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Method for controlling stability of vehicle based on vertical load distribution of tire

A technology of stability control and vertical load, applied in the field of vehicle safety control, can solve the problem of not considering the nonlinear coupling relationship of lateral force and so on

Inactive Publication Date: 2012-04-11
UNIV OF SHANGHAI FOR SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the aforementioned control strategies all control the yaw motion of the vehicle through the horizontal force of the tire (that is, the cornering force and longitudinal force of the tire) to suppress the instability caused by the vehicle sideslip, without considering the effect of the vertical force of the tire and Its nonlinear coupling relation to lateral force

Method used

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  • Method for controlling stability of vehicle based on vertical load distribution of tire
  • Method for controlling stability of vehicle based on vertical load distribution of tire
  • Method for controlling stability of vehicle based on vertical load distribution of tire

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Embodiment 1

[0037] see figure 1 , the present invention discloses a vehicle stability control method based on tire vertical load distribution, the control method comprising the following steps:

[0038] Step S10, the driver gives a steering input, and the vehicle model and the vehicle reference model estimate the vehicle motion state information and ideal state information; and determine whether the vehicle is in a stable state by comparing the vehicle information;

[0039] Step S20, the tracking error of the vehicle is input to the PID controller, and the active force feedback of the suspension is obtained through the corresponding PID control algorithm;

[0040] Step S30 , after the vehicle accepts the feedback control, the vertical load of the tires of the vehicle is redistributed to generate a corrected yaw moment to suppress the sideslip of the vehicle, and the stability of the vehicle is improved.

[0041] As a preferred solution of the present invention, in the step S10, the monit...

Embodiment 2

[0057] The working mechanism of the present invention is the nonlinear coupling relation of tire vertical force and lateral force. In order to clearly describe this control strategy, the present invention adopts the magic tire model under the pure cornering condition, and the coupling relationship between the vertical load and the cornering force is as follows figure 1 . The figure shows that as the vertical tire load F Z With the increase of , the slope of the cornering force FY provided by the tire gradually decreases. Using the vertical and lateral coupling mechanism of the tire, the vertical load distribution of the tire can be optimized through the active suspension control force, so the front and rear vertical load transfer will cause a cornering force difference between the front and rear tires, and then form a vehicle The yaw moment required for stable driving. Such as figure 2 Shown (V g is the speed of the vehicle, β is the side slip angle of the body center of...

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Abstract

The invention discloses a method for controlling the stability of a vehicle based on vertical load distribution of a tire. The control method comprises the following steps of: 10, giving steering input out by a driver, estimating motion state information and ideal state information of the vehicle by using a finished vehicle model and a finished vehicle reference model, and judging whether the vehicle is positioned in a stable state or not by the comparison of vehicle information; 20, inputting tracking errors of the vehicle into a proportion integration differentiation (PID) controller, and acquiring an active force feedback of a suspension frame by a corresponding PID control algorithm; and 30, after feedback control is received by the vehicle, redistributing a vertical load of the tire of the vehicle to generate calibration yawing moment so as to restrain the sideslip of the vehicle and improve the stability of the vehicle. In the method, the vertical load of the tire is distributed by the active force of the suspension frame; the calibration yawing moment is generated due to a nonlinear coupling relationship between the vertical load of the tire and cornering force; therefore, yawing motion of the vehicle is controlled, the sideslip of the vehicle is restrained, and the lateral stability of the vehicle is improved.

Description

technical field [0001] The invention belongs to the technical field of vehicle safety control, and relates to a vehicle stability control method, in particular to a vehicle stability control method based on tire vertical load distribution. Background technique [0002] Vehicle stability control has always been a hot topic in vehicle active safety research. Generally speaking, vehicle motion stability can be controlled through the active intervention of the braking system or steering system on vehicle yaw motion and roll motion to improve active safety. the goal of. [0003] Generally speaking, there are currently two types of vehicle stability control algorithms in the electronic control system of the automobile chassis. One is to control the yaw motion of the vehicle through the steering system to adjust the tire cornering force to control the vehicle's yaw motion to suppress tire sideslip and achieve the purpose of improving vehicle stability. Minimize the side slip angle...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/02B60W40/10B60W40/109B60W40/112B60G23/00
Inventor 孙涛徐桂红柴陵江
Owner UNIV OF SHANGHAI FOR SCI & TECH
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