CN104108386B - The method and apparatus for improving vehicle run stability - Google Patents
The method and apparatus for improving vehicle run stability Download PDFInfo
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- CN104108386B CN104108386B CN201310130865.5A CN201310130865A CN104108386B CN 104108386 B CN104108386 B CN 104108386B CN 201310130865 A CN201310130865 A CN 201310130865A CN 104108386 B CN104108386 B CN 104108386B
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Abstract
The present invention relates to auto electronic control technology, in particular to method and apparatus of the raising vehicle in climb and fall stability when driving.Include the following steps: the apparent acceleration that the vehicle is corrected using the kinetic parameter of the vehicle according to the method for the raising vehicle run stability of one embodiment of the invention；Determine whether the vehicle is in ascents and descents driving status according to the correction value of the apparent acceleration；And if the vehicle is in upward slope or descent run state, the sensitivity that the vehicle dynamic control is intervened is improved.
Description
Technical field
The present invention relates to auto electronic control technology, in particular to method of the raising vehicle in climb and fall stability when driving
And device.
Background technique
Ovdersteering (oversteer) and understeer (understeer) are the important marks for measuring vehicle performance balance
Standard, the dynamic that the former shows as vehicle driving mutually should be greater than the input of driver, and the latter shows as the dynamic phase of vehicle driving
It should be less than the steering input of driver, the cause of the two is all derived from the contact force and vehicle centrifugal force on front and back wheel tire and ground
Difference.
Above-mentioned two situations can all lead to vehicle unstability, especially when vehicle driving steeper gradient road surface (such as
The mountain road of shape complexity) when.Specifically, due to self gravity to be overcome, being easy when vehicle is in up-hill journey state
Lead to understeer, and when being in descending form state, due to the influence of acceleration of gravity, it is easy to cause ovdersteering, this
A little situations all make traffic safety face great threat.
It can be seen that there is an urgent need to a kind of Vehicular turn stability control techniques for climb and fall driving status.However so far
Until the present, industry provides reliable, mature scheme not yet to solve above-mentioned technical problem.
Summary of the invention
The object of the present invention is to provide a kind of methods for improving vehicle run stability, especially can be improved vehicle upper
Stability when descent run.
Include the following steps: according to the method for the raising vehicle run stability of one embodiment of the invention
The apparent acceleration of the vehicle is corrected using the kinetic parameter of the vehicle；
Determine whether the vehicle is in ascents and descents driving status according to the correction value of the apparent acceleration；
If the vehicle is in upward slope or descent run state, the sensitive of the vehicle dynamic control intervention is improved
Degree.
In the above-described embodiments, automatic, the real-time judge that vehicle running state is realized using kinetic parameter, are thus mentioned
The high stability of vehicle driving and the reliability of control process.This is particularly advantageous in occasion with a varied topography.
Preferably, in the above-mentioned methods, when the vehicle is in non-brake state, correct according to the following formula it is described apparent plus
The correction value of speed:
Wherein, A is the correction value of apparent acceleration, axFor apparent acceleration, WxFor wind resistance, RxFor surface resistance,
MMotAct is engine torque, ixFor transmission ratio, r is radius of wheel, and M is vehicle weight.
Preferably, in the above-mentioned methods, when the vehicle is in on-position, the apparent acceleration is corrected according to the following formula
The correction value of degree:
Wherein, A is the correction value of apparent acceleration, axFor apparent acceleration, WxFor wind resistance, RxFor surface resistance,
MMotAct is engine torque, ixFor transmission ratio, r is radius of wheel, and M is vehicle weight, Cp_FA and Cp_RA difference
For the braking efficiency of front wheels and rear wheels, PFLAnd PFRThe brake pressure of respectively preceding revolver and front right wheel, PRLAnd PRRRespectively rear left
The brake pressure of wheel and rear right wheel.
Preferably, in the above-mentioned methods, by periodically or non-periodically determining the vehicle weight according to the following formula:
Wherein, M (t) is the vehicle weight of t moment, axIt (t) is the apparent acceleration of t moment, when MMotAct (t) is t
The engine torque at quarter, ixIt (t) is the transmission ratio of t moment, r is radius of wheel.
Preferably, in the above-mentioned methods, determine whether the vehicle is in upward slope or descent run shape as follows
State:
If the accelerator pedal of the vehicle is not applied to active force and the correction value of the apparent acceleration continues one
Section is temporally less than first threshold, it is determined that the vehicle is in up-hill journey state；
If detecting that the accelerator pedal of the vehicle is not applied to the correction value of active force and the apparent acceleration
It is greater than second threshold with continuing for some time, it is determined that the vehicle is in descent run state,
Wherein, the first threshold is less than second threshold.
Preferably, in the above-mentioned methods, determine whether the vehicle is in upward slope or descent run shape as follows
State:
If detecting that the accelerator pedal of the vehicle is applied active force, the driving wheel slip degree of the vehicle is less than
Third threshold value and the correction value of the apparent acceleration are less than first threshold with continuing for some time, it is determined that at the vehicle
In up-hill journey state；
If detecting that the accelerator pedal of the vehicle is applied active force, the driving wheel slip degree of the vehicle is less than
Third threshold value and the correction value of the apparent acceleration are greater than second threshold with continuing for some time, it is determined that at the vehicle
In descent run state,
Wherein, the first threshold is less than second threshold.
Preferably, in the above-mentioned methods, determine whether the vehicle is in upward slope or descent run shape as follows
State:
If detecting that the brake pedal of the vehicle is applied active force, the driving wheel slip degree of the vehicle is less than
Third threshold value and the correction value of the apparent acceleration are less than first threshold with continuing for some time, it is determined that at the vehicle
In up-hill journey state；
If detecting that the brake pedal of the vehicle is applied active force, the driving wheel slip degree of the vehicle is less than
Third threshold value and the correction value of the apparent acceleration are greater than second threshold with continuing for some time, it is determined that at the vehicle
In descent run state,
Wherein, the first threshold is less than second threshold.
Preferably, in the above-mentioned methods, the sliding degree of driving wheel is determined according to the following formula:
Wherein, λ (t) is the sliding degree of t moment, and V (t) is the car speed of t moment, VwheelIt (t) is the drive of t moment
Driving wheel revolving speed.
It is a further object to provide a kind of electronic control units, can be improved the stability of vehicle driving,
Especially stability of the vehicle in climb and fall when driving.
Electronic control unit according to one embodiment of the invention include input unit, output unit and with the input
The control unit of unit and output unit coupling, wherein the input unit is configured as the detection signal of receiving sensor, institute
Control unit is stated to be configured as generating control signal according to the kinetic parameter of vehicle and through the output unit to executing agency
Output control signal, wherein described control unit is further configured to control the stability of vehicle driving as follows:
The apparent acceleration of the vehicle is corrected using the kinetic parameter；
Determine whether the vehicle is in ascents and descents driving status according to the correction value of the apparent acceleration；And
If the vehicle is in upward slope or descent run state, the sensitive of the vehicle dynamic control intervention is improved
Degree.
Detailed description of the invention
Above-mentioned and/or other aspects and advantage of the invention will be become by the description of the various aspects below in conjunction with attached drawing
It is more clear and is easier to understand, the same or similar unit, which is adopted, in attached drawing is indicated by the same numeral, and attached drawing includes:
Fig. 1 shows the application schematic diagram that vehicle run stability is improved by electronic control unit.
Fig. 2 is the schematic diagram according to the electronic control unit of one embodiment of the invention.
Fig. 3 is the flow chart according to the method for the raising vehicle run stability of one embodiment of the invention.
Reference list
10 electronic control units
110 input units
120 output units
130 control units
131 I/O interfaces
132 central processing units
133 memories 133
20 sensor groups
21 steering angle sensors
22 sideway ratio sensors
23 wheel speed sensors
30 automobile engine management systems
40 hydraulic pressure units
50 brake apparatus
60 wheels
Specific embodiment
The embodiment of the present invention is specifically described below by attached drawing.
Fig. 1 shows the application schematic diagram that vehicle run stability is improved by electronic control unit.
As shown in Figure 1, electronic control unit 10 is coupled with sensor group 20 to receive the Vehicular status signal detected.Show
Example property, sensor group 20 includes steering angle sensor 21, sideway ratio sensor 22 and wheel speed sensors 23.Electronic control is single
Member 10 is also coupled with automobile engine management system (EMS) 30 and hydraulic pressure unit 40, with according to Vehicle dynamic parameters to them
It is controlled.Under the control of electronic control unit 10,50 brake activation device 50 of hydraulic pressure unit is to realize the braking of wheel 60.
Fig. 2 is that can be used for application shown in FIG. 1 according to the schematic diagram of the electronic control unit of one embodiment of the invention
Scene.
As shown in Fig. 2, electronic control unit 10 includes input unit 110, output unit 120 and control unit 130.
Various sensors of the input unit 110 from vehicle receive detection signal and are supplied to control unit 130.These inspections
Surveying signal can be using digital signal or the form of analog signal.Control unit 130 and input unit 110 and output unit 120
Coupling generates control signal according to the kinetic parameter of vehicle and exports through output unit 120 to executing agency, thus real
Existing control of the electronic control unit to vehicle running state.
Referring to fig. 2, control unit 130 includes I/O interface 131, central processing unit 132 and memory 133.Input unit
110 received detection signals can be sent through I/O interface 131 to central processing unit 132 and memory 133.On the other hand, central processing
The control instruction that device 132 generates can also be sent to output unit 120 through I/O interface.The storage control vehicle running state of memory 133
Required program and data.
In the present embodiment, control unit 130 utilizes storage inside and/or the dynamics of vehicle provided by external sensor
Parameter corrects the apparent acceleration of vehicle, and determined according to the correction value of apparent acceleration vehicle driving status (
Whether it is in ascents and descents driving status)." apparent acceleration " described here refers to vehicle adding along direction of travel
Speed can be measured by the sensor (such as sideway ratio sensor) on vehicle.State parameter for example including but be not limited to
Radius of wheel, vehicle weight, roadlock coefficient, air resistance coefficient, accelerator pedal and brake pedal position or apply thereon pressure,
Wheel speed, wheel braking efficiency and brake pressure, apparent acceleration and engine torque etc..If it is determined that vehicle be in go up a slope or under
Slope driving status, then control unit 130 will improve the sensitivity intervened vehicle dynamic control.
The specific method that control unit 130 corrects apparent acceleration is described below.
According to the present embodiment, non-automatic state is in for vehicle and on-position is corrected apparently using different algorithms
Acceleration.Specifically, when vehicle is in non-brake state, (1) correction value of apparent acceleration can be corrected according to the following formula:
Wherein, A is the correction value of apparent acceleration, axFor apparent acceleration, WxFor wind resistance, RxFor surface resistance,
MMotAct is engine torque, ixFor transmission ratio, r is radius of wheel, and M is vehicle weight.
When vehicle is in on-position, (2) correction value of apparent acceleration can be corrected according to the following formula:
Wherein, A is the correction value of apparent acceleration, axFor apparent acceleration, WxFor wind resistance, RxFor surface resistance,
MMotAct is engine torque, ixFor transmission ratio, r is radius of wheel, and M is vehicle weight, and Cp_FA and Cp_RA divide
Not Wei front wheels and rear wheels braking efficiency, PFLAnd PFRThe brake pressure of respectively preceding revolver and front right wheel, PRLAnd PRRAfter respectively
The brake pressure of revolver and rear right wheel.
Wind resistance WxIt can be determined according to the air resistance coefficient of speed and vehicle, and surface resistance RxIt can be tested by road conditions
It calculates.
The load-carrying of vehicle is usually dynamic change.It in the present embodiment, can be regular in order to accurately track this variation
Or the value of vehicle weight aperiodically (such as in each vehicle start) is updated according to the following formula:
Wherein, M (t) is the vehicle weight of t moment, axIt (t) is the apparent acceleration of t moment, when MMotAct (t) is t
The engine torque at quarter, ixIt (t) is the transmission ratio of t moment, r is radius of wheel.
The vehicle weight being calculated for example is saved in memory 133 so that central processing unit 132 is calculating apparently
It is called when the correction value of acceleration.
In addition, when the vehicle weight being calculated according to formula (3) can also be used to judge vehicle with the presence or absence of failure or peace
Full hidden danger.Specifically, when average weight (namely fully loaded being averaged with empty-weight of vehicle of the vehicle weight and vehicle calculated
Value) compared to deviateing larger when, control unit 130 judges vehicle there may be failure (such as sensor fault) or security risk simultaneously
Start corresponding processing routine.
The specific method that control unit 130 judges vehicle running state is described below.
In the present embodiment, according to the combination of the state of vehicle accelerator pedal and brake pedal, using corresponding criterion come
Determine the driving status of vehicle.Specifically, when vehicle is in free rolling condition, (accelerator pedal of vehicle and brake are stepped at this time
Plate is not pressed) when, judged using following criterion:
Criterion 1: if the correction value for the apparent acceleration being calculated according to formula (1) is T in length1Period in hold
It is less than first threshold A continuously1, it is determined that vehicle is in up-hill journey state；
Criterion 2: if if the correction value for the apparent acceleration being calculated according to formula (1) in length is T1Period
Inside constantly it is greater than second threshold A2, it is determined that vehicle is in descent run state.
When vehicle is in Speed-Increase State (accelerator pedal of vehicle is applied active force at this time), carried out using following criterion
Judgement:
Criterion 3: if the table that the driving wheel slip degree of vehicle is less than third threshold value and is calculated according to formula (1)
The correction value of sight acceleration is T in length2Period in constantly be less than first threshold, it is determined that vehicle is in up-hill journey
State；
Criterion 4: if the table that the driving wheel slip degree of vehicle is less than third threshold value and is calculated according to formula (1)
The correction value of sight acceleration is T in length2Period in constantly be greater than second threshold, it is determined that the vehicle is in descending
Driving status.
When vehicle is in on-position (brake pedal of vehicle is applied active force at this time), carried out using following criterion
Judgement:
Criterion 5: if the table that the driving wheel slip degree of vehicle is less than third threshold value and is calculated according to formula (2)
The correction value of sight acceleration is T in length3Period in constantly be less than first threshold, it is determined that vehicle is in up-hill journey
State；
Criterion 6: if the table that the driving wheel slip degree of vehicle is less than third threshold value and is calculated according to formula (2)
The correction value of sight acceleration is T in length3Period in constantly be greater than second threshold, it is determined that vehicle is in descent run
State.
After first threshold and second threshold in above-mentioned criterion can determine suitable numerical value according to experiment, and the former is less than
Person.In addition, the length T of above-mentioned period1、T2And T3It may be the same or different, such as T1Can be with value for 1 second, T2And T3
It can be with value for 0.5 second.
In the present embodiment, in order to track the dynamic change for driving wheel slip degree, driving wheel slip is calculated according to the following formula
Degree:
Wherein, λ (t) is the sliding degree of t moment, and V (t) is the car speed of t moment, VwheelIt (t) is the drive of t moment
Driving wheel revolving speed.Above-mentioned third threshold value for example can be with value for -0.02.
When control unit 130 determines that vehicle is in upward slope or descent run state, i.e. raising vehicle dynamic control is intervened
Sensitivity.Such as when being in up-hill journey state, one is multiplied by less than 1 by the way that current understeer is intervened threshold value
Coefficient realize intervene sensitivity raising.For another example when being in descent run state, by by current ovdersteering intervention
Threshold value is multiplied by a coefficient less than 1 and realizes the raising for intervening sensitivity.The value range of the coefficient for example can be in 0.6-
Between 0.8, specific numerical value depends on the degree of understeer or ovdersteering.
Fig. 3 is the flow chart according to the method for the raising vehicle run stability of one embodiment of the invention.For elaboration side
Just for the sake of, it is assumed here that realize the method for the present embodiment on the electronic control unit shown in Fig. 1 and 2.But it may be noted that
It is that the principle of the present invention is not limited to the control device of specific type and structure.
As shown in figure 3, in step s310, power needed for electronic control unit 10 obtains the calculating apparent acceleration of vehicle
Learn parameter.These state parameters can obtain or from memory calls from sensor group 20.
Step S320 is then executed, electronic control unit 10 calculates the apparent acceleration of vehicle according to the kinetic parameter of acquisition
Correction value.In particular, it can be in non-brake state and on-position for vehicle, using different shown in formula (1) and (2)
Algorithm corrects apparent acceleration.
Step S330 is subsequently entered, electronic control unit 10 judges the driving status of vehicle.Such as it can use institute above
The criterion stated determines whether vehicle is in one of state in up-hill journey and descent run.If it is judged that be it is true,
It is then transferred to step S340, otherwise terminates process.
In step S340, electronic control unit 10 improves what vehicle dynamic control was intervened in manner described above
Sensitivity.
Although having showed and having discussed some aspects of the invention, those skilled in the art should realize
To: above-mentioned aspect can be changed under conditions of without departing substantially from the principle of the invention and spirit, therefore the scope of the present invention will
It is limited by claim and equivalent content.
Claims (9)
1. a kind of method for improving vehicle run stability, characterized in that it comprises the following steps:
The apparent acceleration of the vehicle is corrected using the kinetic parameter of the vehicle；
Determine whether the vehicle is in ascents and descents driving status according to the correction value of the apparent acceleration；And
If the vehicle is in upward slope or descent run state, the sensitivity that the vehicle dynamic control is intervened is improved,
Wherein, when the vehicle is in non-brake state, the correction value of the apparent acceleration is corrected according to the following formula:
Wherein, A is the correction value of apparent acceleration, axFor apparent acceleration, WxFor wind resistance, RxFor surface resistance, MMotAct
For engine torque, ixFor transmission ratio, r is radius of wheel, and M is vehicle weight.
2. the method for claim 1, wherein correcting the table according to the following formula when the vehicle is in on-position
See the correction value of acceleration:
Wherein, A is the correction value of apparent acceleration, axFor apparent acceleration, WxFor wind resistance, RxFor surface resistance, MMotAct
For engine torque, ixFor transmission ratio, r is radius of wheel, and M is vehicle weight, and Cp_FA and Cp_RA are respectively front-wheel
With the braking efficiency of rear-wheel, PFLAnd PFRThe brake pressure of respectively preceding revolver and front right wheel, PRLAnd PRRRevolver is with after after respectively
The brake pressure of right wheel.
3. method according to claim 1 or 2, wherein starting determines the vehicle weight all in accordance with following formula every time:
Wherein, M (t) is the vehicle weight of t moment, axIt (t) is the apparent acceleration of t moment, MMotAct (t) is the hair of t moment
Motivation torque, ixIt (t) is the transmission ratio of t moment, r is radius of wheel.
4. the method for claim 1, wherein determining whether the vehicle is in upward slope or descending row as follows
Sail state:
If the correction value that the accelerator pedal of the vehicle is not applied to active force and the apparent acceleration continues one section
Between be less than first threshold, it is determined that the vehicle is in up-hill journey state；
If detecting that the accelerator pedal of the vehicle is not applied to active force and the correction value of the apparent acceleration continues
It is greater than second threshold for a period of time, it is determined that the vehicle is in descent run state,
Wherein, the first threshold is less than second threshold.
5. the method for claim 1, wherein determining whether the vehicle is in upward slope or descending row as follows
Sail state:
If detecting that the accelerator pedal of the vehicle is applied active force, the driving wheel slip degree of the vehicle is less than third
Threshold value and the correction value of the apparent acceleration are less than first threshold with continuing for some time, it is determined that the vehicle is in upper
Slope driving status；
If detecting that the accelerator pedal of the vehicle is applied active force, the driving wheel slip degree of the vehicle is less than third
Threshold value and the correction value of the apparent acceleration are greater than second threshold with continuing for some time, it is determined that the vehicle is in down
Slope driving status,
Wherein, the first threshold is less than second threshold.
6. method as claimed in claim 5, wherein determine the sliding degree of driving wheel according to the following formula:
Wherein, λ (t) is the sliding degree of t moment, and V (t) is the car speed of t moment, Vwheel(t) it is rotated for the driving of t moment
Speed.
7. method according to claim 2, wherein determine whether the vehicle is in upward slope or descending row as follows
Sail state:
If detecting that the brake pedal of the vehicle is applied active force, the driving wheel slip degree of the vehicle is less than third
Threshold value and the correction value of the apparent acceleration are less than first threshold with continuing for some time, it is determined that the vehicle is in upper
Slope driving status；
If detecting that the brake pedal of the vehicle is applied active force, the driving wheel slip degree of the vehicle is less than third
Threshold value and the correction value of the apparent acceleration are greater than second threshold with continuing for some time, it is determined that the vehicle is in down
Slope driving status,
Wherein, the first threshold is less than second threshold.
8. the method for claim 7, wherein determine the sliding degree of driving wheel according to the following formula:
Wherein, λ (t) is the sliding degree of t moment, and V (t) is the car speed of t moment, Vwheel(t) it is rotated for the driving of t moment
Speed.
9. a kind of electronic control unit, including input unit, output unit and coupled with the input unit and output unit
Control unit, wherein the input unit is configured as the detection signal of receiving sensor, and described control unit is configured as
Control signal is generated according to the Vehicle dynamic parameters and exports control signal to executing agency through the output unit, it is special
Sign is that described control unit is further configured to control the stability of vehicle driving as follows:
The apparent acceleration of the vehicle is corrected using the kinetic parameter；
Determine whether the vehicle is in ascents and descents driving status according to the correction value of the apparent acceleration；And
If the vehicle is in upward slope or descent run state, the sensitivity that the vehicle dynamic control is intervened is improved,
Wherein, when the vehicle is in non-brake state, the correction value of the apparent acceleration is corrected according to the following formula:
Wherein, A is the correction value of apparent acceleration, axFor apparent acceleration, WxFor wind resistance, RxFor surface resistance, MMotAct
For engine torque, ixFor transmission ratio, r is radius of wheel, and M is vehicle weight.
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Families Citing this family (6)
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| CN108100132B (en) * | 2017-11-06 | 2020-01-03 | 深圳市卓越智尚科技有限公司 | Driving balance method for balance vehicle |
| CN108482566A (en) * | 2018-02-05 | 2018-09-04 | 浙江齐享科技有限公司 | A kind of method and system of electricity vehicle using motor auxiliary vehicle climb and fall |
| CN108508896B (en) * | 2018-04-17 | 2021-11-12 | 湖南星邦智能装备股份有限公司 | Method and system for controlling walking speed of aerial work platform |
| CN110525401A (en) * | 2019-08-15 | 2019-12-03 | 芜湖伯特利汽车安全***股份有限公司 | A method of promoting vehicle braking comfort |
| CN113984062B (en) * | 2021-10-26 | 2023-11-07 | 中国科学院合肥物质科学研究院 | Ground vehicle path planning method based on mobility evaluation |
| CN114674403B (en) * | 2021-12-30 | 2024-05-14 | 北京万集科技股份有限公司 | Target vehicle detection method and device, storage medium and electronic equipment |
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