CN114852049A - Stable driving control method and device for separating road surface and vehicle - Google Patents
Stable driving control method and device for separating road surface and vehicle Download PDFInfo
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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
-
- 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
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18027—Drive off, accelerating from standstill
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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
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
- B60W2030/043—Control of vehicle driving stability related to roll-over prevention about the roll axis
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/28—Wheel speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- 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
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The embodiment of the application provides a stable driving control method and device for a separated road surface and a vehicle, and belongs to the field of stable driving of vehicles. The control method is applied to a vehicle and comprises the following steps: detecting running information of the vehicle in a current driving state, wherein the running information comprises vehicle yaw rate; analyzing the driving information, and determining the target rear wheel steering angle based on the vehicle yaw rate when the driving information meets a preset activation condition; and correcting the current rear wheel steering angle of the vehicle into the target rear wheel steering angle according to the target rear wheel steering angle. The application aims at improving the stability of the vehicle in the separation road surface starting acceleration process.
Description
Technical Field
The embodiment of the application relates to the field of stable running of vehicles, in particular to a stable driving control method and device for separating a road surface and a vehicle.
Background
With the rapid development of social economy and the rapid improvement of the living standard of people, automobiles have entered into thousands of households, and with the improvement of the popularization degree of automobiles, the requirements of people on various performances or functions of the automobiles are higher and higher, wherein the requirements include the stability of the automobiles when starting or accelerating.
The road surface is separated, namely the adhesion force of the road surface where the left side wheel and the right side wheel of the vehicle are located is different, and the adhesion force of the left side and the right side has difference, so that the vehicle can sideslip to the low side, a vehicle body generates large horizontal swing, and danger is easily caused; particularly, the existing vehicle is mostly braked by difference, the slipping wheels on the low-attachment side are braked, and the driving torque of the wheels on the high-attachment side is improved, so that the overall driving torque of the vehicle is improved, but the yaw of the vehicle is more serious, so that the risk is increased.
Disclosure of Invention
The embodiment of the application provides a stable driving control method and device for a separated road surface and a vehicle, and aims to improve the stability of the vehicle in the starting and accelerating process of the separated road surface.
In a first aspect, an embodiment of the present application provides a stable driving control method for a split road surface, applied to a vehicle, including:
detecting running information of the vehicle in a current driving state, wherein the running information comprises vehicle yaw rate;
analyzing the driving information, and determining the target rear wheel steering angle based on the vehicle yaw rate when the driving information meets a preset activation condition;
and correcting the current rear wheel steering angle of the vehicle into the target rear wheel steering angle according to the target rear wheel steering angle.
Optionally, the detecting the driving information of the vehicle in the current driving state includes:
acquiring an actual yaw rate of the vehicle as the vehicle yaw rate through a sensor on the vehicle in a case where the driving state is a straight-line driving state;
in the case where the driving state is a curve driving state, an actual yaw rate of the vehicle is acquired by a sensor on the vehicle, and a target yaw rate determined from a vehicle speed and a steering wheel steering angle of the vehicle is taken as the vehicle yaw rate.
Optionally, the analyzing the driving information and determining the target rear-wheel steering angle based on the vehicle yaw rate when the driving information satisfies a preset activation condition includes:
analyzing a steering wheel angle signal, the actual yaw rate, and a left side driving wheel speed and a right side driving wheel speed in the driving information, in the case where the driving state is a straight driving state; when the steering wheel angle signal is smaller than a calibration angle signal, the actual yaw rate of the vehicle is larger than a yaw rate calibration value, and the difference between the absolute values of the left side driving wheel speed and the right side driving wheel speed is larger than a wheel speed difference calibration value, determining the target rear wheel steering angle based on the vehicle yaw rate;
and analyzing the target yaw rate, the actual yaw rate, the corrected left driving wheel speed, and the corrected right driving wheel speed in a case where the driving state is a curve driving state, and determining the target rear wheel steering angle based on the vehicle yaw rate when a difference between an absolute value of the target yaw rate and the actual yaw rate is greater than a yaw rate deviation threshold value and a difference between an absolute value of the corrected left driving wheel speed and an absolute value of the corrected right driving wheel speed is greater than a corrected wheel speed difference calibration value.
Optionally, in a case where the vehicle yaw rate is the actual yaw rate, determining the target rear-wheel steering angle according to the actual yaw rate of the vehicle includes:
acquiring a rear wheel steering angle look-up table corresponding to the actual yaw rate of the vehicle, wherein the rear wheel steering angle look-up table comprises target rear wheel steering angles corresponding to a plurality of sample yaw rates;
and acquiring a corresponding straight-line target rear wheel steering angle from the rear wheel steering angle lookup table according to the actual yaw rate of the vehicle.
Alternatively, in a case where the vehicle yaw rate includes the actual yaw rate and the target yaw rate, determining the target rear-wheel steering angle from the vehicle yaw rate includes:
determining a yaw rate difference value according to the target yaw rate and the actual yaw rate of the vehicle;
and determining the target rear wheel steering angle of the vehicle in the curve driving state according to the yaw rate difference value.
Alternatively, the target yaw rate is determined from the vehicle speed and the steering wheel steering angle of the vehicle by the following formula:
wherein omega z Is the target yaw rate, δ f Is a corner of a front wheel, V x As the speed of the vehicle, C f For front wheel cornering stiffness, C r For rear wheel cornering stiffness, /) 1 Center of mass to front axle distance,/ 2 Is the distance from the center of mass to the rear axle, M is the mass of the entire vehicle, I z The moment of inertia of the whole vehicle.
In a second aspect, an embodiment of the present application provides a stable driving control device for separating a road surface, applied to a vehicle, including:
the information detection module is used for detecting the running information of the vehicle in the current driving state, wherein the running information comprises the vehicle yaw angular speed;
the control module is used for analyzing the driving information and determining the target rear wheel steering angle based on the vehicle yaw rate when the driving information meets a preset activation condition;
and the execution module is used for correcting the current rear wheel steering angle of the vehicle into the target rear wheel steering angle according to the target rear wheel steering angle.
In a third aspect, embodiments of the present application provide a vehicle provided with the control device according to the second aspect of the embodiments, and the control device executes the control method according to the first aspect of the embodiments.
Has the advantages that:
when the vehicle runs on the split road surface, the running information of the vehicle in the current driving state is detected, the running information is analyzed, and when the running information meets the preset activation condition, the target rear wheel steering angle is determined based on the vehicle yaw angular velocity, and the current rear wheel steering angle of the vehicle is corrected to the target rear wheel steering angle, so that the vehicle yaw caused by the sideslip of the vehicle on the split road surface can be restrained to a certain extent, and the stability of the vehicle in the split road surface starting and accelerating process is improved conveniently.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flowchart illustrating steps of a control method according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating steps of a control method according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating steps of a control method according to an embodiment of the present application;
fig. 4 is a functional block diagram of a control device according to another embodiment of the present application.
Description of the drawings: 100. an information detection module; 200. a control module; 300. and executing the module.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Example one
Referring to fig. 1, which shows a flow chart of steps of a stable driving control method for separating road surfaces in an embodiment of the present invention, as shown in fig. 1, the control method is applied to a vehicle, and may specifically include the following steps:
s101, detecting running information of the vehicle in a current driving state, wherein the running information comprises a vehicle yaw angular speed;
in this step, the driving state may include starting or accelerating of the vehicle in a straight driving state, and starting or accelerating of the vehicle in a curve driving state;
the running information refers to the working condition of the vehicle in the driving process of the vehicle, and comprises the yaw angular velocity of the vehicle, the vehicle speed, the steering angle of a steering wheel, the wheel speeds of the left side and the right side of the vehicle and the position information of an accelerator pedal; when the running information is acquired, the relevant running information CAN be acquired through various sensors, and the relevant running information CAN be read from a CAN bus of the vehicle.
S102, analyzing the driving information, and determining the target rear wheel steering angle based on the vehicle yaw rate when the driving information meets a preset activation condition;
in the step, the driving information is analyzed and judged, and when the driving information meets the preset activation condition, the target rear wheel steering angle is determined according to the yaw velocity of the vehicle; when the preset activation condition is set, different conditions are set according to different vehicle types.
S103, correcting the current rear wheel steering angle of the vehicle to be the target rear wheel steering angle according to the target rear wheel steering angle.
In this step, according to the obtained target rear wheel steering angle, the current rear wheel steering angle of the vehicle is corrected to the target rear wheel steering angle, that is, the rear wheel steering angle of the vehicle is controlled to be adjusted to the target rear wheel steering angle.
When the vehicle starts or accelerates on a separated road surface, the vehicle is easy to sideslip to a low-side due to different adhesive forces of the road surfaces on the left side and the right side of the vehicle, so that the vehicle body generates large horizontal swing, and danger is easily caused.
In order to overcome the tendency that the vehicle is easy to sideslip to the low-side, the front wheels or the rear road of the vehicle can be steered to the high-side when the vehicle starts or accelerates, so that the yaw degree of the vehicle can be reduced.
Therefore, the stability of driving on the separated road surface is improved by controlling the steering angle of the rear wheels in the process, the driving information of the vehicle on the separated road surface is judged, when the driving information meets the preset activation condition, the target rear wheel steering angle is determined according to the yaw velocity of the vehicle, the steering angle of the rear wheels is controlled to be adjusted to the target rear wheel steering angle, the rear wheel steering angle can be adjusted according to the real-time size of the yaw velocity of the vehicle, the vehicle yaw caused by the sideslip of the vehicle on the separated road surface is restrained to a certain extent, and the stability of the vehicle in the separated road surface starting acceleration process is improved conveniently.
Referring to fig. 2, in a possible embodiment, the control method may specifically include the following steps:
s201, detecting running information of the vehicle in a current driving state, wherein the running information comprises a vehicle yaw angular speed;
in this step, the relevant driving information may be obtained by various sensors, and may also be read from the CAN bus of the vehicle.
S202, when the driving state is determined to be a straight driving state according to the detected driving information, acquiring an actual yaw rate of the vehicle as the vehicle yaw rate through a sensor on the vehicle;
in this step, the driving state of the vehicle may be determined according to the steering angle of the steering wheel in the driving information, and if it is detected that the steering angle of the steering wheel of the vehicle is smaller than the steering calibration value, the driving state of the vehicle may be defined as the directional driving state.
When the current driving state of the vehicle is a straight-line driving state, the vehicle yaw rate is specifically an actual yaw rate acquired by the vehicle through a sensor, and the actual yaw rate is acquired through a yaw rate sensor arranged at the position of the center of mass of the vehicle.
S203: analyzing the driving information, and judging whether the driving information meets a preset activation condition or not;
analyzing a steering wheel angle signal, an actual yaw rate, and a left side driving wheel speed and a right side driving wheel speed in the running information when a current driving state of the vehicle is a straight driving state; the method also comprises the steps of judging an accelerator pedal position signal and the vehicle speed in the running information, if the running information simultaneously meets the following conditions, the running information meets the preset activation conditions,
A. the position signal of the accelerator pedal is more than or equal to an acceleration calibration value;
B. the steering wheel corner signal is less than the calibration corner signal;
C. the actual yaw rate of the vehicle is larger than the yaw rate calibration value;
D. the inverse yaw velocity is greater than an inverse calibration value;
E. the wheel speed of the left driving wheel is greater than the wheel speed difference calibration value;
F. the vehicle speed is less than a vehicle speed calibration value;
specifically, the magnitude of each of the above calibration values is related to the vehicle type, and illustratively, in a real-time manner, the acceleration calibration value is 2%, the calibration turn angle signal is 15 °, the yaw rate calibration value is 3 °/s, the reciprocal calibration value is 0.5 °/s ^2, the wheel speed difference calibration value is 5m/s, and the vehicle speed calibration value is 20 km/h.
And when the running information meets the preset activation condition, the vehicle is started or started in a straight line driving state.
S204: determining the target rear wheel steering angle based on an actual yaw rate when the driving information meets a preset activation condition;
in this step, when the current driving state of the vehicle is a straight driving state, the actual yaw rate of the vehicle is determined, and the target rear-wheel steering angle is determined based on the actual yaw rate of the vehicle.
S205: acquiring a rear wheel steering angle look-up table corresponding to the actual yaw rate of the vehicle, wherein the rear wheel steering angle look-up table comprises target rear wheel steering angles corresponding to a plurality of sample yaw rates;
in this step, the rear wheel steering angle lookup table includes target rear wheel steering angles corresponding to the respective yaw rates of the plurality of samples, and data in the rear wheel steering angle lookup table can be collected through a plurality of experiments, and the target rear wheel steering angles corresponding to the target rear wheel steering angles are collected by using the target rear wheel steering angles corresponding to different yaw rates if the vehicle is required to maintain certain stability at a fixed yaw rate, so that the rear wheel steering angle lookup table is formed.
S206: according to the actual yaw velocity of the vehicle, acquiring a corresponding linear target rear wheel steering angle from the rear wheel steering angle look-up table;
in this step, according to the actual yaw rate, a sample yaw rate that is consistent with the actual yaw rate is found from the rear wheel steering angle look-up table, so that the corresponding linear target rear wheel steering angle is read.
S207: and correcting the current rear wheel steering angle of the vehicle into the target rear wheel steering angle according to the target rear wheel steering angle.
In the step, in a linear driving state, the current rear wheel steering angle of the vehicle is corrected to be the target rear wheel steering angle according to the target rear wheel steering angle, so that the stability of the vehicle in a linear starting acceleration process on a separated road surface is improved conveniently.
Referring to fig. 3, in a possible embodiment, the control method may specifically include the following steps:
s301, detecting running information of the vehicle in the current driving state, wherein the running information comprises vehicle yaw angular velocity;
in this step, the relevant driving information may be obtained by various sensors, and may also be read from the CAN bus of the vehicle.
S302, when the driving state is determined to be the curve driving state according to the detected driving information, acquiring an actual yaw rate of the vehicle through a sensor on the vehicle, and determining a target yaw rate as the vehicle yaw rate according to the vehicle speed and the steering angle of a steering wheel of the vehicle;
in this step, when the steering angle of the steering wheel in the driving information is greater than or equal to the steering calibration value, the driving state of the vehicle can be defined as the driving state pointing to the curve.
In the present embodiment, the target yaw rate is determined from the vehicle speed and the steering angle of the steering wheel of the vehicle by the following formula:
wherein omega z Is the target yaw rate, δ f Is a corner of a front wheel, V x As the speed of the vehicle, C f For front wheel cornering stiffness, C r For rear wheel cornering stiffness, /) 1 Center of mass to front axle distance,/ 2 Is the distance from the center of mass to the rear axle, and M is the mass of the whole vehicle，I z The moment of inertia of the whole vehicle.
Of the above parameters, only the front wheel steering angle δ f With vehicle speed V x As variables, the rest being fixed parameters, and the front wheel angle delta f I.e. the steering wheel steering angle.
S303: analyzing the driving information, and judging whether the driving information meets a preset activation condition;
analyzing the target yaw rate, the actual yaw rate, the corrected left driving wheel speed and the corrected right driving wheel speed under the condition that the driving state is the curve driving state, and judging an accelerator pedal position signal and a vehicle speed in the running information;
if the running information simultaneously meets the following conditions, the running information meets the preset activation conditions,
A. the position signal of the accelerator pedal is more than or equal to an acceleration calibration value;
B. the target yaw rate | to | the actual yaw rate | is greater than the yaw rate deviation threshold;
C. the reciprocal of the actual yaw angular velocity is larger than a reciprocal calibration value;
D. correcting the left driving wheel speed I-I correcting the right driving wheel speed I > correcting the wheel speed difference calibration value;
E. the vehicle speed is less than a vehicle speed calibration value;
the magnitude of the above calibration is vehicle type dependent, and illustratively, in a real-time manner, the acceleration calibration is 2%, the yaw rate deviation threshold is 5 °/s, the reciprocal calibration is 0.5 °/s ^2, the corrected wheel speed difference calibration is 5m/s, and the vehicle speed calibration is 20 km/h.
When the running information meets the preset activation condition, the vehicle is started or started in the curve driving state, and further the steering angle of the rear wheels of the vehicle can be allowed to be corrected.
S304: when the running information meets a preset activation condition, the vehicle yaw rate comprises the actual yaw rate and the target yaw rate, and a yaw rate difference value is determined according to the target yaw rate and the actual yaw rate of the vehicle;
in this step, when the driving state of the vehicle is the curve driving state, the vehicle yaw rate includes the actual yaw rate and the target yaw rate, the difference between the target yaw rate and the actual yaw rate is calculated, and the yaw rate difference YawRateError is determined.
S305: determining a target rear wheel steering angle of the vehicle in a curve driving state according to the yaw angular speed difference value;
in the present embodiment, the target rear-wheel steering angle is determined through PID control based on feedback control of the actual yaw rate of the vehicle, specifically as follows,
wherein, K p Is the integral coefficient, K d Is a differential coefficient.
S306: and correcting the current rear wheel steering angle of the vehicle into the target rear wheel steering angle according to the target rear wheel steering angle.
In the step, in the curve driving state, the current rear wheel steering angle of the vehicle is corrected to be the target rear wheel steering angle according to the target rear wheel steering angle, so that the stability of the vehicle in the curve starting acceleration process on the separated road surface is improved conveniently.
Example two
Based on the same inventive concept, referring to fig. 4, a functional block diagram of a stable driving control device for separating road surfaces according to an embodiment of the present application is shown, and as shown in fig. 4, the control device is applied to a vehicle, and may specifically include the following modules:
the information detection module 100 is configured to detect driving information of the vehicle in a current driving state, where the driving information includes a vehicle yaw rate;
the control module 200 is used for analyzing the driving information and determining the target rear wheel steering angle based on the vehicle yaw rate when the driving information meets a preset activation condition;
and the executing module 300 is configured to modify the current rear wheel steering angle of the vehicle into the target rear wheel steering angle according to the target rear wheel steering angle.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
EXAMPLE III
Based on the same inventive concept, the present embodiment provides a vehicle provided with the control apparatus provided in the second embodiment, which executes the control method provided in the first embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the true scope of the embodiments of the application.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The principle and the implementation of the present application are explained herein by applying specific examples, and the above description of the embodiments is only used to help understand the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.
Claims (8)
1. A stable driving control method for a split road surface, applied to a vehicle, characterized by comprising:
detecting running information of the vehicle in a current driving state, wherein the running information comprises vehicle yaw rate;
analyzing the driving information, and determining the target rear wheel steering angle based on the vehicle yaw rate when the driving information meets a preset activation condition;
and correcting the current rear wheel steering angle of the vehicle into the target rear wheel steering angle according to the target rear wheel steering angle.
2. The control method according to claim 1, wherein the detecting of the running information of the vehicle in the current driving state includes:
acquiring an actual yaw rate of the vehicle as the vehicle yaw rate through a sensor on the vehicle in a case where the driving state is a straight-line driving state;
in the case where the driving state is a curve driving state, an actual yaw rate of the vehicle is acquired by a sensor on the vehicle, and a target yaw rate determined from a vehicle speed and a steering wheel steering angle of the vehicle is taken as the vehicle yaw rate.
3. The control method according to claim 2, wherein the analyzing the running information, determining the target rear-wheel steering angle based on the vehicle yaw rate when the running information satisfies a preset activation condition, includes:
analyzing a steering wheel angle signal, the actual yaw rate, and a left side driving wheel speed and a right side driving wheel speed in the driving information, in the case where the driving state is a straight driving state; when the steering wheel angle signal is smaller than a calibration angle signal, the actual yaw rate of the vehicle is larger than a yaw rate calibration value, and the difference between the absolute values of the left side driving wheel speed and the right side driving wheel speed is larger than a wheel speed difference calibration value, determining the target rear wheel steering angle based on the vehicle yaw rate;
and in the case where the driving state is a curve driving state, analyzing the target yaw rate, the actual yaw rate, the corrected left driving wheel speed, and the corrected right driving wheel speed, and determining the target rear wheel steering angle based on the vehicle yaw rate when a difference between absolute values of the target yaw rate and the actual yaw rate is greater than a yaw rate deviation threshold value and a difference between absolute values of the corrected left driving wheel speed and the corrected right driving wheel speed is greater than a corrected wheel speed difference calibration value.
4. The control method according to claim 2, wherein determining the target rear-wheel steering angle based on the actual yaw rate of the vehicle in a case where the vehicle yaw rate is the actual yaw rate, includes:
acquiring a rear wheel steering angle look-up table corresponding to the actual yaw rate of the vehicle, wherein the rear wheel steering angle look-up table comprises target rear wheel steering angles corresponding to a plurality of sample yaw rates;
and acquiring a corresponding straight-line target rear wheel steering angle from the rear wheel steering angle lookup table according to the actual yaw rate of the vehicle.
5. The control method according to claim 2, wherein determining the target rear-wheel steering angle from the vehicle yaw rate in a case where the vehicle yaw rate includes the actual yaw rate and the target angular velocity includes:
determining a yaw rate difference value according to the target yaw rate and the actual yaw rate of the vehicle;
and determining the target rear wheel steering angle of the vehicle in the curve driving state according to the yaw rate difference value.
6. The control method according to claim 2, characterized in that the target yaw rate is determined from the vehicle speed and the steering wheel steering angle of the vehicle by the following formula:
wherein omega z Is the target yaw rate, δ f Is a corner of a front wheel, V x As the speed of the vehicle, C f For front wheel cornering stiffness, C r For rear wheel cornering stiffness, /) 1 Center of mass to front axle distance,/ 2 Is the distance from the center of mass to the rear axle, M is the mass of the whole vehicle, I z The moment of inertia of the whole vehicle.
7. A steady driving control device for a split road surface, applied to a vehicle, characterized by comprising:
the information detection module is used for detecting the running information of the vehicle in the current driving state, wherein the running information comprises the vehicle yaw angular speed;
the control module is used for analyzing the driving information and determining the target rear wheel steering angle based on the vehicle yaw rate when the driving information meets a preset activation condition;
and the execution module is used for correcting the current rear wheel steering angle of the vehicle into the target rear wheel steering angle according to the target rear wheel steering angle.
8. A vehicle, characterized in that the vehicle is provided with a control device according to claim 7, which performs the control method according to any one of claims 1 to 6.
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| CN202110758805.2A CN114852049A (en) | 2021-07-05 | 2021-07-05 | Stable driving control method and device for separating road surface and vehicle |
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| CN202110758805.2A CN114852049A (en) | 2021-07-05 | 2021-07-05 | Stable driving control method and device for separating road surface and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115891977A (en) * | 2023-02-22 | 2023-04-04 | 北京易控智驾科技有限公司 | Method and device for controlling understeer of unmanned mining vehicle, electronic equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115891977A (en) * | 2023-02-22 | 2023-04-04 | 北京易控智驾科技有限公司 | Method and device for controlling understeer of unmanned mining vehicle, electronic equipment and storage medium |
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