produce a yaw velocity, like this, can record the wheel cylinder brake pressure of one group of revolver and the corresponding relation between yaw velocity; The wheel cylinder brake pressure of corresponding revolver while according to this corresponding relation acquisition yaw velocity, reaching the first predetermined threshold, be designated using the wheel cylinder brake pressure of the revolver of acquisition the maximum wheel cylinder brake pressure of revolver of controlling one of parameter as described yaw moment;
2) (right the wheel travel on the attached road surface of height, the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is less than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle), control the switching of wheel cylinder liquid feed valve 304 by processor 302 output control signals, make right wheel cylinder brake pressure of taking turns since 0 bar (bar) with minimum supercharging step increase, each wheel cylinder brake pressure can correspondingly produce a yaw velocity, like this, can record one group of right wheel cylinder brake pressure of taking turns and the corresponding relation between yaw velocity; Corresponding right wheel cylinder brake pressure of taking turns when according to this corresponding relation, obtaining yaw velocity and reach the second predetermined threshold, be designated using the right wheel cylinder brake pressure of taking turns obtained control one of parameter as described yaw moment right and take turns maximum wheel cylinder brake pressure;
3) (revolver travels on the attached road surface of height, the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is greater than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle), control the switching of wheel cylinder liquid feed valve 304 by processor 302 output control signals, make the near front wheel wheel cylinder brake pressure since 0 bar (bar), with the supercharging step increase increased progressively by the constant variation rate, each supercharging gradient can correspondingly produce a yaw velocity, like this, can record the supercharging gradient of one group of revolver and the corresponding relation between yaw velocity; The supercharging gradient of corresponding revolver while according to this corresponding relation acquisition yaw velocity, reaching the 3rd predetermined threshold, be designated using the supercharging gradient of the revolver of acquisition the maximum pressure of wheel braking cylinder variable gradient of revolver of controlling one of parameter as described yaw moment;
4) (right the wheel travel on the attached road surface of height, the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is less than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle), control the switching of wheel cylinder liquid feed valve 304 by processor 302 output control signals, make off-front wheel wheel cylinder brake pressure since 0 bar (bar), with the supercharging step increase increased progressively by the constant variation rate, each supercharging gradient can correspondingly produce a yaw velocity, like this, can record one group of right supercharging gradient of taking turns and the corresponding relation between yaw velocity; Corresponding right supercharging gradient of taking turns when according to this corresponding relation, obtaining yaw velocity and reach the 4th predetermined threshold, be designated using the right supercharging gradient of taking turns obtained control one of parameter as described yaw moment right and take turns maximum pressure of wheel braking cylinder variable gradient.
By embodiment provided by the invention, in the reality test, utilization reaches the mode of automatically adjusting the wheel cylinder brake pressure of yaw moment with the gradient increased progressively by the constant variation rate with minimum gradient, the test of realization to yaw velocity, take test data as basis, control parameter to required adjusting is adjusted accurately, and no longer relies on coupling slip-stick artist's experience.
In the above-described embodiments, the maximum wheel cylinder brake pressure of the revolver got, right maximum wheel cylinder brake pressure, the maximum variable gradient of revolver wheel cylinder brake pressure and the maximum variable gradient of right wheel cylinder brake pressure of taking turns can be recorded in vehicle-mounted deceleration of electrons control system (EBS).Like this, in the process of travelling at the vehicle real road, if the deceleration of electrons control system detects current revolver wheel cylinder brake pressure while being greater than the maximum wheel cylinder brake pressure of revolver, by adjusting relevant control parameter or carrying out relevant control operation current revolver wheel cylinder brake pressure is adjusted to and is less than or equal to the maximum wheel cylinder brake pressure of revolver.Above-mentioned adjustment process is applicable to right maximum wheel cylinder brake pressure, the maximum variable gradient of revolver wheel cylinder brake pressure and the maximum variable gradient of right wheel cylinder brake pressure of taking turns too, and the present embodiment does not repeat them here.
Obviously, those skilled in the art should be understood that, each module of above-mentioned the application or each step can realize with general calculation element, they can concentrate on single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in memory storage and be carried out by calculation element, and in some cases, can carry out step shown or that describe with the order be different from herein, perhaps they are made into respectively to each integrated circuit modules, perhaps a plurality of modules in them or step being made into to the single integrated circuit module realizes.Like this, the application is not restricted to any specific hardware and software combination.
The foregoing is only the application's preferred embodiment, be not limited to the application, for a person skilled in the art, the application can have various modifications and variations.All within the application's spirit and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in the application's protection domain.
Claims (9)
1. the acquisition methods of a yaw moment control parameter, is characterized in that, comprising:
Vehicle is placed on the test road surface, and wherein, it is different that the coefficient of road adhesion on the road surface of travelling at the revolver of the above vehicle of described test road surface and described vehicle right taken turns the coefficient of road adhesion on the road surface of travelling;
Progressively increase the wheel cylinder brake pressure of described revolver since the first minimum value with the first supercharging gradient in the process on described test road surface at described Vehicle Driving Cycle, and record corresponding for controlling the performance parameter of yaw moment, with the wheel cylinder brake pressure that obtains described revolver and the first corresponding relation between described performance parameter; The wheel cylinder brake pressure of corresponding described revolver when according to described the first corresponding relation, obtaining described performance parameter and reach the first predetermined threshold, be designated using the wheel cylinder brake pressure of the described revolver that obtains the maximum wheel cylinder brake pressure of revolver of controlling one of parameter as described yaw moment;
Progressively increase described right wheel cylinder brake pressure of taking turns with the second supercharging gradient since the second minimum value at described Vehicle Driving Cycle in the process on described test road surface, and described performance parameter corresponding to record, to obtain described right wheel cylinder brake pressure of taking turns and the second corresponding relation between described performance parameter; Corresponding described right wheel cylinder brake pressure of taking turns when according to described the second corresponding relation, obtaining described performance parameter and reach the second predetermined threshold, be designated using the described right wheel cylinder brake pressure of taking turns obtained control one of parameter as described yaw moment right and take turns maximum wheel cylinder brake pressure;
Since three minimum value progressively increase the wheel cylinder brake pressure of described revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change at described Vehicle Driving Cycle in the process on described test road surface, and described performance parameter corresponding to record, to obtain the 3rd corresponding relation between described revolver wheel cylinder brake pressure variations gradient and described performance parameter; Corresponding described revolver wheel cylinder brake pressure variations gradient when according to described the 3rd corresponding relation, obtaining described performance parameter and reach the 3rd predetermined threshold, be designated using the described revolver wheel cylinder brake pressure variations gradient obtained the maximum variable gradient of revolver wheel cylinder brake pressure of controlling one of parameter as described yaw moment;
Progressively increase described right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change since the 4th minimum value at described Vehicle Driving Cycle in the process on described test road surface, and described performance parameter corresponding to record, to obtain the 4th corresponding relation between described right wheel cylinder brake pressure variations gradient and described performance parameter; Corresponding described right wheel cylinder brake pressure variations gradient when according to described the 4th corresponding relation, obtaining described performance parameter and reach the 4th predetermined threshold, be designated using the described right wheel cylinder brake pressure variations gradient obtained the maximum variable gradient of right wheel cylinder brake pressure of controlling one of parameter as described yaw moment.
2. method according to claim 1, it is characterized in that, when when described Vehicle Driving Cycle progressively increases the wheel cylinder brake pressure of described revolver with the first supercharging gradient since the first minimum value in the process on described test road surface, and when when described Vehicle Driving Cycle progressively increases the wheel cylinder brake pressure of described revolver with the revolver wheel cylinder brake pressure variations gradient increased progressively by the first rate of change since the 3rd minimum value in the process on described test road surface, the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is greater than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle.
3. method according to claim 1, it is characterized in that, when when described Vehicle Driving Cycle progressively increases described right wheel cylinder brake pressure of taking turns with the second supercharging gradient since the second minimum value in the process on described test road surface, and when when described Vehicle Driving Cycle progressively increases described right wheel cylinder brake pressure of taking turns with the right wheel cylinder brake pressure variations gradient increased progressively by the second rate of change since the 4th minimum value in the process on described test road surface, the coefficient of road adhesion on the road surface that the revolver of described vehicle travels is less than the right coefficient of road adhesion of taking turns the road surface of travelling of described vehicle.
4. method according to claim 1, it is characterized in that, with described the first supercharging gradient, the described left and right wheel cylinder brake pressure of taking turns of the second supercharging step increase of fixing and the described left and right wheel cylinder brake pressure of taking turns of described revolver wheel cylinder brake pressure variations gradient, right wheel cylinder brake pressure variations step increase increased progressively with described first, second rate of change by fixing, comprise respectively: the step that increases described left and right wheel cylinder brake pressure of taking turns is carried out in the switching of controlling the wheel cylinder liquid feed valve of described vehicle according to each self-corresponding switching cycle parameter.
5. according to the described method of any one in claim 1 to 4, it is characterized in that, described performance parameter comprise following one of at least: side slip angle, braking deceleration, yaw velocity.
6. according to the described method of any one in claim 1 to 4, it is characterized in that, at least two in described the first minimum value, described the second minimum value, described the 3rd minimum value and described the 4th minimum value equate.
7. according to the described method of any one in claim 1 to 4, it is characterized in that, described the first minimum value equates with described the second minimum value, described the 3rd minimum value is equal with described the 4th minimum value.
8. according to the described method of any one in claim 1 to 4, it is characterized in that, described the first minimum value, described the second minimum value, described the 3rd minimum value and described the 4th minimum value are 0 bar.
9. according to the described method of any one in claim 1 to 4, it is characterized in that, described the first supercharging gradient is identical with described the second supercharging gradient, and described the first rate of change is identical with described the second rate of change.
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| CN116819972A (en) * | 2023-08-29 | 2023-09-29 | 北京成功领行汽车技术有限责任公司 | Collaborative control method of modularized layered architecture |
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| CN116819972B (en) * | 2023-08-29 | 2023-12-29 | 北京成功领行汽车技术有限责任公司 | Collaborative control method of modularized layered architecture |
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