Control method and device for unstable vehicle and intelligent vehicle

Abstract

The embodiment of the invention provides a control method and device for an unstable vehicle and an intelligent vehicle. The control method for the unstable vehicle comprises the steps that accordingto a speed parameter and mass center parameter of the vehicle, a first feedforward front wheel steering angle is obtained, wherein the first feedforward front wheel steering angle is a front wheel steering angle corresponding to that a front shaft lateral force of a mimical vehicle is in a linear stage of a transverse tire force model; according to the first feedforward front wheel steering angleand a tire slip angle corresponding to the front shaft lateral force of the vehicle, a second feedforward front wheel steering angle is predicted; according to the sum of the first feedforward front wheel steering angle and the second feedforward front wheel steering angle and a maximum angle of the front wheels of the vehicle allowed to be rotated, a driving front wheel steering angle is obtained, so that when the front wheel steering angle of the vehicle is controlled to be the driving front wheel steering angle, the vehicle enters a stable state from an unstable state. The control method and device for the unstable vehicle and the intelligent vehicle can make the unstable vehicle enter the stable state from the unstable state.

Description

technical field [0001] The present application relates to vehicle control technology, in particular to a control method and device for an unstable vehicle and an intelligent vehicle. Background technique [0002] In recent years, vehicle active safety systems have been greatly improved in ensuring the safety of users (drivers / members / roadside pedestrians), such as anti-lock braking systems (Anti-Blocks System, ABS), adaptive cruise control (Adaptive Cruise Control) , ACC), Electronic Stability Program (Electronic Stability Program, ESP), etc. [0003] The vehicle stability control program (Vehicle Stability Control, VSC) corresponding to the above-mentioned vehicle active safety system can prevent the vehicle from entering an unstable driving state (unstable state), but for a vehicle already in an unstable state, the above-mentioned vehicle active safety system is Failure, the main reasons are as follows: (1) After the vehicle loses stability, the tire force enters the nonl...

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Problems solved by technology

[0003] The vehicle stability control program (Vehicle Stability Control, VSC) corresponding to the above-mentioned vehicle active safety system can prevent the vehicle from entering an unstable driving state (unstable state), but for a vehicle already in an unstable state, the above-mentioned vehicle active safety system is Failure, the main reasons are as follows: (1) After the vehicle loses stability, the tire force enters the nonlinear section, and the lateral / longitudinal tire force coupling is serious, while the existing VSC is based on the premise that the tire force is in the linear region or the transition region. designed for

(2) When the above-mentioned VSC-based safety system detects a very high yaw rate caused by a collision (exceeding the normal monitoring range), it will consider it to be a sensor error and will not act; In the resulting vehicle instability state, it is difficult to make correct and effective corrective actions (brakes, accelerator pedals, steering, etc.) based on reasons such as panic or injury

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