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Wheel longitudinal force regulation-based vehicle handling stability control method

A longitudinal force and vehicle technology, applied in the direction of control devices, vehicle components, driver input parameters, etc., can solve problems such as poor control effects, and achieve the effect of improving steering stability

Active Publication Date: 2016-01-20
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

This method has an obvious control effect in the linear interval of the tire, but the control effect is not good in the nonlinear interval of the tire.

Method used

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  • Wheel longitudinal force regulation-based vehicle handling stability control method
  • Wheel longitudinal force regulation-based vehicle handling stability control method
  • Wheel longitudinal force regulation-based vehicle handling stability control method

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Embodiment Construction

[0024] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment takes a four-axle dual-front axle steering vehicle as the control object, implements the technical solution of the present invention as a premise, and provides detailed implementation methods, but the scope of protection of the present invention is not limited to four-axle vehicles.

[0025] Such as figure 1 As shown, the accelerator or brake pedal signal input by the driver is resolved into the reference vehicle speed v xdes , for the rotation angle signal δ of the first axis of the vehicle 1 Input to the reference model to calculate the reference yaw rate ω zdes and the reference center-of-mass slip angle β des .

[0026] For the dual-front-axle steering four-axle vehicle in this embodiment, the reference model is a two-degree-of-freedom linear model of the vehicle, and the two-degree-of-freedom includes the two degrees of...

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Abstract

The invention provides a wheel longitudinal force regulation-based vehicle handling stability control method; the control method is applied to a vehicle with a mechanical steering system and without an active steering function. The control method comprises the following steps: (1) according to a signal input by a driver and a vehicle speed state, calculating a vehicle reference motion state by a vehicle reference model; (2) according to a vehicle motion state measured by a vehicle-mounted sensor, estimating to acquire a non-measured vehicle motion state as a vehicle real motion state; (3) based on sliding mode variable structure control, acquiring a target control force and a target control moment which are needed for the vehicle real motion state to track the reference motion state; (4) by regulating longitudinal force of the wheels, generating the needed target control force and target control moment. According to the control method, by regulating the longitudinal force of the wheels, nonlinear combined control on vehicle speed, yaw velocity and side slip angle can be realized, and the vehicle handling stability is improved.

Description

technical field [0001] The invention belongs to the field of vehicle dynamics control, and relates to a vehicle handling stability control method, in particular to a vehicle handling stability control method based on wheel longitudinal force adjustment. Background technique [0002] The handling stability of the vehicle is the main factor that determines the safety performance of the vehicle under extreme conditions, and is the core content of the vehicle dynamics control. At present, the main methods of vehicle handling stability control include the following three: direct yaw moment control based on wheel longitudinal force adjustment, active steering control based on steering angle adjustment, and vertical load control based on suspension stiffness adjustment. Among them, the first One method is represented by Bosch's Electronic Stability System (ESP), which is the most widely used. [0003] The current direct yaw moment control based on wheel longitudinal force adjustme...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/045B60W30/02B60W40/105B60W40/112B60W40/114B60W40/10
CPCB60W30/02B60W30/045B60W40/10B60W40/105B60W40/112B60W40/114B60W2520/10B60W2540/10B60W2540/12B60W2720/00B60W2720/14B60W2720/18
Inventor 孙逢春刘明春张承宁王志福李求军
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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