CN110203076A - Anti- steering sideslip control system, method and the electric vehicle of electric vehicle - Google Patents
Anti- steering sideslip control system, method and the electric vehicle of electric vehicle Download PDFInfo
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- CN110203076A CN110203076A CN201910481783.2A CN201910481783A CN110203076A CN 110203076 A CN110203076 A CN 110203076A CN 201910481783 A CN201910481783 A CN 201910481783A CN 110203076 A CN110203076 A CN 110203076A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000001514 detection method Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 5
- 238000012790 confirmation Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of anti-steering sideslip control systems of electric vehicle, method and its electric vehicle, wherein the anti-sideslip control system that turns to includes: to detect the steering wheel angle sensor of steering wheel, detect the yaw-rate sensor of yaw velocity, detect the vehicle speed sensor of speed, the first front wheel brake gas chamber of the near front wheel is set, second front wheel brake gas chamber of off-front wheel is set, the preceding gas receiver of storing compressed air, electric machine controller and entire car controller, entire car controller obtains critical yaw velocity when electric vehicle breaks away according to speed and steering wheel, and according to critical yaw velocity, the yaw velocity of electric vehicle and the brake pedal status of electric vehicle judge that electric vehicle will be connected to adjust body gesture the first control valve or the second control valve when occurring and turning to and break away, and lead to It crosses electric machine controller and limit torsion control is carried out to driving motor, to also improve the effect of anti-sideslip while improving whole vehicle stability.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to anti-steering sideslip control system, one kind of a kind of electric vehicle
A kind of anti-steering sideslip control method with the anti-electric vehicle for turning to sideslip control system and electric vehicle.
Background technique
In the related technology, ABS (Anti-lock Braking System) anti-lock braking system is on pure electric coach
Application comparative maturity still do not have on pure electric coach and compare into and for applying the ESC system on trolley
Ripe scheme, current pure electric coach are all unilaterally to increase wheel in the braking system of the anti-sideslip of original ABS module
Fast sensor and yaw-rate sensor carry out sideslip detection, by increasing the brake pressure forced deceleration of wheel, and in this way
Braking will be made with driving, and there are contradictions, cause the stability of vehicle low, so that better anti-sideslip effect be not achieved.
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.For this purpose, of the invention
One purpose is to propose a kind of anti-steering sideslip control system of electric vehicle, by increasing the electromagnetism individually controlled by VCU
Valve, so that in the case where judging that vehicle will occur to turn to sideslip and do not take braking, it can be by control solenoid valve to spy
Fixed wheel brake pressure also improves anti-side while improving whole vehicle stability in this way so as to adjust vehicle driving posture
Sliding effect.
Second object of the present invention is to propose a kind of electric vehicle.
Third object of the present invention is to propose a kind of anti-steering sideslip control method of electric vehicle.
In order to achieve the above objectives, a kind of anti-steering sideslip control system for electric vehicle that first aspect present invention proposes,
It include: steering wheel angle sensor, the steering wheel that the steering wheel angle sensor corresponds to the electric vehicle is arranged to detect
Steering wheel；Yaw-rate sensor, yaw angle of the yaw-rate sensor to detect the electric vehicle
Speed；Vehicle speed sensor, speed of the vehicle speed sensor to detect the electric vehicle；First front wheel brake gas chamber, institute
State the near front wheel setting that the first front wheel brake gas chamber corresponds to the electric vehicle；Second front wheel brake gas chamber, second front-wheel
Brake chamber corresponds to the off-front wheel setting of the electric vehicle；Preceding gas receiver, the preceding gas receiver is to store the electric vehicle
Air compressing device caused by compressed air, the preceding gas receiver passes through that the first control valve and the second control valve are corresponding to be connected respectively
Lead to the first front wheel brake gas chamber and the second front wheel brake gas chamber；Electric machine controller and entire car controller, it is described whole
CAN communication is carried out between vehicle controller and the electric machine controller, the entire car controller is passed with the steering wheel respectively
Sensor, the yaw-rate sensor, the vehicle speed sensor, first control valve are connected with second control valve,
The entire car controller obtains the electric vehicle according to the speed of the electric vehicle and the steering wheel and breaks away
When critical yaw velocity, and according to the critical yaw velocity, the yaw velocity and the electricity of the electric vehicle
The brake pedal status of motor-car judges that the electric vehicle will occur to turn to when breakking away to first control valve or described the
Two control valves carry out conducting control to adjust the body gesture of the electric vehicle, and by the electric machine controller to driving electricity
Machine carries out limit and turns round control.
The anti-steering sideslip control system of the electric vehicle proposed according to the present invention, is detected by steering wheel angle sensor
Steering wheel, yaw-rate sensor detect the yaw velocity of electric vehicle, and vehicle speed sensor detects electric vehicle
Speed, and facing when electric vehicle breaks away is obtained according to the speed and steering wheel of electric vehicle by entire car controller
Boundary's yaw velocity, and according to the brake pedal shape of critical yaw velocity, the yaw velocity of electric vehicle and electric vehicle
It is electronic to adjust that state judges that electric vehicle will carry out conducting control to the first control valve or the second control valve when generation steering sideslip
The body gesture of vehicle, and limit is carried out to driving motor by electric machine controller and turns round control.Judging vehicle by generation turn as a result,
To sideslip, and in the case where not taking braking, specific wheel system can be given by the first control valve of control or the second control valve
Dynamic pressure also improves the effect of anti-sideslip while improving whole vehicle stability in this way so as to adjust vehicle driving posture.
In addition, according to the present invention the anti-steering sideslip control system of electric vehicle set forth above can also have it is following attached
The technical characteristic added:
Optionally, the anti-steering sideslip control system of above-mentioned electric vehicle further include: the first rear service brake gas chamber, after described first
Wheel brake chamber corresponds to the left rear wheel setting of the electric vehicle；Second rear service brake gas chamber, the second rear service brake gas chamber
The off hind wheel setting of the corresponding electric vehicle；Gas receiver afterwards, the rear gas receiver is to store the compressed air；Valve group
Part, the valve member correspond to brake pedal setting, the valve member respectively with the preceding gas receiver, it is described after gas storage
After cylinder, the first front wheel brake gas chamber, the second front wheel brake gas chamber, the first rear service brake gas chamber and described second
It takes turns brake chamber to be connected, the valve member is when the brake pedal is operated by the compressed air of the preceding gas receiver storage
It is assigned to the first front wheel brake gas chamber and the second front wheel brake gas chamber, and the compression that the rear gas receiver is stored is empty
Gas is assigned to the first rear service brake gas chamber and the second rear service brake gas chamber.
Optionally, when the brake pedal is operated, first control valve and second control valve are held off
State.
Optionally, the valve member includes: quick release valve, and the first port of the quick release valve is communicated to first front-wheel
Brake chamber, the second port of the quick release valve are communicated to the second front wheel brake gas chamber；Relay valve, the of the relay valve
Single port is communicated to the first rear service brake gas chamber, and the second port of the relay valve is communicated to the second rear service brake gas
Room, the third port of the relay valve are communicated to the rear gas receiver；Brake valve, the first port of the brake valve are communicated to institute
Preceding gas receiver is stated, the second port of the brake valve is communicated to the third port of the quick release valve, the third end of the brake valve
Mouth is communicated to the rear gas receiver, and the 4th port of the brake valve is communicated to the control port of the relay valve, the braking
Valve corresponds to the brake pedal setting, brake valve conducting when the brake pedal is operated, by the preceding gas receiver
The compressed air of storage is led respectively by the first port, the second port of the brake valve, the quick release valve of the brake valve
Enter the first front wheel brake gas chamber and the second front wheel brake gas chamber, at the same by the control pressure of generation be input to it is described after
The control port of dynamic valve so that the relay valve is connected, distinguished by the relay valve by the compressed air of the rear gas receiver storage
Import the first rear service brake gas chamber and the second rear service brake gas chamber.
Optionally, first control valve and second control valve are solenoid valve.
In order to achieve the above objectives, second aspect of the present invention proposes a kind of electric vehicle comprising above-mentioned electric vehicle
Anti- steering sideslip control system.
The electric vehicle proposed according to the present invention can by the anti-steering sideslip control system of above-mentioned electric vehicle
In the case where judging that vehicle will send steering sideslip and not take braking, it can pass through and control the first control valve or second
Control valve gives specific wheel brake pressure, so as to adjust vehicle driving posture, in this way while improving whole vehicle stability
Improve the effect of anti-sideslip.
In order to achieve the above objectives, third aspect present invention proposes the anti-steering sideslip control method of an electric vehicle,
Described in electric vehicle include entire car controller, electric machine controller, the first front wheel brake gas chamber, the second front wheel brake gas chamber and preceding
Gas receiver, the first front wheel brake gas chamber correspond to the near front wheel setting of the electric vehicle, the second front wheel brake gas chamber
The off-front wheel of the corresponding electric vehicle is arranged, produced by air compressing device of the preceding gas receiver to store the electric vehicle
Compressed air, the preceding gas receiver pass through respectively the first control valve and the second control valve correspondence be communicated to the first front-wheel system
It takes offence room and the second front wheel brake gas chamber, CAN communication, institute is carried out between the entire car controller and the electric machine controller
Anti- steering sideslip control method is stated the following steps are included: detecting the steering wheel of the electric vehicle, and detect described electronic
The yaw velocity of vehicle, and the speed of the detection electric vehicle；The entire car controller is according to the electric vehicle
Speed and the steering wheel obtain the critical yaw velocity when electric vehicle breaks away, and according to described critical
The brake pedal status of yaw velocity, the yaw velocity of the electric vehicle and the electric vehicle judges the electric vehicle
Whether by occur turn to break away；If it is determined that the electric vehicle will occur to turn to break away, the entire car controller is then to institute
It states the first control valve or second control valve carries out conducting control to adjust the body gesture of the electric vehicle, and pass through institute
It states electric machine controller and limit torsion control is carried out to driving motor.
The anti-steering sideslip control method of the electric vehicle proposed according to the present invention is turned by detection electric vehicle first
To disk angle, and the yaw velocity of electric vehicle is detected, and the speed of detection electric vehicle；Then pass through entire car controller
Critical yaw velocity when electric vehicle breaks away is obtained according to the speed of electric vehicle and steering wheel, and according to facing
The brake pedal status of boundary's yaw velocity, the yaw velocity of electric vehicle and electric vehicle judges whether electric vehicle will hair
Raw turn to is breakked away；Then if it is determined that electric vehicle will occur to turn to break away, entire car controller is then to the first control valve or second
Control valve carries out conducting control to adjust the body gesture of electric vehicle, and carries out limit torsion to driving motor by electric machine controller
Control.As a result, in the case where judging that vehicle will occur to turn to sideslip and do not take braking, the first control of control can be passed through
Valve or the second control valve give specific wheel brake pressure, so as to adjust vehicle driving posture, are improving whole vehicle stability in this way
While also improve the effect of anti-sideslip.
In addition, according to the present invention the anti-steering sideslip control method of electric vehicle set forth above can also have it is following attached
The technical characteristic added:
Optionally, according to the system of the critical yaw velocity, the yaw velocity of the electric vehicle and the electric vehicle
Dynamic pedal state judges whether the electric vehicle will occur to turn to break away, comprising: judges the exhausted of the critical yaw velocity
Whether preset threshold is less than to the difference of the absolute value of the yaw velocity of value and the electric vehicle；If it is, further sentencing
Whether the brake pedal of the electric vehicle of breaking is operated；If the brake pedal of the electric vehicle is not operated, in institute
The yaw velocity for stating electric vehicle judges that the electric vehicle will occur to turn to break away when not being zero.
Optionally, when the yaw velocity of the electric vehicle is less than zero, the entire car controller judges described electronic
Vehicle is to left sharp turn and the tailstock will break away to the right, and controls second control valve with predeterminated frequency on-off so that described
Off-front wheel inlet point brake state.
Optionally, when the yaw velocity of the electric vehicle is greater than zero, the entire car controller judges described electronic
The vehicle sharp right-hand bend and tailstock will break away to the left, and first control valve is controlled with predeterminated frequency on-off so that described
The near front wheel inlet point brake state.
Detailed description of the invention
Fig. 1 is the block diagram according to the anti-steering sideslip control system of the electric vehicle of the embodiment of the present invention；
Fig. 2 is the vehicle brake gas circuit according to the anti-steering sideslip control system of the electric vehicle of one embodiment of the invention
Figure；
Fig. 3 is the effect diagram according to the anti-steering sideslip control system of the electric vehicle of one embodiment of the invention；
Fig. 4 is the block diagram according to the electric vehicle of one embodiment of the invention；
Fig. 5 is the flow diagram according to the anti-steering sideslip control method of the electric vehicle of one embodiment of the invention；
Fig. 6 is the flow diagram according to the anti-steering sideslip control method of the electric vehicle of one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In order to better understand the above technical scheme, the exemplary reality that the present invention will be described in more detail below with reference to accompanying drawings
Apply example.Although showing exemplary embodiment of the present invention in attached drawing, it being understood, however, that may be realized in various forms this hair
It is bright and should not be limited by the embodiments set forth herein.It is to be able to thoroughly understand this on the contrary, providing these embodiments
Invention, and the scope of the present invention can be fully disclosed to those skilled in the art.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
Referring to fig. 1 and fig. 2, the anti-steering sideslip control system for the electric vehicle that the embodiment of the present invention proposes, including
Steering wheel angle sensor 104, yaw-rate sensor 102, vehicle speed sensor 103, the first front wheel brake gas chamber 108,
Two front wheel brake gas chambers 109, preceding gas receiver 107, electric machine controller 101 and entire car controller 100.
Wherein, the steering wheel of the corresponding electric vehicle of steering wheel angle sensor 104 is arranged to detect steering wheel；Sideway
Yaw velocity of the angular-rate sensor 102 to detect electric vehicle；Vehicle of the vehicle speed sensor 103 to detect electric vehicle
Speed；The near front wheel setting of the corresponding electric vehicle of first front wheel brake gas chamber 108；Second front wheel brake gas chamber 109 corresponds to electric vehicle
Off-front wheel setting；Preceding gas receiver 107 is to store compressed air caused by the air compressing device 114 of electric vehicle, preceding storage
Inflator 107 is communicated to the first front wheel brake gas chamber 108 and the by the way that the first control valve 105 and the second control valve 106 are corresponding respectively
Two front wheel brake gas chambers 109；CAN communication is carried out between entire car controller 100 and electric machine controller 101, entire car controller 100 divides
Not with steering wheel angle sensor 104, yaw-rate sensor 102, vehicle speed sensor 103, the first control valve 105 and second
Control valve 106 is connected, and entire car controller 100 obtains electric vehicle according to the speed and steering wheel of electric vehicle and breaks away
When critical yaw velocity, and according to the braking of critical yaw velocity, the yaw velocity of electric vehicle and electric vehicle
Pedal state judges that electric vehicle will carry out conducting control to the first control valve 105 or the second control valve 106 when occurring and turning to and break away
System carries out limit to driving motor by electric machine controller 101 and turns round control to adjust the body gesture of electric vehicle.
According to one embodiment of present invention, entire car controller 100 is obtained according to the speed and steering wheel of electric vehicle
Critical yaw velocity when electric vehicle being taken to break away obtains critical yaw velocity especially by following experiment:
When speed reaches 10km/h, anxious to beat 15 degree of steering wheel, whether confirmation breaks away at this time, will if not breakking away
When speed is up incremented by 10 km/h, anxious to beat 15 degree of steering wheel, whether confirmation breaks away at this time, if not breakking away, by vehicle
Speed is up incremented by always with 10 km/h, is repeated the above anxious experiment for beating steering wheel and is recorded this until the speed breakked away
When yaw velocity numerical value；Then speed is again since 10km/h, and anxious to beat 30 degree of steering wheel, whether confirmation occurs side at this time
Sliding, if not breakking away, when speed to be up incremented by 10 km/h, anxious to beat 15 degree of steering wheel, whether confirmation occurs side at this time
It is sliding, if having not occurred sideslip, continue to test speed with the increments of 10 km/h, until the speed breakked away, record
Under yaw velocity numerical value at this time；It successively tests, until steering wheel is killed, after speed increments, records and break away
Yaw velocity numerical value.As a result, by constantly testing, the generation under one group of difference speed and different steering wheels is obtained
Critical yaw velocity when sideslip, so that VCU passes through the available any any steering wheel of speed of linear difference algorithm
Critical yaw velocity when lower electric vehicle breaks away；When yaw velocity is more than this limit value, VCU then judges vehicle i.e.
It will break away.
It should be noted that entire car controller 100 is in addition to the yaw angle speed according to critical yaw velocity and electric vehicle
Degree judge electric vehicle by occur turn to break away outside, also according to electric vehicle brake pedal status to the first control valve or second
Control valve is controlled；Only when brake pedal is not operated, entire car controller 100 can just be controlled the first control valve or second
Valve processed carries out conducting control so as to adjust the body gesture of electric vehicle, and carries out limit torsion to driving motor by electric machine controller
Control.
In conclusion in an embodiment of the present invention, detecting steering wheel, yaw angle by steering wheel angle sensor
Velocity sensor detects the yaw velocity of electric vehicle, and vehicle speed sensor detects the speed of electric vehicle, and passes through vehicle control
Device processed obtains critical yaw velocity when electric vehicle breaks away, and root according to the speed and steering wheel of electric vehicle
Judge that electric vehicle will be sent out according to the brake pedal status of critical yaw velocity, the yaw velocity of electric vehicle and electric vehicle
Raw turn to carries out conducting control to the first control valve or the second control valve when breakking away to adjust the body gesture of electric vehicle, and leads to
It crosses electric machine controller and limit torsion control is carried out to driving motor.Judging that vehicle will occur to turn to break away as a result, and is not taking braking
In the case where, specific wheel brake pressure can be given by the first control valve of control or the second control valve, so as to adjust vehicle
Driving posture also improves the effect of anti-sideslip while improving whole vehicle stability in this way.
Further, as one embodiment, the anti-steering sideslip control system of above-mentioned electric vehicle further includes after first
Take turns brake chamber 111, the second rear service brake gas chamber 112, rear gas receiver 110 and valve member.
Wherein, the left rear wheel setting of the corresponding electric vehicle of the first rear service brake gas chamber 111；Second rear service brake gas chamber 112
The off hind wheel setting of corresponding electric vehicle；Gas receiver 110 is to storing compressed air afterwards；Valve member corresponds to brake pedal and sets
Set, valve member respectively with preceding gas receiver 107, rear gas receiver 110, the first front wheel brake gas chamber 108, the second front wheel brake gas chamber
109, the first rear service brake gas chamber 111 is connected with the second rear service brake gas chamber 112, and valve member will when brake pedal is operated
The compressed air that preceding gas receiver 107 stores is assigned to the first front wheel brake gas chamber 108 and the second front wheel brake gas chamber 109, and will
The compressed air that gas receiver 110 stores afterwards is assigned to the first rear service brake gas chamber 111 and the second rear service brake gas chamber 112.
It should be noted that the first control valve 105 and the second control valve 106 are held off shape when brake pedal is operated
State.
That is, the first control valve 105 and the second control valve 106 are held off when brake pedal is operated,
Opposite valve member conducting, compressed air are assigned to the first front wheel brake gas chamber 108 and the second front-wheel system from preceding gas receiver 107
It takes offence room 109, while being assigned to the first rear service brake gas chamber 111 and the second rear service brake gas chamber 112 from rear gas receiver 110, give
Wheel pressure, to brake, when brake pedal unclamps, the gas of each gas chamber will pass through gas bleeder valve discharge；It is braking
When pedal is not operated, the first control valve 105 and the second control valve 106 are tended to remain on, opposite valve member shutdown.
It should be noted that compressed air is passed to 107 He of preceding gas receiver by four return valves 115 by air compressing device 114
Gas receiver 110 afterwards.
As one embodiment, as shown in Fig. 2, above-mentioned air compressing device 114 includes air compressor machine and drier, the present invention is to this
It is not particularly limited.
Further, as one embodiment, as shown in Fig. 2, above-mentioned valve member includes: quick release valve 1131, relay valve
1132 and brake valve 1133.
Wherein, the first port of quick release valve 1131 is communicated to the first front wheel brake gas chamber 108, the second end of quick release valve 1131
Mouth is communicated to the second front wheel brake gas chamber 109；The first port of relay valve 1132 is communicated to the first rear service brake gas chamber 111, after
The second port of dynamic valve 1132 is communicated to the second rear service brake gas chamber 112, and the third port of relay valve 1132 is communicated to rear gas storage
Cylinder 110；The first port of brake valve 1133 is communicated to preceding gas receiver 107, and the second port of brake valve 1133 is communicated to quick release valve
1131 third port, the third port of brake valve 1133 are communicated to rear gas receiver 110, the 4th port connection of brake valve 1133
To the control port of relay valve 1132, the corresponding brake pedal setting of brake valve 1133, brake valve 1133 is operated in brake pedal
When be connected, the compressed air that preceding gas receiver 107 is stored by the first port of brake valve 1133, brake valve 1133 second
Port, quick release valve 1132 are directed respectively into the first front wheel brake gas chamber 108 and the second front wheel brake gas chamber 109, while by generation
Control pressure is input to the control port of relay valve 1132 so that relay valve 1132 is connected, and the compression that rear gas receiver 110 stores is empty
Gas is directed respectively into the first rear service brake gas chamber 111 and the second rear service brake gas chamber 112 by relay valve 1132.
Further, as one embodiment, above-mentioned first control valve 105 and the second control valve 106 are solenoid valve；When
When brake pedal is not operated, when VCU exports high level to pin, corresponding control valve valve opening, when VCU is defeated to pin
Out when low level, corresponding control valve valve is closed；When brake pedal is operated, wheel air chamber pressure has valve member list
Solely control, VCU is without intervening.
Further, as one embodiment, as shown in figure 3, its effect picture for the body gesture adjustment of electric vehicle；
As shown in Figure 3, wherein A is oversteering sideslip route, and B is normal routine after adjustment, and vehicle is to left sharp turn, sideway
Angular speed has exceeded the critical value that VCU is inquired and has limited, and VCU determines vehicle to left sharp turn, and the tailstock breaks away to the right；
VCU controls the second control valve 106 of off-front wheel with certain frequency on-off, so that off-front wheel is with certain frequency inlet point brake shape
State is also unlikely to locking, so as to adjust body gesture.The VCU moment detects yaw velocity value, until yaw velocity value is restored
Into allowed band.
In conclusion the anti-steering sideslip control system of the electric vehicle proposed according to the present invention, passes through steering wheel
Sensor detects steering wheel, and yaw-rate sensor detects the yaw velocity of electric vehicle, vehicle speed sensor detection
The speed of electric vehicle, and electric vehicle is obtained according to the speed and steering wheel of electric vehicle by entire car controller
Critical yaw velocity when sideslip, and according to critical yaw velocity, the yaw velocity of electric vehicle and electric vehicle
Brake pedal status judges that electric vehicle will carry out conducting control to the first control valve or the second control valve when occurring and turning to and break away
To adjust the body gesture of electric vehicle, and limit is carried out to driving motor by electric machine controller and turns round control.Judging vehicle as a result,
It will occur to turn to break away, and in the case where not taking braking, it can be by the first control valve of control or the second control valve to spy
Fixed wheel brake pressure also improves anti-side while improving whole vehicle stability in this way so as to adjust vehicle driving posture
Sliding effect.
In addition, as shown in figure 4, the embodiment of the present invention also proposed a kind of electric vehicle 2000 comprising above-mentioned anti-rotation
To sideslip control system 1000.Since description has been carried out to above-mentioned anti-steering sideslip control system 1000, therefore here no longer
It is described in detail.
Electric vehicle 2000 according to an embodiment of the present invention can by above-mentioned anti-steering sideslip control system 1000
In the case where judging that vehicle will occur to turn to sideslip and do not take braking, the first control valve of control or the second control can be passed through
Valve processed also mentions while improving whole vehicle stability to specific wheel brake pressure so as to adjust vehicle driving posture in this way
The high effect of anti-sideslip.
In addition, as shown in figure 5, the embodiment of the present invention also proposed a kind of electricity using above-mentioned anti-steering sideslip control system
The anti-steering sideslip control method of motor-car, wherein the electric vehicle includes entire car controller, electric machine controller, the first front-wheel
Brake chamber, the second front wheel brake gas chamber and preceding gas receiver, the first front wheel brake gas chamber correspond to the near front wheel setting of electric vehicle,
Second front wheel brake gas chamber corresponds to the off-front wheel setting of electric vehicle, air compressing device institute of the preceding gas receiver to store electric vehicle
The compressed air of generation, preceding gas receiver passes through the first control valve respectively and the second control valve correspondence is communicated to the first front wheel brake gas
Room and the second front wheel brake gas chamber carry out CAN communication, anti-steering sideslip control method between entire car controller and electric machine controller
The following steps are included:
Step 101, the steering wheel of electric vehicle is detected, and detects the yaw velocity of electric vehicle, and detection is electronic
The speed of vehicle；
Step 102, entire car controller obtains when electric vehicle breaks away according to the speed and steering wheel of electric vehicle
Critical yaw velocity, and according to critical yaw velocity, the brake pedal of the yaw velocity of electric vehicle and electric vehicle
State judges whether electric vehicle will occur to turn to break away；
Step 103, if it is determined that electric vehicle will occur to turn to break away, entire car controller then controls the first control valve or second
Valve carries out conducting control to adjust the body gesture of electric vehicle, and carries out limit to driving motor by electric machine controller and turn round control
System.
As one embodiment of the invention, according to critical yaw velocity, the yaw velocity and electric vehicle of electric vehicle
Brake pedal status judge electric vehicle whether by occur turn to break away, comprising: judge the absolute of critical yaw velocity
Whether the difference of the absolute value of the yaw velocity of value and electric vehicle is less than preset threshold；If it is, further judging electronic
Whether the brake pedal of vehicle is operated；If the brake pedal of electric vehicle is not operated, in the yaw angle of electric vehicle
Speed judges that electric vehicle will occur to turn to break away when not being zero.
As one embodiment of the invention, when the yaw velocity of electric vehicle is less than zero, entire car controller judgement electricity
Motor-car is to left sharp turn and the tailstock will break away to the right, and controls the second control valve with predeterminated frequency on-off so that off-front wheel
Inlet point brake state.
As one embodiment of the invention, when the yaw velocity of electric vehicle is greater than zero, entire car controller judgement electricity
The motor-car sharp right-hand bend and tailstock will break away to the left, and the first control valve is controlled with predeterminated frequency on-off so that the near front wheel
Inlet point brake state.
It should be noted that the illustration previously for the anti-steering sideslip control system of electric vehicle is equally applicable to
The anti-steering sideslip control method of the present embodiment electric vehicle, details are not described herein again.
Fig. 6 is to be illustrated according to the process of the anti-steering sideslip control method of the electric vehicle of a specific embodiment of the invention
Figure.As shown in fig. 6, the anti-steering sideslip control method the following steps are included:
Step 201, the critical yaw velocity W0 that VCU breaks away according to current vehicle speed and steering wheel real-time query, and
It is compared with real-time yaw velocity W1.
Step 202, judge.If so, thening follow the steps 203；If it is not, then returning
Return step 201.
It should be noted thatFor pre-set threshold value, can be set as needed.
Step 203, judge whether that brake is effective.If it is, return step 201；If not, thening follow the steps 204.
Step 204, judge whether W1 ﹤ 0.If so, thening follow the steps 205；If not, thening follow the steps 208.
Step 205, VCU judges vehicle to left sharp turn, and the tailstock breaks away to the right.
Step 206, VCU controls off-front wheel solenoid valve with preset frequency on-off, makes off-front wheel inlet point brake state.
Step 207, VCU linearly limits torsion according to yaw velocity size, will if the very close critical value of yaw velocity
Driving torque is reset.
Step 208, VCU judges vehicle sharp right-hand bend, and the tailstock breaks away to the left.
Step 209, VCU controls the near front wheel solenoid valve with preset frequency on-off, makes the near front wheel inlet point brake state.
Step 210, VCU linearly limits torsion according to yaw velocity size, will if the very close critical value of yaw velocity
Driving torque is reset.
The anti-steering sideslip control method of the electric vehicle proposed according to the present invention is turned by detection electric vehicle first
To disk angle, and the yaw velocity of electric vehicle is detected, and the speed of detection electric vehicle；Then pass through entire car controller
Critical yaw velocity when electric vehicle breaks away is obtained according to the speed of electric vehicle and steering wheel, and according to facing
The brake pedal status of boundary's yaw velocity, the yaw velocity of electric vehicle and electric vehicle judges whether electric vehicle will hair
Raw turn to is breakked away；Then if it is determined that electric vehicle will occur to turn to break away, entire car controller is then to the first control valve or second
Control valve carries out conducting control to adjust the body gesture of electric vehicle, and carries out limit torsion to driving motor by electric machine controller
Control.As a result, in the case where judging that vehicle will occur to turn to sideslip and do not take braking, the first control of control can be passed through
Valve or the second control valve give specific wheel brake pressure, so as to adjust vehicle driving posture, are improving whole vehicle stability in this way
While also improve the effect of anti-sideslip.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of
The description present invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with spy
Fixed orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It is interpreted as that identical embodiment or example must be directed to.Moreover, particular features, structures, materials, or characteristics described
It can be combined in any suitable manner in any one or more of the embodiments or examples.In addition, those skilled in the art can
Different embodiments or examples described in this specification are engaged and be combined.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of anti-steering sideslip control system of electric vehicle characterized by comprising
Steering wheel angle sensor, the steering wheel setting that the steering wheel angle sensor corresponds to the electric vehicle are turned with detecting
To disk angle；
Yaw-rate sensor, yaw velocity of the yaw-rate sensor to detect the electric vehicle；
Vehicle speed sensor, speed of the vehicle speed sensor to detect the electric vehicle；
First front wheel brake gas chamber, the first front wheel brake gas chamber correspond to the near front wheel setting of the electric vehicle；
Second front wheel brake gas chamber, the second front wheel brake gas chamber correspond to the off-front wheel setting of the electric vehicle；
Preceding gas receiver, the preceding gas receiver are described to store compressed air caused by the air compressing device of the electric vehicle
Preceding gas receiver passes through that the first control valve and the second control valve are corresponding to be communicated to the first front wheel brake gas chamber and described the respectively
Two front wheel brake gas chambers；
Electric machine controller and entire car controller carry out CAN communication between the entire car controller and the electric machine controller, described
Entire car controller respectively with the steering wheel angle sensor, yaw-rate sensor, the vehicle speed sensor, described
First control valve is connected with second control valve, and the entire car controller is according to the speed and the steering of the electric vehicle
Disk angle obtains the critical yaw velocity when electric vehicle breaks away, and according to the critical yaw velocity, institute
The brake pedal status of the yaw velocity and the electric vehicle of stating electric vehicle judges that the electric vehicle will turn to
Conducting control is carried out to adjust the vehicle body appearance of the electric vehicle to first control valve or second control valve when sideslip
State, and limit is carried out to driving motor by the electric machine controller and turns round control.
2. the anti-steering sideslip control system of electric vehicle as described in claim 1, which is characterized in that further include:
First rear service brake gas chamber, the first rear service brake gas chamber correspond to the left rear wheel setting of the electric vehicle；
Second rear service brake gas chamber, the second rear service brake gas chamber correspond to the off hind wheel setting of the electric vehicle；
Gas receiver afterwards, the rear gas receiver is to store the compressed air；
Valve member, the valve member correspond to brake pedal setting, the valve member respectively with the preceding gas receiver,
It is described after gas receiver, the first front wheel brake gas chamber, the second front wheel brake gas chamber, the first rear service brake gas chamber and
The second rear service brake gas chamber is connected, and the valve member stores the preceding gas receiver when the brake pedal is operated
Compressed air be assigned to the first front wheel brake gas chamber and the second front wheel brake gas chamber, and will be described after gas receiver store up
The compressed air deposited is assigned to the first rear service brake gas chamber and the second rear service brake gas chamber.
3. the anti-steering sideslip control system of electric vehicle as claimed in claim 2, which is characterized in that in the brake pedal
When being operated, first control valve and second control valve are held off.
4. the anti-steering sideslip control system of electric vehicle as claimed in claim 2, which is characterized in that the valve member packet
It includes:
Quick release valve, the first port of the quick release valve are communicated to the first front wheel brake gas chamber, the second end of the quick release valve
Mouth is communicated to the second front wheel brake gas chamber；
Relay valve, the first port of the relay valve are communicated to the first rear service brake gas chamber, the second end of the relay valve
Mouth is communicated to the second rear service brake gas chamber, and the third port of the relay valve is communicated to the rear gas receiver；
Brake valve, the first port of the brake valve are communicated to the preceding gas receiver, and the second port of the brake valve is communicated to
The third port of the quick release valve, the third port of the brake valve be communicated to it is described after gas receiver, the 4th of the brake valve the
Port is communicated to the control port of the relay valve, and the brake valve corresponds to the brake pedal setting, and the brake valve is in institute
Conducting when brake pedal is operated is stated, the first end that the compressed air of the preceding gas receiver storage is passed through into the brake valve
Mouth, the second port of the brake valve, the quick release valve are directed respectively into the first front wheel brake gas chamber and second front-wheel
Brake chamber, while the control pressure of generation is input to the control port of the relay valve so that relay valve conducting, institute
The compressed air for stating rear gas receiver storage is directed respectively into the first rear service brake gas chamber and described second by the relay valve
Rear service brake gas chamber.
5. such as the anti-steering sideslip control system of electric vehicle of any of claims 1-4, which is characterized in that described
First control valve and second control valve are solenoid valve.
6. a kind of electric vehicle, which is characterized in that the anti-steering including electric vehicle according to any one of claims 1 to 5
Sideslip control system.
7. a kind of anti-steering sideslip control method of electric vehicle, which is characterized in that the electric vehicle include entire car controller,
Electric machine controller, the first front wheel brake gas chamber, the second front wheel brake gas chamber and preceding gas receiver, the first front wheel brake gas chamber pair
The near front wheel of the electric vehicle is answered to be arranged, the second front wheel brake gas chamber corresponds to the off-front wheel setting of the electric vehicle,
The preceding gas receiver leads to respectively to store compressed air caused by the air compressing device of the electric vehicle, the preceding gas receiver
It crosses the first control valve and the second control valve correspondence is communicated to the first front wheel brake gas chamber and the second front wheel brake gas chamber,
CAN communication is carried out between the entire car controller and the electric machine controller, the anti-steering sideslip control method includes following
Step:
The steering wheel of the electric vehicle is detected, and detects the yaw velocity of the electric vehicle, and described in detection
The speed of electric vehicle；
The entire car controller obtains the electric vehicle according to the speed of the electric vehicle and the steering wheel and occurs
Critical yaw velocity when sideslip, and according to the critical yaw velocity, the yaw velocity of the electric vehicle and institute
The brake pedal status for stating electric vehicle judges whether the electric vehicle will occur to turn to break away；
If it is determined that the electric vehicle will occur to turn to break away, the entire car controller is then to first control valve or described
Second control valve carries out conducting control to adjust the body gesture of the electric vehicle, and by the electric machine controller to driving
Motor carries out limit and turns round control.
8. the anti-steering sideslip control method of electric vehicle as claimed in claim 7, which is characterized in that according to the critical cross
The brake pedal status of pivot angle speed, the yaw velocity of the electric vehicle and the electric vehicle judges the electric vehicle
Whether will occur to turn to break away, comprising:
Judge the absolute value of the absolute value of the critical yaw velocity and the yaw velocity of the electric vehicle difference whether
Less than preset threshold；
If it is, further judging whether the brake pedal of the electric vehicle is operated；
If the brake pedal of the electric vehicle is not operated, sentence when the yaw velocity of the electric vehicle is not zero
The electric vehicle that breaks will occur to turn to break away.
9. the anti-steering sideslip control method of electric vehicle as claimed in claim 8, which is characterized in that when the electric vehicle
Yaw velocity less than zero when, the entire car controller judges the electric vehicle to left sharp turn and the tailstock will occur to the right
It breaks away, and controls second control valve with predeterminated frequency on-off so that the off-front wheel inlet point brake state.
10. the anti-steering sideslip control method of electric vehicle as claimed in claim 8, which is characterized in that when the electric vehicle
Yaw velocity be greater than zero when, the entire car controller judges the electric vehicle sharp right-hand bend and the tailstock will be sent out to the left
It is raw to break away, and first control valve is controlled with predeterminated frequency on-off so that the near front wheel inlet point brake state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910481783.2A CN110203076B (en) | 2019-06-04 | 2019-06-04 | Steering sideslip prevention control system and method for electric vehicle and electric vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910481783.2A CN110203076B (en) | 2019-06-04 | 2019-06-04 | Steering sideslip prevention control system and method for electric vehicle and electric vehicle |
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| CN110203076B CN110203076B (en) | 2024-02-02 |
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| CN201910481783.2A Active CN110203076B (en) | 2019-06-04 | 2019-06-04 | Steering sideslip prevention control system and method for electric vehicle and electric vehicle |
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