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Soft measurement method for automobile mass center slip angle and tire slip angle

A technology of center-of-mass side slip angle and side slip angle, which is applied in the field of motor vehicle control and detection, and can solve the problems of inability to measure, limited test site, and low accuracy

Inactive Publication Date: 2012-04-18
CENT SOUTH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This method is not only inaccurate, but also the test site is limited, it must be turned on the spot, and it cannot be measured during the actual driving of the car

Method used

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  • Soft measurement method for automobile mass center slip angle and tire slip angle
  • Soft measurement method for automobile mass center slip angle and tire slip angle
  • Soft measurement method for automobile mass center slip angle and tire slip angle

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Experimental program
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Embodiment 1

[0030] According to the method for soft measuring the side slip angle of the center of mass of the automobile and the side slip angle of the tire provided by the present invention, only a GPS / INS integrated navigation system needs to be installed on the car. The GPS / INS integrated navigation system can measure the GPS position of the car in real time, the east, north and sky speed in the navigation coordinate system, and the car attitude angle (including: pitch angle, roll angle and direction angle).

[0031] The implication represented by the mathematical symbols used in the present invention is as follows:

[0032] x R : Car X R Axis, that is, the transverse and lateral directions of the car;

[0033] Y R : Y of the car R Axis, that is, the longitudinal direction and forward direction of the car;

[0034] Y R : Z of the car R Axis, that is, the vertical and zenith directions of the car;

[0035] x R Y R Z R : The carrier coordinate system of the car, that is, the ...

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Abstract

The invention discloses a soft measurement method for an automobile mass center slip angle and a tire slip angle. By the soft measurement method, the mass center slip angle and front and rear wheel slip angles of an automobile can be calculated in real time when a direction angle, a roll angle and a pitch angle of the automobile in the driving process and an east speed, a north speed and an up speed in a navigation coordinate system are known, and the problem of lateral acceleration and automobile transverse operation stability can be analyzed. By the soft measurement method, a wheel speed sensor is not required to be arranged in the automobile, or data of an anti-lock brake system (ABS) and an electronic stability program (ESP) in the automobile is not required to be read through a controller area network (CAN) bus, and the method has the characteristics that the method is convenient, quick and reliable.

Description

technical field [0001] The invention relates to a method for soft measuring the side slip angle of the center of mass of an automobile and the side slip angle of tires, and belongs to the field of motor vehicle control and detection. Background technique [0002] To determine the control target of the vehicle stability control system, it is necessary to accurately obtain the current running state of the vehicle, that is, the state parameters of the vehicle while the vehicle is running. Experiments have shown that the lateral handling stability of the vehicle is not only related to the tire slip angle, but also related to the side slip angle of the car's center of mass. If the sideslip angle of the center of mass of the vehicle can be obtained accurately, the corresponding control operation can be performed when the vehicle enters the nonlinear region. [0003] Usually, the lateral acceleration sensor and the yaw rate sensor that directly measure the running attitude of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/10B60W40/101
Inventor 任孝平蔡自兴
Owner CENT SOUTH UNIV