CN109017758A - A kind of vehicle stability control system adjusted in advance and method - Google Patents
A kind of vehicle stability control system adjusted in advance and method Download PDFInfo
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- CN109017758A CN109017758A CN201810843345.1A CN201810843345A CN109017758A CN 109017758 A CN109017758 A CN 109017758A CN 201810843345 A CN201810843345 A CN 201810843345A CN 109017758 A CN109017758 A CN 109017758A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/064—Degree of grip
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
- B60W40/072—Curvature of the road
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
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Abstract
The present invention is the vehicle stability control system and method that one kind is adjusted in advance.The system calibrates subsystem, ECU (p by predicting road conditions2) and actuator composition；It includes ECU (p in subsystem that predicting road conditions, which are calibrated,1), and ECU (p2) be respectively car ECU the first, second part.Method includes the following steps: vehicle passes through imaging sensor and net connection collaboration correction, identification front road conditions；In ECU (p2) in, according to the road curvature of identification, calculate steering wheel angle of rotation when vehicle passes through bend；In ECU (p2) in, calculate the limit vehicle velocity V max of vehicle safety bend under VSC system auxiliary；In ECU (p2) in, calculate most minor speed distance X ' and maximum braking deceleration amax of the vehicle under ABS control；It is control target with limit speed, active brake is carried out to vehicle, vehicle is made to enter bend with the travel speed lower than limit speed.
Description
Technical field
The present invention relates to driver's auxiliary security and automobile active safety technical fields, and in particular to what one kind was adjusted in advance
Vehicle stability control system and method.
Background technique
After nineteen ninety-five, with the appearance of yaw velocity and lateral acceleration sensor, Vehicle Stability Control it is basic
Form is confirmed that.Automobile electron stabilization control system can effectively improve vehicle by actively applying corresponding control for brake
Riding stability under limiting condition reduces traffic accident rate, the mortality in traffic accident is effectively reduced.Through
Exploratory development in more than 20 years and practice principle, vehicle stability controlled system are widely used on automobile, engineer and are ground
The person of studying carefully has tended to be perfect it in software and hardware part this system deployment analysis and research, in the design and control of VSC system
The progress speed of system etc. has been not so good as once.
However, with increasingly raising and the development of automotive engineering that people require vehicle performance, the traveling speed of vehicle
Spend it is higher and higher, in addition driving cycle complicated and changeable is difficult correctly for everyday driver in driving procedure
The various dangerous bad working environments encountered are handled.And speed is higher, and the traffic accident ratio as caused by automobile unstability is bigger.
In the situation for meeting with vehicle unstability when vehicle is excessively curved, in general their vehicle stabilization control has played work
With, but because final vehicle could not settle out again errant vehicle, eventually lead to accident.Existing vehicle steadily
Property control system can only realize real-time control, or only minimal amount of lead, however it remains rely on driver take aim at road conditions in advance
The problems such as being unable to maintain that vehicle stabilization when manipulating in advance, stability contorting condition, low attachment road surface and high speed cannot be predicted.
Summary of the invention
The technical problems to be solved by the present invention are: a kind of first being obtained in view of the above-mentioned problems of the prior art, providing
Then the traffic information of correction adjusts Vehicle Speed in advance, thus make vehicle as you pass the bend, vehicle stability systems
The vehicle stabilization control method that can be operated normally.
The present invention solves its technical problem, and the following technical solution is employed:
The vehicle stability control system provided by the invention adjusted in advance is to calibrate subsystem, ECU (p by predicting road conditions2)
And actuator composition, in which: it includes ECU (p in subsystem that predicting road conditions, which are calibrated,1), it is the first part of car ECU；ECU
(p2) be car ECU second part.
The predicting road conditions calibration subsystem is by vehicle sensors, 4G or 5G communication network and ECU (p1) composition.
ECU (the p1) for receiving and processing sensor detection gained information, obtain road ahead information；Pass through vehicle
4G or 5G network communication receives the road ahead information data that traffic information shares the reference of post house unit transmitting；Carry out two groups of numbers
According to correction, obtain the road ahead information of correction, and it is transmitted to ECU (p2)；Road ahead information includes road surface ahead
Attachment coefficient μ and road curvature k.
ECU (the p2) for calculating the limit speed before entering bend, and compare current vehicle speed and carry out stability wind
Danger prediction, if risky, carry out extra computation and issues the dependent instruction of active brake.
The actuator carries out active brake using ABS system and engine system collaboration, the former provides brake force, the latter
Engine output is reduced, and controls the signal prompt for showing active brake on platform in the car.
The vehicle stabilization control method provided by the invention adjusted in advance, comprising the following steps:
(1) vehicle identifies one spacing of vehicle front by imaging sensor and the road conditions recognition methods of net connection collaboration correction
From traffic information, including coefficient of road adhesion and road curvature and Ben Che are at a distance from bend；
(2) in ECU (p2) in, according to the road curvature of identification, in the case where limiting wheelpath range, calculate vehicle
Pass through steering wheel angle of rotation when bend；
(3) in ECU (p2) in, according to the coefficient of road adhesion of identification, in the case where limiting wheelpath range, calculate
The limit vehicle velocity V of vehicle safety bend under VSC system auxiliarymax；
(4) in ECU (p2) in, according to the coefficient of road adhesion of identification, calculate most minor speed of the vehicle under ABS control away from
From X ' and maximum braking deceleration amax；
(5) according to limit vehicle velocity VmaxWith current vehicle speed V0Relationship, and consider most minor speed distance and driver comfort
Degree is control target with limit speed, by braking automatic regulating system, carries out active brake to vehicle, makes vehicle to be lower than
The travel speed of limit speed enters bend；
(6) by the way that during bend, vehicle calculates traffic information in real time, bend is transmitted to together with identification control information
Information sharing post house is corrected, and update inhered subgrade information again after Effective judgement with legacy data.
In the above method, the road conditions recognition methods of correction is the bend section road conditions identified according to this vehicle imaging sensor
Information obtains the reference traffic information in bend section, the reference received according to in-vehicle communication system by 4G or 5G car networking
Traffic information corrects the traffic information that this vehicle is identified, to obtain the traffic information of correction, including road surface ahead attachment coefficient μ
With road curvature k.
In the above method, the limit speed is by ECU (p2) limit speed computing unit be calculated, the limit vehicle
The calculation method of fast computing unit are as follows: in the case where vehicle does not enter bend and limits wheelpath range, optional step (1)
The coefficient of road adhesion and road curvature, in conjunction with modelica vehicle dynamic model and the VSC system of 8 freedom degrees
Modelica model calculates maximum of the VSC system under limit stability operating condition and enters curved speed, which is exactly the limit speed.
In the above method, (5) step work step is as follows:
1) compare braking deceleration aComfortably、aCalculate min、amaxAnd active brake, wherein a are carried out according to following three kinds of situationsComfortablyIt is
The considerations of being calculated people feels the braking deceleration of comfort, aCalculate minIt is to be believed according to this vehicle to bend distance and current vehicle speed etc.
Cease the minimum of computation deceleration being calculated, amaxFor maximum braking deceleration；
2) work as aCalculate min> aComfortablyWhen, choose aCalculate minReduce speed now as active brake deceleration and immediately, at this time vehicle with
Bend entrance distance is L, and starts active brake, and speed is reduced before driving into bend to VmaxBelow；
3) work as amax≥aComfortably≥aCalculate minWhen, choose aComfortablyIt is travelled as active brake deceleration and by current vehicle speedAfter distance, start active brake, speed is reduced before driving into bend to Vmax or less；
Symbol meaning in above-mentioned formula are as follows: aComfortablyThe people of the considerations of to be calculated feel comfort braking deceleration, L be
When current vehicle and bend distance, L ' are that vehicle starts active brake deceleration, at a distance from vehicle initial position, V0To work as front truck
Speed, VmaxFor limit speed；
4) work as aComfortably≥amax≥aCalculate minWhen, choose amaxAs active brake deceleration, travel according to current vehicle speed to most
Minor speed distance X ' starts active brake afterwards, and speed is reduced before driving into bend to Vmax or less.
The present invention has following major advantage compared with prior art:
General vehicle stability controlled system is merely able to real-time control vehicle stabilization, and when being in, speed is excessively high, and road surface is attached
Coefficient it is low, bend curvature is excessive in the case of these three, and vehicle stability controlled system is unable to control intact stability and avoids
Vehicle unstability, to can have a car accident.The present invention is by designing a kind of vehicle stabilization control method adjusted in advance, on identification road
Condition and after calculating the limit speed of the limit stability operating condition that vehicle stability controlled system can work normally, with this target to vehicle
Carry out active brake.This system realize vehicle enter it is curved before, speed is pre-adjusted by this system, has both avoided speed mistake
It is high to guarantee that vehicle efficiently moves simultaneously, to guarantee vehicle stability controlled system energy while both guaranteeing vehicle driving efficiency
It works normally, improves drive safety.
Detailed description of the invention
Fig. 1 is system structure schematic diagram of the invention.
Fig. 2 is the Identify Environment workflow schematic diagram of correction of the invention.
Fig. 3 is ECU (p of the invention2) internal work cell schematics.
Fig. 4 is braking automatic regulating system workflow schematic diagram of the invention.
Fig. 5 working-flow schematic diagram.
Specific embodiment
Below with reference to examples and drawings, the invention will be further described, but does not limit the present invention.
The vehicle stability control system provided by the invention adjusted in advance, structure is as shown in Fig. 1, by predicting road conditions school
Quasi- subsystem, ECU (p2) and actuator composition.Wherein ECU (p1) be car ECU first part, ECU (p2) it is car ECU
Second part.
The traffic information of predicting road conditions calibration subsystem vehicle front certain distance for identification, including road surface attachment
Coefficient and road curvature and Ben Che are at a distance from bend.It includes vehicle road condition recognition unit that the predicting road conditions, which calibrate subsystem,
And traffic information shares post house unit.Specific component and connection relationship are as shown in Fig. 2.
ECU (the p2) for calculating the limit speed before entering bend, and compare current vehicle speed and carry out stability wind
Danger prediction (if risky, carry out extra computation and issue the dependent instruction of active brake).In ECU (p2) in include: direction
Disk rotation angle calculation unit, limit speed computing unit, most minor speed metrics calculation unit, braking force calculation unit.Each component it
Between connection relationship it is as shown in Fig. 3.
The actuator, there are when stability risk, is received from as ECU (p for vehicle2) instruction, active brake come
Speed is adjusted, stability risk is eliminated, and gives driver information prompt.The actuator includes: ABS system, engine, in
Control platform.Wherein ABS system and engine, which receive, comes from ECU (p2) deceleration instruction, cooperate carry out active brake；Console
Receive ECU (p2) prompt information and remind driver that there are stability risks.
The vehicle stability control system provided by the invention adjusted in advance, the course of work is:,
(1) vehicle identifies one spacing of vehicle front by imaging sensor and the road conditions recognition methods of net connection collaboration correction
From traffic information, including coefficient of road adhesion and road curvature and Ben Che are at a distance from bend；(2) in ECU (p2) in,
According to the road curvature of identification, in the case where limiting wheelpath range, steering wheel rotation when vehicle passes through bend is calculated
Angle；(3) in ECU (p2) in, according to the coefficient of road adhesion of identification, in the case where limiting wheelpath range, calculate vehicle
The limit vehicle velocity V max of safety bend under VSC system auxiliary；(4) in ECU (p2) in, system is adhered to according to the road surface of identification
Number calculates most minor speed distance X ' and maximum braking deceleration amax of the vehicle under ABS control；(5) according to limit speed
Vmax and current vehicle speed V0Relationship, and consider most minor speed distance and driver comfort degree, be control target with limit speed,
By issuing instruction to ABS system and engine, active brake is carried out to vehicle, makes vehicle with the traveling speed lower than limit speed
Degree enters bend；(6) it by the way that during bend, vehicle calculates traffic information in real time, is transmitted to together with identification control information curved
The information sharing post house in road is corrected after Effective judgement with legacy data again, and updates inhered subgrade letter
Breath.
The vehicle stabilization control method provided by the invention adjusted in advance, comprising the following steps:
1. vehicle is known by correcting in subsystem in predicting road conditions by the road conditions of imaging sensor and net connection collaboration correction
Other method, identifies the traffic information of vehicle front certain distance, including coefficient of road adhesion and road curvature and Ben Che with it is curved
The distance in road；The road conditions recognition methods of specific explanations correction referring to fig. 2:
(1) in-vehicle communication system of this vehicle is total to according to the traffic information that 4G or 5G network transmission is received from bend section
The road-adhesion coefficient μ and road curvature k for enjoying the bend section of post house storage using them as reference data, and are carried out effective
Property judgement, record effective data information.
(2) the vehicle road condition recognition unit of this vehicle is believed according to road conditions in front of every sensor Forecasting recognition in sensor monitoring
Breath, comprising: road ahead attachment coefficient μ and road curvature k, and Effective judgement is carried out, record effective data information.
(3) two groups of data are in ECU (p1) in be corrected verification, with information sharing post house transmission traffic information matching biography
Sense detects resulting traffic information, to obtain the traffic information of correction, comprising: road ahead attachment coefficient μ and road curvature
k。
2. in ECU (p2) in, according to the modelica vehicle dynamic model of 8 freedom degrees of foundation and intact stability control
The modelica model of system processed, simulating vehicle traveling carry out following message from entrance bend to the process to come off the curve
It calculates；
(1) it according to the road curvature of identification, in the case where limiting wheelpath range, is calculated in steering wheel angle of rotation single
Steering wheel angle of rotation when vehicle passes through bend is calculated in member.
(2) in the case where vehicle does not enter bend and limits wheelpath range, the road surface for selecting front to be predicted is attached
Coefficient and road curvature, in conjunction with the modelica vehicle dynamic model and vehicle stability controlled system of 8 freedom degrees
Modelica model calculates maximum of the vehicle stability controlled system under limit stability operating condition and enters curved speed, which is exactly institute
State limit vehicle velocity Vmax。
(3) according to current vehicle speed, coefficient of road adhesion μ, the vehicle dynamic model of correction, motor vehicle braking system and ABS
System calculates vehicle maximum braking deceleration a of the vehicle under current road attachment coefficientmaxMost minor speed distance X '.
The calculation method of X ' is as follows:
In formula: V0For current vehicle speed, amaxFor vehicle maximum braking deceleration (considering coefficient of road adhesion μ effect), vmax
For limit speed.
Then, in ECU (p2) in judged: compare current vehicle speed and limit speed.If current vehicle speed is lower than limit vehicle
Speed, then showing vehicle, there is no stability risks under this speed, do not need to carry out braking automatic adjustment；If current vehicle speed is higher than
Limit speed then shows that vehicle, there are stability risk, needs to carry out braking automatic adjustment by actuator under this speed.
3. when needing to adjust speed, this system is in ECU (p when there are stability risks for vehicle2) work on, according to pole
Limit vehicle velocity VmaxWith current vehicle speed V0Relationship, and consider most minor speed distance and driver comfort degree, be control with limit speed
Target passes through ECU (p2) and actuator to vehicle carry out active brake, make vehicle with lower than limit speed travel speed enter
Bend, as follows in conjunction with the specific introduction step of Fig. 3:
(1) the braking deceleration a for considering that people feels comfort is calculated in braking force calculation unitComfortably；
(2) equation is established in braking force calculation unit:
In formula (2), aIt calculatesFor the braking deceleration of calculating；L is current vehicle and bend distance, L ' are that vehicle starts to lead
When dynamic braking deceleration, at a distance from vehicle initial position；V0For current vehicle speed, VmaxFor limit speed.In addition: the minimum of L-L '
Value is just for most minor speed distance X ', vehicle working condition at this time, into most minor speed distance X ', with maximum braking deceleration amax
Carry out active brake.
In formula (3), the minimum value that a is calculated when a calculates min, vehicle condition at this time is that vehicle carries out active brake at once, with
Deceleration aCalculate minSlow down until arriving at bend entrance.And it can be obtained by formula (2) (3): aCalculate min≤amax。
(3) according to equation vehicle actual deceleration distance and deceleration, there are following three kinds of situations, and existed according to corresponding situation
Regulated and controled and shown accordingly in ABS system and information presentation system:
Work as aCalculate min≥aComfortablyWhen, choose aCalculate minIt reduces speed now as active brake deceleration and immediately.At this time vehicle with it is curved
Road entrance distance is L, and starts active brake, and speed is reduced before driving into bend to VmaxBelow；
Work as amax≥aComfortably≥aCalculate minWhen, choose aComfortablyIt is travelled as active brake deceleration and by current vehicle speedAfter distance, start active brake, speed is reduced before driving into bend to Vmax or less.
Work as aComfortably≥amax≥aCalculate minWhen, choose amaxAs active brake deceleration, travel according to current vehicle speed to most short
Speed regulation distance X ' starts active brake afterwards, and speed is reduced before driving into bend to Vmax or less.To in the feelings for guaranteeing safety
Under condition, preferable vehicle driving efficiency is obtained.
4. calculating and recording actual curved according to this vehicle information operating Fiala tire model during vehicle is excessively curved
The road-adhesion coefficient of road segment segment: calculating according to information such as steering wheel angle and tyre slip angles and records actual bend section
Curvature.Then this two groups of data are transmitted to the letter in the bend section with predictive information corrected when entering bend section
Shared post house is ceased, is corrected, then updates original with legacy data after information sharing post house is by Effective judgement
Traffic information.
According to the vehicle stabilization control method of this method example adjusted in advance, vehicle is after entering bend section, in advance
Speed is first adjusted, both avoided speed excessively high while guaranteeing that vehicle efficiently moves, thus while both guaranteeing vehicle driving efficiency
Guarantee that vehicle stability controlled system can work normally, improves drive safety.
System and method provided by the above embodiment have the following characteristics that
1., can be based on post house in this by imaging sensor and the road conditions recognition methods (Fig. 1) of net connection collaboration correction
The traffic information deposited corrects this vehicle sensor measured information, thus make this vehicle prediction road ahead information more rapidly, pass through
The correction of two group informations provides accurate road ahead information, provides accurate information branch for next stability prediction
It holds.It (in addition, vehicle calculates during excessively curved and record real road information, and is passed in the curved rear 4G or 5G network that passes through out
The post house in roadside is passed, road information is prestored to update, improves the forecasting efficiency and accuracy of later vehicle) (not knowing has
The necessity that do not write into is write into, and particular content is in the 4th point more above)
2. limit speed calculation method:
VSC system is calculated in conjunction with the modelica vehicle dynamic model of 8 freedom degrees and the modelica model of VSC system
Maximum under limit stability operating condition enters curved speed.
By this limit speed calculation method, can be accurately calculated in Multi-freedom model auxiliary in the participation of VSC system
The maximum for helping lower vehicle to meet stability enters curved speed, while having automatic decoupling, reduction model non-using modelica model
Linear characteristic is quickly calculated, and enters curved speed so as to calculate maximum in real time and accurately.
3. braking Automatic adjustment method is used, it can be in the case where considering that people feels comfort, in advance to vehicle in this
Active brake is carried out, and vehicle is made to enter bend with the speed closer to limit speed, to improve driving efficiency and people's sense
Comfort.
Examples detailed above is merely to illustrate the present invention, wherein engineering goods used in each functional subsystem and unit, are
Unite model etc. all can than variation, it is all carried out on the basis of control method of the invention convert and change on an equal basis
Into should not exclude within protection scope of the present invention.
Claims (9)
1. the vehicle stability control system that one kind is adjusted in advance, it is characterised in that calibrate subsystem, ECU (p by predicting road conditions2) with
And actuator composition, in which: it includes ECU (p in subsystem that predicting road conditions, which are calibrated,1), it is the first part of car ECU；ECU(p2)
For the second part of interior ECU.
2. the vehicle stability control system according to claim 1 adjusted in advance, it is characterised in that the predicting road conditions school
Quasi- subsystem is by vehicle sensors, 4G or 5G communication network and ECU (p1) composition.
3. the vehicle stability control system according to claim 1 adjusted in advance, it is characterised in that the ECU (p1) be used for
Sensor detection gained information is received and processed, obtains road ahead information；Road conditions are received by vehicle 4G or 5G network communication
The road ahead information data of the reference of information sharing post house unit transmitting；The correction for carrying out two groups of data, before obtaining correction
Square road information, and it is transmitted to ECU (p2)；Road ahead information includes road surface ahead attachment coefficient μ and road curvature k.
4. the vehicle stability control system according to claim 1 adjusted in advance, it is characterised in that the ECU (p2) be used for
The limit speed before entering bend is calculated, and compares current vehicle speed progress stability risk prediction and carries out volume if risky
Outer calculating and the dependent instruction for issuing active brake.
5. the vehicle stability control system according to claim 1 adjusted in advance, it is characterised in that actuator uses ABS system
System and engine system collaboration carry out active brake, the former provides brake force, and the latter reduces engine output, and in automobile
The signal prompt of active brake is shown on console.
6. the vehicle stabilization control method that one kind is adjusted in advance, it is characterised in that the following steps are included:
(1) the road conditions recognition methods that vehicle is corrected by imaging sensor and net connection collaboration, identification vehicle front certain distance
Traffic information, including coefficient of road adhesion and road curvature and Ben Che are at a distance from bend；
(2) in ECU (p2) in, according to the road curvature of identification, in the case where limiting wheelpath range, calculates vehicle and pass through
Steering wheel angle of rotation when bend；
(3) in ECU (p2) in, according to the coefficient of road adhesion of identification, in the case where limiting wheelpath range, calculate vehicle
The limit vehicle velocity V of safety bend under VSC system auxiliarymax；
(4) in ECU (p2) in, according to the coefficient of road adhesion of identification, calculate most minor speed distance X ' of the vehicle under ABS control
With maximum braking deceleration amax；
(5) according to limit vehicle velocity VmaxWith current vehicle speed V0Relationship, and most minor speed distance and driver comfort degree are considered, with pole
Limiting speed is control target, by carrying out active brake to vehicle, making vehicle by issuing instruction to ABS system and engine
Enter bend with the travel speed lower than limit speed；
(6) by the way that during bend, vehicle calculates traffic information in real time, the information of bend is transmitted to together with identification control information
Shared post house is corrected, and update inhered subgrade information again after Effective judgement with legacy data.
7. method as claimed in claim 6, it is characterised in that the road conditions recognition methods of correction is according to this vehicle imaging sensor
The bend section traffic information identified obtains the reference traffic information in bend section by 4G or 5G car networking, according to vehicle-mounted
The traffic information that reference road conditions information correction this vehicle that communication system receives is identified, thus obtain the traffic information of correction,
Including road surface ahead attachment coefficient μ and road curvature k.
8. method as claimed in claim 6, it is characterised in that the limit speed is by ECU (p2) limit speed computing unit
It is calculated, the calculation method of the limit speed computing unit are as follows: do not enter bend in vehicle and limit wheelpath range
In the case where, coefficient of road adhesion and road curvature described in optional step (1) are moved in conjunction with the modelica vehicle of 8 freedom degrees
Mechanical model and the modelica model of VSC system calculate maximum of the VSC system under limit stability operating condition and enter curved speed, the vehicle
Speed is exactly the limit speed.
9. method as claimed in claim 6, it is characterised in that (5) step work step is as follows:
1) compare braking deceleration aComfortably、aCalculate min、amaxAnd active brake, wherein a are carried out according to following three kinds of situationsComfortablyIt is to calculate
The considerations of obtaining people feels the braking deceleration of comfort, aCalculate minIt is according to this vehicle to the information meter such as bend distance and current vehicle speed
The minimum of computation deceleration obtained, amaxFor maximum braking deceleration；
2) work as aCalculate min> aComfortablyWhen, choose aCalculate minIt reduces speed now as active brake deceleration and immediately, at this time vehicle and bend
Entrance distance is L, and starts active brake, and speed is reduced before driving into bend to VmaxBelow；
3) work as amax≥aComfortably≥aCalculate minWhen, choose aComfortablyIt is travelled as active brake deceleration and by current vehicle speedAfter distance, start active brake, speed is reduced before driving into bend to Vmax or less；
Symbol meaning in above-mentioned formula are as follows: aComfortablyBraking deceleration, the L that the people of the considerations of to be calculated feels comfort are current
When vehicle and bend distance, L ' are that vehicle starts active brake deceleration, at a distance from vehicle initial position, V0For current vehicle speed,
VmaxFor limit speed；
4) work as aComfortably≥amax≥aCalculate minWhen, choose amaxAs active brake deceleration, travel according to current vehicle speed to most minor
Speed distance X ' starts active brake afterwards, and speed is reduced before driving into bend to Vmax or less.
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