CN210591426U - Anti-steering sideslip control system of electric vehicle and electric vehicle - Google Patents
Anti-steering sideslip control system of electric vehicle and electric vehicle Download PDFInfo
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- CN210591426U CN210591426U CN201920834307.XU CN201920834307U CN210591426U CN 210591426 U CN210591426 U CN 210591426U CN 201920834307 U CN201920834307 U CN 201920834307U CN 210591426 U CN210591426 U CN 210591426U
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Abstract
The utility model discloses an electric vehicle prevent changeing to control system that sideslips and electric vehicle thereof, wherein should prevent changeing to control system that sideslips includes: the whole vehicle controller obtains the critical yaw velocity when the electric vehicle sideslips according to the vehicle speed and the steering wheel angle, judges whether the electric vehicle is to turn to sideslip according to the critical yaw velocity, the yaw velocity of the electric vehicle and the brake pedal state of the electric vehicle, conducts the first control valve or the second control valve to adjust the posture of the vehicle body, and carries out torque limiting control on the driving motor through the motor controller, so that the stability of the whole vehicle is improved, and the sideslip prevention effect is also improved.
Description
Technical Field
The utility model relates to the technical field of vehicles, in particular to electric vehicle prevent changeing to the control system that sideslips, one kind have this prevent changeing to the control system that sideslips.
Background
In the related technology, the application of an ABS (Anti-lock Braking System) Anti-lock Braking System on a pure electric bus is mature, and for an ESC System applied on a trolley, no mature scheme is provided on the pure electric bus, the current pure electric bus adopts the mode that a wheel speed sensor and a yaw rate sensor are added on the Anti-sideslip Braking System of an original ABS module in a unilateral manner to carry out sideslip detection, and the Braking pressure of wheels is increased to carry out forced deceleration, so that the contradiction exists between Braking and driving, the stability of the whole automobile is low, and the better Anti-sideslip effect cannot be achieved.
SUMMERY OF THE UTILITY MODEL
The present invention aims at solving at least one of the technical problems in the above-mentioned technology to a certain extent. Therefore, an object of the utility model is to provide an electric vehicle prevent turning to control system that sideslips, through increasing the solenoid valve by VCU independent control for judge the vehicle will take place to turn to sideslip, and do not take under the circumstances of braking, can give specific wheel brake pressure through the control solenoid valve, thereby the adjustment vehicle gesture of traveling has also improved the effect of preventing sideslip when improving whole car stability like this.
A second object of the present invention is to provide an electric vehicle.
A third object of the present invention is to provide a steering and side-slipping prevention control method for an electric vehicle.
In order to achieve the above object, the utility model discloses a prevent turning to control system that sideslips of electric vehicle that first aspect provided, include: a steering wheel angle sensor provided corresponding to a steering wheel of the electric vehicle to detect a steering wheel angle; a yaw-rate sensor to detect a yaw-rate of the electric vehicle; a vehicle speed sensor to detect a vehicle speed of the electric vehicle; the first front wheel brake air chamber is arranged corresponding to a left front wheel of the electric vehicle; a second front wheel brake chamber provided corresponding to a right front wheel of the electric vehicle; the front air storage cylinder is used for storing compressed air generated by an air compression device of the electric vehicle and is correspondingly communicated with the first front wheel brake air chamber and the second front wheel brake air chamber through a first control valve and a second control valve respectively; motor controller and vehicle control unit, vehicle control unit with carry out CAN communication between the motor controller, vehicle control unit respectively with steering wheel angle sensor yaw velocity sensor speed sensor the speed of a motor vehicle sensor first control valve with the second control valve links to each other, vehicle control unit basis electric vehicle's the speed of a motor vehicle with steering wheel angle acquires critical yaw velocity when electric vehicle takes place to sideslip, and according to critical yaw velocity, electric vehicle's yaw velocity with electric vehicle's brake pedal state is judged electric vehicle will take place to turn to when sideslip right first control valve or second control valve carries out conduction control in order to adjust electric vehicle's automobile body gesture, and pass through motor controller carries out the limit of torsion control to driving motor.
According to the utility model provides an electric vehicle prevents turning to control system that sideslips, detect the steering wheel angle through steering wheel angle sensor, yaw velocity sensor detects electric vehicle's yaw velocity, speed sensor detects electric vehicle's the speed of a motor vehicle, and acquire electric vehicle's the critical yaw velocity when taking place to sideslip according to electric vehicle's the speed of a motor vehicle and steering wheel angle through vehicle control unit, and according to critical yaw velocity, electric vehicle's yaw velocity and electric vehicle's brake pedal state judge that electric vehicle will take place to turn to when sideslipping to first control valve or second control valve carry out conduction control with adjustment electric vehicle's automobile body gesture, and carry out the limit twist control to driving motor through the motor controller. Therefore, under the condition that the steering sideslip of the vehicle is judged to occur and the braking is not adopted, the pressure can be applied to the specific wheel through controlling the first control valve or the second control valve, the running posture of the vehicle is adjusted, and the sideslip prevention effect is improved while the stability of the whole vehicle is improved.
In addition, according to the utility model discloses above-mentioned electric vehicle's prevent to turn to control system that sideslips can also have following additional technical characterstic:
optionally, the steering sideslip prevention control system of the electric vehicle further includes: the first rear wheel brake air chamber is arranged corresponding to a left rear wheel of the electric vehicle; the second rear wheel brake air chamber is arranged corresponding to the right rear wheel of the electric vehicle; a rear air reservoir for storing the compressed air; the valve assembly is arranged corresponding to the brake pedal and is respectively connected with the front air cylinder, the rear air cylinder, the first front wheel brake air chamber, the second front wheel brake air chamber, the first rear wheel brake air chamber and the second rear wheel brake air chamber, and when the brake pedal is stepped on, the valve assembly distributes the compressed air stored in the front air cylinder to the first front wheel brake air chamber and the second front wheel brake air chamber and distributes the compressed air stored in the rear air cylinder to the first rear wheel brake air chamber and the second rear wheel brake air chamber.
Optionally, the first control valve and the second control valve remain in an off state when the brake pedal is depressed.
Optionally, the valve assembly comprises: a first port of the quick release valve is communicated with the first front wheel brake air chamber, and a second port of the quick release valve is communicated with the second front wheel brake air chamber; the first port of the relay valve is communicated with the first rear wheel brake air chamber, the second port of the relay valve is communicated with the second rear wheel brake air chamber, and the third port of the relay valve is communicated with the rear air cylinder; a first port of the brake valve is communicated with the front air cylinder, a second port of the brake valve is communicated with a third port of the quick release valve, the third port of the brake valve is communicated with the rear air storage cylinder, the fourth port of the brake valve is communicated with the control port of the relay valve, the brake valve is arranged corresponding to the brake pedal and is conducted when the brake pedal is pressed down, so that the compressed air stored in the front air reservoir is respectively led into the first front wheel brake air chamber and the second front wheel brake air chamber through the first port of the brake valve, the second port of the brake valve and the quick release valve, and simultaneously inputting the generated control air pressure to a control port of the relay valve to conduct the relay valve, the compressed air stored in the rear air reservoir is respectively led into the first rear wheel brake air chamber and the second rear wheel brake air chamber through the relay valve.
Optionally, the first control valve and the second control valve are both solenoid valves.
In order to achieve the above object, a second aspect of the present invention provides an electric vehicle including the above-mentioned steering side-slip prevention control system for an electric vehicle.
According to the utility model provides an electric vehicle, through foretell electric vehicle prevent turning to the control system that sideslips, can will send the turn to sideslip judging the vehicle, and do not take under the circumstances of braking, can give specific wheel brake pressure through controlling first control valve or second control valve to the adjustment vehicle gesture of traveling has also improved the effect of preventing sideslip when improving whole car stability like this.
Drawings
Fig. 1 is a block diagram schematically illustrating a steering-yaw-prevention control system of an electric vehicle according to an embodiment of the present invention;
fig. 2 is a diagram of a braking gas circuit of a whole vehicle of an anti-steering sideslip control system of an electric vehicle according to an embodiment of the present invention;
fig. 3 is a schematic view illustrating the effect of the steering sideslip prevention control system of the electric vehicle according to an embodiment of the present invention;
fig. 4 is a block schematic diagram of an electric vehicle according to an embodiment of the present invention;
fig. 5 is a schematic flow chart illustrating a method for preventing steering and side-slipping of an electric vehicle according to an embodiment of the present invention;
fig. 6 is a flowchart illustrating a steering sideslip prevention control method for an electric vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 1 and 2, an anti-steering sideslip control system for an electric vehicle according to an embodiment of the present invention includes a steering wheel angle sensor 104, a yaw rate sensor 102, a vehicle speed sensor 103, a first front wheel brake chamber 108, a second front wheel brake chamber 109, a front air cylinder 107, a motor controller 101, and a vehicle controller 100.
The steering wheel angle sensor 104 is disposed corresponding to a steering wheel of the electric vehicle to detect a steering wheel angle; the yaw rate sensor 102 is configured to detect a yaw rate of the electric vehicle; the vehicle speed sensor 103 is configured to detect a vehicle speed of the electric vehicle; the first front wheel brake chamber 108 is arranged corresponding to a left front wheel of the electric vehicle; the second front wheel brake air chamber 109 is provided corresponding to the right front wheel of the electric vehicle; the front air cylinder 107 is used for storing compressed air generated by an air compressor 114 of the electric vehicle, and the front air cylinder 107 is correspondingly communicated with a first front wheel brake air chamber 108 and a second front wheel brake air chamber 109 through a first control valve 105 and a second control valve 106 respectively; the vehicle control unit 100 is connected with a steering wheel angle sensor 104, a yaw rate sensor 102, a vehicle speed sensor 103, a first control valve 105 and a second control valve 106, the vehicle control unit 100 obtains a critical yaw rate of the electric vehicle when the electric vehicle sideslips according to the vehicle speed and the steering wheel angle of the electric vehicle, conducts and controls the first control valve 105 or the second control valve 106 to adjust the body posture of the electric vehicle when the electric vehicle is judged to be in sideslip steering according to the critical yaw rate, the yaw rate of the electric vehicle and the brake pedal state of the electric vehicle, and carries out torque limiting control on a driving motor through the motor controller 101.
According to the utility model discloses an embodiment, vehicle control unit 100 acquires the critical yaw rate when electric vehicle takes place to sideslip according to electric vehicle's the speed of a motor vehicle and steering wheel angle, specifically acquires critical yaw rate through the following experiment:
when the vehicle speed reaches 10km/h, rapidly hitting the steering wheel by 15 degrees, confirming whether sideslip occurs at the moment, if the sideslip does not occur, increasing the vehicle speed by 10km/h upwards, rapidly hitting the steering wheel by 15 degrees, confirming whether the sideslip occurs at the moment, if the sideslip does not occur, increasing the vehicle speed by 10km/h upwards, repeating the experiment of rapidly hitting the steering wheel till the vehicle speed which generates the sideslip, and recording the numerical value of the yaw velocity at the moment; then starting the vehicle speed from 10km/h, rapidly hitting a steering wheel for 30 degrees, confirming whether sideslip occurs at the moment, if not, increasing the vehicle speed by 10km/h upwards, rapidly hitting the steering wheel for 15 degrees, confirming whether sideslip occurs at the moment, if not, continuously increasing the vehicle speed by 10km/h at intervals until the vehicle speed of sideslip occurs, and recording the numerical value of the yaw angle at the moment; and (4) sequentially testing until the steering wheel is deadly knocked, and recording the numerical value of the yaw angle speed of sideslip after the vehicle speed interval is increased progressively. Therefore, through continuous tests, a group of critical yaw velocities of the electric vehicle in sideslip at different vehicle speeds and different steering wheel angles are obtained, and therefore the VCU can obtain the critical yaw velocity of the electric vehicle in sideslip at any steering wheel angle at any vehicle speed through a linear difference algorithm; when the yaw rate exceeds this limit, the VCU determines that the vehicle is about to spin.
The vehicle control unit 100 determines that the electric vehicle will turn to sideslip according to the critical yaw rate and the yaw rate of the electric vehicle, and controls the first control valve or the second control valve according to the state of the brake pedal of the electric vehicle; only when the brake pedal is not stepped on, the vehicle control unit 100 conducts control on the first control valve or the second control valve to adjust the vehicle body posture of the electric vehicle, and performs torque-limiting control on the driving motor through the motor controller.
In summary, in the embodiment of the present invention, the steering wheel angle is detected by the steering wheel angle sensor, the yaw rate sensor detects the yaw rate of the electric vehicle, the vehicle speed sensor detects the vehicle speed of the electric vehicle, and the vehicle controller obtains the critical yaw rate when the electric vehicle sideslips according to the vehicle speed and the steering wheel angle of the electric vehicle, and performs the conduction control on the first control valve or the second control valve to adjust the body posture of the electric vehicle when the electric vehicle is determined to turn to sideslip according to the critical yaw rate, the yaw rate of the electric vehicle and the brake pedal state of the electric vehicle, and performs the torque limiting control on the driving motor through the motor controller. Therefore, under the condition that the steering sideslip of the vehicle is judged to occur and the braking is not adopted, the pressure can be applied to the specific wheel through controlling the first control valve or the second control valve, the running posture of the vehicle is adjusted, and the sideslip prevention effect is improved while the stability of the whole vehicle is improved.
Further, as an embodiment, the steering sideslip prevention control system of the electric vehicle further includes a first rear wheel brake chamber 111, a second rear wheel brake chamber 112, a rear air cylinder 110, and a valve assembly.
The first rear wheel brake air chamber 111 is arranged corresponding to a left rear wheel of the electric vehicle; the second rear wheel brake air chamber 112 is arranged corresponding to the right rear wheel of the electric vehicle; the rear air cylinder 110 is used for storing compressed air; the valve assembly is arranged corresponding to the brake pedal, the valve assembly is respectively connected with the front air storage cylinder 107, the rear air storage cylinder 110, the first front wheel brake air chamber 108, the second front wheel brake air chamber 109, the first rear wheel brake air chamber 111 and the second rear wheel brake air chamber 112, when the brake pedal is stepped on, the valve assembly distributes the compressed air stored in the front air storage cylinder 107 to the first front wheel brake air chamber 108 and the second front wheel brake air chamber 109, and distributes the compressed air stored in the rear air storage cylinder 110 to the first rear wheel brake air chamber 111 and the second rear wheel brake air chamber 112.
When the brake pedal is depressed, the first control valve 105 and the second control valve 106 are kept in the closed state.
That is, when the brake pedal is depressed, the first control valve 105 and the second control valve 106 are kept in an off state, the opposite valve components are turned on, and compressed air is distributed from the front air cylinder 107 to the first front wheel brake chamber 108 and the second front wheel brake chamber 109, and is distributed from the rear air cylinder 110 to the first rear wheel brake chamber 111 and the second rear wheel brake chamber 112, to apply wheel pressure, thereby performing braking, and when the brake pedal is released, the air in each chamber is discharged through the air release valve; when the brake pedal is not depressed, the first control valve 105 and the second control valve 106 are kept in a conducting state, and the opposite valve assembly is shut off.
The compressed air is circulated from the air compressor 114 to the front air cylinder 107 and the rear air cylinder 110 through the four-way valve 115.
As an example, as shown in fig. 2, the air compressing device 114 includes an air compressor and a dryer, which is not limited in the present invention.
Further, as an example, as shown in fig. 2, the valve assembly includes: a quick release valve 1131, a relay valve 1132, and a brake valve 1133.
Wherein, the first port of the quick release valve 1131 is communicated with the first front wheel brake chamber 108, and the second port of the quick release valve 1131 is communicated with the second front wheel brake chamber 109; a first port of the relay valve 1132 is communicated with the first rear wheel brake chamber 111, a second port of the relay valve 1132 is communicated with the second rear wheel brake chamber 112, and a third port of the relay valve 1132 is communicated with the rear air cylinder 110; a first port of the brake valve 1133 is communicated with the front air cylinder 107, a second port of the brake valve 1133 is communicated with a third port of the quick release valve 1131, a third port of the brake valve 1133 is communicated with the rear air cylinder 110, a fourth port of the brake valve 1133 is communicated with a control port of the relay valve 1132, the brake valve 1133 is disposed in correspondence with the brake pedal, the brake valve 1133 is turned on when the brake pedal is depressed, so that the compressed air stored in the front air cylinder 107 is introduced into the first front wheel brake chamber 108 and the second front wheel brake chamber 109 through the first port of the brake valve 1133, the second port of the brake valve 1133 and the quick release valve 1132, respectively, and the generated control air pressure is simultaneously input into the control port of the relay valve 1132 to turn on the relay valve 1132, and the compressed air stored in the rear air cylinder 110 is introduced into the first rear wheel brake chamber 111 and the second rear wheel brake chamber 112 through the relay valve 1132, respectively.
Further, as an example, the first control valve 105 and the second control valve 106 are both solenoid valves; when the brake pedal is not stepped on, the VCU outputs high level to the pin, the corresponding control valve is opened, and when the VCU outputs low level to the pin, the corresponding control valve is closed; when the brake pedal is depressed, the wheel chamber pressure is controlled by the valve assembly alone, and the VCU does not intervene.
Further, as an embodiment, as shown in fig. 3, it is an effect diagram of the vehicle body posture adjustment of the electric vehicle;
as shown in fig. 3, where a is the oversteered sideslip route, B is the adjusted normal route, the vehicle is making a sharp turn to the left, the yaw rate has exceeded the threshold limit queried by the VCU, and the VCU determines that the vehicle is making a sharp turn to the left and the vehicle is spinning to the right; the VCU controls the second control valve 106 of the right front wheel to be switched on and off at a certain frequency, so that the right front wheel enters an inching brake state at a certain frequency and is not locked, and the posture of the vehicle body is adjusted. The VCU detects the yaw rate value at a moment until the yaw rate value is restored within the allowable range.
In conclusion, according to the utility model provides an electric vehicle's prevent turning to sideslip control system, detect the steering wheel angle through steering wheel angle sensor, yaw velocity sensor detects electric vehicle's yaw velocity, speed sensor detects electric vehicle's the speed of a motor vehicle, and obtain electric vehicle's the critical yaw velocity when taking place sideslip according to electric vehicle's speed of a motor vehicle and steering wheel angle through vehicle control unit, and according to critical yaw velocity, electric vehicle's yaw velocity and electric vehicle's brake pedal state judge that electric vehicle will take place to turn to when sideslip first control valve or second control valve carry out on-control with adjustment electric vehicle's automobile body gesture, and carry out the limit of torsion control to driving motor through motor controller. Therefore, under the condition that the steering sideslip of the vehicle is judged to occur and the braking is not adopted, the pressure can be applied to the specific wheel through controlling the first control valve or the second control valve, the running posture of the vehicle is adjusted, and the sideslip prevention effect is improved while the stability of the whole vehicle is improved.
In addition, as shown in fig. 4, an embodiment of the present invention further provides an electric vehicle 2000, which includes the above-mentioned steering sideslip prevention control system 1000. Since the above steering side slip control system 1000 has been described, it will not be described in detail.
According to the utility model discloses electric vehicle 2000, through foretell prevent turning to control system 1000 that sideslips, can turn to sideslip judging the vehicle and will take place to turn to, and do not take under the circumstances of braking, can give specific wheel brake pressure through controlling first control valve or second control valve to the adjustment vehicle gesture of traveling has also improved the effect of preventing sideslip when improving whole car stability like this.
In addition, as shown in fig. 5, the embodiment of the utility model provides an adopt above-mentioned electric vehicle who prevents turning to sideslip control method, wherein, this electric vehicle includes vehicle control unit, machine controller, first front wheel brake chamber, second front wheel brake chamber and preceding gas receiver, first front wheel brake chamber corresponds electric vehicle's left front wheel setting, second front wheel brake chamber corresponds electric vehicle's right front wheel setting, preceding gas receiver is used for storing the produced compressed air of electric vehicle's air compression device, preceding gas receiver corresponds through first control valve and second control valve respectively and communicates first front wheel brake chamber and second front wheel brake chamber, carry out CAN communication between vehicle control unit and the machine controller, prevent turning to the control method that sideslips includes following step:
102, the vehicle control unit obtains a critical yaw velocity when the electric vehicle sideslips according to the speed of the electric vehicle and the angle of a steering wheel, and judges whether the electric vehicle sideslips in a steering mode according to the critical yaw velocity, the yaw velocity of the electric vehicle and the state of a brake pedal of the electric vehicle;
and 103, if the electric vehicle is judged to be in steering sideslip, the vehicle control unit conducts and controls the first control valve or the second control valve to adjust the body posture of the electric vehicle, and carries out torque limiting control on the driving motor through the motor controller.
As an embodiment of the utility model, judge according to critical yaw angular velocity, electric vehicle's yaw angular velocity and electric vehicle's brake pedal state whether electric vehicle will take place to turn to sideslip, include: judging whether the difference between the absolute value of the critical yaw rate and the absolute value of the yaw rate of the electric vehicle is smaller than a preset threshold value or not; if yes, further judging whether a brake pedal of the electric vehicle is pressed down; if the brake pedal of the electric vehicle is not depressed, it is determined that the electric vehicle will undergo steering-side-slip when the yaw rate of the electric vehicle is not zero.
As an embodiment of the utility model, when electric vehicle's yaw angular velocity is less than zero, vehicle control unit judges that electric vehicle sharply turns left and the rear of a vehicle will take place to sideslip right to control the second control valve with predetermine the frequency break-make so that the right front wheel gets into the state of stopping.
As an embodiment of the utility model, when electric vehicle's yaw angular velocity is greater than zero, vehicle control unit judges that electric vehicle sharply turns right and the rear of a vehicle will take place to sideslip left to control first control valve with predetermine the frequency break-make so that left front wheel gets into the state of stopping.
It should be noted that the foregoing description of the steering sideslip prevention control system for the electric vehicle is also applicable to the steering sideslip prevention control method for the electric vehicle in this embodiment, and will not be repeated herein.
Fig. 6 is a flow chart illustrating a steering and sideslip prevention control method for an electric vehicle according to an embodiment of the present invention. As shown in fig. 6, the steering sideslip prevention control method includes the steps of:
in step 201, the VCU queries a critical yaw rate W0 of the occurrence of the side slip in real time according to the current vehicle speed and the steering wheel angle, and compares the critical yaw rate W0 with a real-time yaw rate W1.
It should be noted that, in the following description,
the preset threshold value can be set according to needs.
And step 203, judging whether the brake is effective. If yes, returning to step 201; if not, step 204 is performed.
In step 204, it is determined whether W1 is less than 0. If so, go to step 205; if not, step 208 is performed.
In step 205, the VCU determines that the vehicle is turning sharply left and the vehicle is skidding right.
And step 206, the VCU controls the on-off of the electromagnetic valve of the right front wheel at a preset frequency, so that the right front wheel enters an inching brake state.
And step 207, the VCU limits torque linearly according to the magnitude of the yaw rate, and clears the driving torque if the yaw rate is very close to a critical value.
In step 208, the VCU determines that the vehicle is turning sharply to the right and the vehicle is skidding to the left.
And step 209, the VCU controls the left front wheel electromagnetic valve to be switched on and off at a preset frequency, so that the left front wheel enters an inching brake state.
And step 210, the VCU limits torque linearly according to the magnitude of the yaw rate, and clears the driving torque if the yaw rate is very close to a critical value.
According to the utility model provides an electric vehicle prevent turning sideslip control method, at first through the steering wheel angle that detects electric vehicle, and detect electric vehicle's yaw velocity, and detect electric vehicle's speed; then, obtaining a critical yaw velocity of the electric vehicle when the electric vehicle sideslips according to the speed of the electric vehicle and the angle of a steering wheel by the vehicle controller, and judging whether the electric vehicle will sideslip according to the critical yaw velocity, the yaw velocity of the electric vehicle and the state of a brake pedal of the electric vehicle; and then if the electric vehicle is judged to be subjected to steering sideslip, the vehicle control unit conducts and controls the first control valve or the second control valve to adjust the body posture of the electric vehicle, and carries out torque limiting control on the driving motor through the motor controller. Therefore, under the condition that the steering sideslip of the vehicle is judged to occur and the braking is not adopted, the pressure can be applied to the specific wheel through controlling the first control valve or the second control valve, the running posture of the vehicle is adjusted, and the sideslip prevention effect is improved while the stability of the whole vehicle is improved.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (6)
1. An anti-steering sideslip control system of an electric vehicle, comprising:
a steering wheel angle sensor provided corresponding to a steering wheel of the electric vehicle to detect a steering wheel angle;
a yaw-rate sensor to detect a yaw-rate of the electric vehicle;
a vehicle speed sensor to detect a vehicle speed of the electric vehicle;
the first front wheel brake air chamber is arranged corresponding to a left front wheel of the electric vehicle;
a second front wheel brake chamber provided corresponding to a right front wheel of the electric vehicle;
the front air storage cylinder is used for storing compressed air generated by an air compression device of the electric vehicle and is correspondingly communicated with the first front wheel brake air chamber and the second front wheel brake air chamber through a first control valve and a second control valve respectively;
motor controller and vehicle control unit, vehicle control unit with carry out CAN communication between the motor controller, vehicle control unit respectively with steering wheel angle sensor yaw velocity sensor speed sensor the speed of a motor vehicle sensor first control valve with the second control valve links to each other, vehicle control unit basis electric vehicle's the speed of a motor vehicle with steering wheel angle acquires critical yaw velocity when electric vehicle takes place to sideslip, and according to critical yaw velocity, electric vehicle's yaw velocity with electric vehicle's brake pedal state is judged electric vehicle will take place to turn to when sideslip right first control valve or second control valve carries out conduction control in order to adjust electric vehicle's automobile body gesture, and pass through motor controller carries out the limit of torsion control to driving motor.
2. The anti-yaw-side-slip control system for an electric vehicle according to claim 1, further comprising:
the first rear wheel brake air chamber is arranged corresponding to a left rear wheel of the electric vehicle;
the second rear wheel brake air chamber is arranged corresponding to the right rear wheel of the electric vehicle;
a rear air reservoir for storing the compressed air;
the valve assembly is arranged corresponding to the brake pedal and is respectively connected with the front air cylinder, the rear air cylinder, the first front wheel brake air chamber, the second front wheel brake air chamber, the first rear wheel brake air chamber and the second rear wheel brake air chamber, and when the brake pedal is stepped on, the valve assembly distributes the compressed air stored in the front air cylinder to the first front wheel brake air chamber and the second front wheel brake air chamber and distributes the compressed air stored in the rear air cylinder to the first rear wheel brake air chamber and the second rear wheel brake air chamber.
3. The anti-steering side-slip control system of an electric vehicle according to claim 2, wherein the first control valve and the second control valve are kept in an off state when the brake pedal is depressed.
4. An anti-yaw control system for an electric vehicle according to claim 2, wherein the valve assembly comprises:
a first port of the quick release valve is communicated with the first front wheel brake air chamber, and a second port of the quick release valve is communicated with the second front wheel brake air chamber;
the first port of the relay valve is communicated with the first rear wheel brake air chamber, the second port of the relay valve is communicated with the second rear wheel brake air chamber, and the third port of the relay valve is communicated with the rear air cylinder;
a first port of the brake valve is communicated with the front air cylinder, a second port of the brake valve is communicated with a third port of the quick release valve, the third port of the brake valve is communicated with the rear air storage cylinder, the fourth port of the brake valve is communicated with the control port of the relay valve, the brake valve is arranged corresponding to the brake pedal and is conducted when the brake pedal is pressed down, so that the compressed air stored in the front air reservoir is respectively led into the first front wheel brake air chamber and the second front wheel brake air chamber through the first port of the brake valve, the second port of the brake valve and the quick release valve, and simultaneously inputting the generated control air pressure to a control port of the relay valve to conduct the relay valve, the compressed air stored in the rear air reservoir is respectively led into the first rear wheel brake air chamber and the second rear wheel brake air chamber through the relay valve.
5. The anti-steering side-slip control system for an electric vehicle according to any one of claims 1 to 4, wherein the first control valve and the second control valve are both solenoid valves.
6. An electric vehicle characterized by comprising the steering sideslip prevention control system of the electric vehicle according to any one of claims 1-5.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920834307.XU CN210591426U (en) | 2019-06-04 | 2019-06-04 | Anti-steering sideslip control system of electric vehicle and electric vehicle |
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| CN201920834307.XU CN210591426U (en) | 2019-06-04 | 2019-06-04 | Anti-steering sideslip control system of electric vehicle and electric vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203076A (en) * | 2019-06-04 | 2019-09-06 | 厦门金龙汽车新能源科技有限公司 | Anti- steering sideslip control system, method and the electric vehicle of electric vehicle |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203076A (en) * | 2019-06-04 | 2019-09-06 | 厦门金龙汽车新能源科技有限公司 | Anti- steering sideslip control system, method and the electric vehicle of electric vehicle |
| CN110203076B (en) * | 2019-06-04 | 2024-02-02 | 厦门金龙汽车新能源科技有限公司 | Steering sideslip prevention control system and method for electric vehicle and electric vehicle |
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