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Rollover-preventing control system and method for four-wheel steering automobile integrating change of automobile speed

A four-wheel steering vehicle and control system technology, which is applied in the field of four-wheel steering vehicle anti-rollover control system, can solve problems such as inaccurate rollover evaluation indicators, and achieve the effect of improving control efficiency and optimal control effect

Active Publication Date: 2016-11-09
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0005] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a four-wheel steering vehicle anti-rollover control system and method that integrates vehicle speed changes, which can solve the problem of inaccurate rollover evaluation indicators caused by vehicle speed changes , through the advantage of the variable rear wheel angle of the four-wheel steering vehicle, the rollover control can be more rapid

Method used

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  • Rollover-preventing control system and method for four-wheel steering automobile integrating change of automobile speed
  • Rollover-preventing control system and method for four-wheel steering automobile integrating change of automobile speed
  • Rollover-preventing control system and method for four-wheel steering automobile integrating change of automobile speed

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Embodiment

[0112] Such as figure 2 Process shown:

[0113] (1) Set the speed of the vehicle within the range of [30,150]km / h, and sample at an interval of 5-10km / h; where [30,150]km / h is a common interval for car driving, higher or lower than this interval It is meaningless to prevent rollover; too high is uncontrollable, too low is extremely difficult to roll over; the smaller the interval, the higher the accuracy of the fitting curve;

[0114] (2) When the vehicle speed is 30km / h, set the front and rear wheel angles to 0deg. Input these three parameters into the three-degree-of-freedom four-wheel steering rollover model, and obtain the steady-state roll angle velocity and roll angle by solving the differential equation;

[0115] (3) Calculate the LTR value at this time from the roll angle and roll angular velocity in this state. When the LTR value is less than the range of 0.8--1, increase the front and rear wheel angles and jump to step (2), until the LTR reaches the preset value;...

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Abstract

The invention discloses a rollover-preventing control method for a four-wheel steering automobile integrating a change of automobile speed. A rollover-preventing control system consists of a sensor, an ECU (electronic control unit) and an executing mechanism. The method comprises the following steps of firstly, enabling the sensor to measure the vehicle parameters, such as the wheel rotation angle, the automobile speed and the like, sending the vehicle parameters to the ECU, and calibrating the rollover evaluation value, wherein the rollover evaluation method is different from the traditional evaluation method, and directly utilizes the automobile speed and the rotation angle signal collected by the sensor to calibrate the front and back wheel rotation angles and corresponding extreme automobile speeds by an F (v, gamma) function; adding a working condition judging unit, adopting different control modes, and fully considering the intent of a driver; when the automobile speed is greater than the automobile extreme rotation angle, enabling the ECU to judge the working conditions according to the automobile speed, the wheel rotation angle, the rollover angle and the like, and adjusting the driving state of the automobile by the differential brake and the four-wheel steering executing mechanism, so as to further change the state of the automobile, and reach the rollover-preventing effect.

Description

technical field [0001] The invention belongs to the technical field of automobile active safety, and in particular relates to an anti-rollover control system and method for a four-wheel steering automobile that integrates changes in vehicle speed. Background technique [0002] With the development of the economy, the number of cars in the world continues to grow, and cars have become an indispensable means of transportation in people's lives. In recent years, transportation has developed rapidly, road construction has been improved day by day, and the speed of automobiles has continued to increase. However, traffic safety problems have become increasingly prominent, and the problems of casualties and property losses caused by traffic accidents have become more and more serious. Therefore, people pay more attention to safety while paying attention to the comfort and economy of automobiles. Vehicle rollover is an important issue affecting vehicle safety. Statistics from the ...

Claims

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Application Information

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IPC IPC(8): B60T7/12B62D6/00B62D101/00B62D113/00B62D137/00
CPCB60T7/12B62D6/001B62D6/002
Inventor 赵万忠季林王春艳
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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