Vehicle body stability control method and system based on estimation of road adhesion coefficient

A technology of road surface adhesion coefficient and body stability, applied in the direction of brakes, etc., can solve problems such as large errors

Inactive Publication Date: 2017-06-13
HEFEI UNIV OF TECH
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Problems solved by technology

This method estimates the road surface adhesion coefficient according to the mechanical relationship, and the error is large

Method used

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  • Vehicle body stability control method and system based on estimation of road adhesion coefficient
  • Vehicle body stability control method and system based on estimation of road adhesion coefficient
  • Vehicle body stability control method and system based on estimation of road adhesion coefficient

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Embodiment Construction

[0169] refer to figure 1 , figure 2 , the vehicle body stability control method based on road surface adhesion coefficient estimation proposed by the present invention, comprises the following steps:

[0170] S1. Establishing a longitudinal sliding and lateral deviation combination brush tire model;

[0171] The combination brush tire model of longitudinal sliding and side slipping is:

[0172]

[0173]

[0174] in,

[0175]

[0176] Preferably, use the Kalman filter method to F x and F y make an estimate;

[0177] Among them, C x is the vertical sliding stiffness of the tire, C α is the tire cornering stiffness, α is the tire slip angle, μ is the road adhesion coefficient, λ is the actual longitudinal slip rate of the wheel, r is the rolling radius of the wheel, v ω is the longitudinal velocity at the center of the wheel, F x is the tire longitudinal force, F y is the tire lateral force, F z is the tire vertical force;

[0178] The nonlinear format of ...

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Abstract

The invention discloses a vehicle body stability control method and system based on estimation of the road adhesion coefficient. The method includes the following steps that S1, a longitudinal sliding and side offset combined brush tire model is established; S2, current driving state parameters of a vehicle are acquired, and the adhesion coefficient of a road where the vehicle runs currently is calculated according to the longitudinal sliding and side offset combined brush tire model and the current driving state parameters of the vehicle; S3, a yaw velocity sliding mode controller and a side slip angle sliding mode controller are established; and S4, actual motion states of the vehicle and a driver action instruction are acquired, the actual motion state of the vehicle is compared with an expected state of a driver, and a vehicle body stability control strategy is selected for the vehicle according to comparison results and the adhesion coefficient of the road where the vehicle runs currently by combining the yaw velocity sliding mode controller and the side slip angle sliding mode controller.

Description

technical field [0001] The invention relates to the technical field of automobile stability control, in particular to a vehicle body stability control method and system based on road surface adhesion coefficient estimation. Background technique [0002] Automotive electronic stability program (Electronic Stability Program, ESP) is a milestone improvement in vehicle active safety control technology after vehicle anti-lock braking system (ABS) and traction control system (TCS). Its control system mainly adjusts the force between the tire and the road surface, and the transmission of force between the road surface and the tire is restricted by the adhesion coefficient of the road surface. Current road surface adhesion coefficient. When the vehicle is running on a high-adhesion road surface, the side slip angle of the center of mass is small, and the state of the vehicle can be characterized by the yaw rate. However, when the vehicle is running on a low-adhesion road surface, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60T8/1755B60W40/064
Inventor 汪洪波胡振国刘伟
Owner HEFEI UNIV OF TECH
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