EPS (Electric Power Steering)-integrated distributed vehicle steering driving control system and method

Abstract

The invention discloses an EPS (Electric Power Steering)-integrated distributed vehicle steering driving control system and method. An integrated controller is utilized for receiving signals of a vehicle speed sensor, a steering wheel angle sensor, a steering wheel torque sensor, an accelerator pedal opening sensor, a brake pedal opening sensor, a yaw rate sensor and a lateral acceleration sensor to judge the running condition of a vehicle, thereby transmitting instructions to an EPS controller and a torque distribution controller; the EPS controller calculates the expected current according to variable assist characteristics to control the output torque of an assist motor; the distribution controller calculates the yaw moment required for stable control of the vehicle according to a stability control algorithm and transmits the required torque signal to a hub motor controller by virtue of optimized distribution; the hub motor controller converts the torque signal into a current magnitude signal to control the driving and braking of a hub motor; and meanwhile, the hub motor controller receives the real-time rotation rate signal of the hub motor so as to realize stability control. The system and method disclosed by the invention improve the distributed vehicle steering driving control stability.

Description

technical field [0001] The invention belongs to the field of integrated control of electric vehicles, and in particular relates to an integrated EPS distributed drive vehicle steering control system and method. Background technique [0002] As problems such as environmental pollution and environmental pollution become more and more serious, electric vehicles have received more attention. Among them, distributed drive electric vehicles have great advantages in transmission structure, control strategy and energy utilization, and have become a hot research topic today. Distributed drive electric vehicles refer to installing in-wheel motors directly in the wheels to drive the vehicle. Since the output torques of different in-wheel motors are controlled separately, the stability control of the vehicle can be achieved under various extreme working conditions, improving Vehicle driving safety and comfort. [0003] Steering is one of the essential functions of the vehicle. Since t...

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Problems solved by technology

[0005] Chinese patent 201610532348.4 proposes to determine the additional yaw moment for stable driving of the vehicle based on the difference between the actual value of the yaw rate and the expected value of the yaw rate, and achieve vehicle stability control through the rational distribution of four-wheel driving force, but does not consider the role of EPS in vehicle handling stability sexual influence

Chinese patent 201610278791.3 proposes integrated EPS and DYC control, which can realize vehicle stability control on high-speed, large corners and low-adhesion roads, but does not take into account the difference in lateral force provided by the tires on both sides on the split road. During DYC control, one-sided wheel slip may occur, which will affect the stability of the vehicle

Chinese patent 201410225570.0 proposes to realize vehicle stability control by controlling the slip rate of each tire to be less than the target slip rate when driving straight on the split road, but it does not consider the different adhesion coefficients of the road surfaces on both sides when turning on the split road Effects on Vehicle Stability

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