Phase plane vehicle stability determination method

Abstract

The invention discloses a phase plane vehicle stability determination method. The phase plane vehicle stability determination method comprises steps of establishing a two-freedom-degree vehicle analysis model according to a driving condition input parameters, using a vehicle two-freedom-degree model to draw a whole working condition vehicle stability phase plane graph, wherein the phase plane graph is a vehicle-side-slip-angle-and-yaw-velocity phase plane graph with the yaw velocity as an ordinate and the side slip angle as an abscissa, 2) determining a type of a stability domain where the vehicle is positioned according to the working condition of the vehicle, 3) using a stability domain type database to obtain a vehicle stability domain according to the vehicle working condition and 4) determining whether the vehicle is unstable through determining whether the vehicle driving state is beyond the stability domain. The phase plane vehicle stability determination method can fully characterize a stability state of a full working condition vehicle and provides an accurate determination basis to involvement and exit of the vehicle stability control.

Description

technical field [0001] The invention relates to the field of vehicle stability control, in particular to a novel method for judging phase plane vehicle stability. Background technique [0002] With the continuous increase of car ownership, problems such as road traffic accidents, environmental pollution and noise have become increasingly prominent. How to reduce the losses caused by traffic accidents to the society is an urgent problem to be solved. Non-man-made traffic accidents are closely related to the loss of stability; and the traffic accidents caused by vehicle instability are increasing with the increase of vehicle speed. Automotive Electronic Stability Program (ESP), as an important active safety technology in automobiles, can effectively improve driving stability by controlling the yaw motion of the vehicle. The vehicle stability criterion is the basis of its control intervention, so developing the vehicle stability criterion is of great significance for improvin...

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Problems solved by technology

[0003] At present, there are mainly the following methods at home and abroad: 1. The phase plane method of yaw angular velocity and lateral velocity. This method is difficult to obtain the lateral velocity, and it cannot fully represent the state of the vehicle when it is skidding; 2. The center of mass The sideslip angle-centroid sideslip angular velocity phase plane method, this method is simple to divide the boundary of the stable region, but its practicability in non-limit working conditions needs to be verified; 3. The yaw rate-centroid sideslip angle phase plane method, this method The method can fully characterize the stability characteristics of the vehicle under all working conditions, but no scholars have studied the influence of vehicle speed, road surface adhesion coefficient and front wheel angle on the type of stable region; the previous two methods did not consider the two states of yaw rate and side slip angle at the same time It cannot fully characterize the vehicle stability state under all working conditions

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