Automobile and body stability control method and system thereof

Abstract

The invention discloses an automobile and a body stability control method and system thereof. The method comprises the following steps of obtaining the target yaw velocity of the automobile and the angular velocity of the automobile centroid circular motion; calculating the absolute value of the difference between the target yaw velocity and the angular velocity of the automobile centroid circularmotion; if the absolute value of the difference is larger than a first preset value, obtaining the current road adhesion coefficient of the automobile, calculating the driving torque limit value of the automobile according to the current road adhesion coefficient, and limiting the current driving torque limit value of the automobile to the driving torque limit value or below. Therefore, the stability of the automobile can be better controlled on a complicated road surface, especially on a low- adhesion-coefficient road surface.

Description

Technical field [0001] The present invention relates to the field of automobile technology, and in particular to a vehicle body stability control method, a vehicle body stability control system and a vehicle having the system. Background technique [0002] In order to improve the safety factor of vehicle control and ensure that the vehicle body can be maintained in a stable state during driving, a variety of vehicle body stability control methods and corresponding vehicle body stability control systems have been proposed in related technologies. [0003] For example, a vehicle body stability control method proposed in the related art obtains the expected value of yaw angular velocity through the linear two-degree-of-freedom control model of the car. After the expected value of the center of mass side slip angle is set to 0, the yaw rate is designed separately based on the active disturbance rejection control theory. The angular velocity deviation active disturbance rejection...

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Problems solved by technology

[0004] However, due to the complexity of the road surface, especially when the adhesion coefficient of the slippery road surface is relatively small, the driver will generally fiddle with the steering wheel after the car loses stability. , often deviates greatly from the actual situation, resulting in wrong additional yaw moments ΔMωr and ΔMβ, then when the torque difference between the inner and outer wheels is adjusted, the wheels will slip more severely and the car will be completely out of control

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