Control method and system of vehicle drifting and vehicle

Abstract

The invention discloses a control method and system of vehicle drifting and a vehicle. The control method includes the steps that yaw moment of the vehicle is obtained, and a yaw angular speed of thevehicle based on the yaw moment is obtained; whether the yaw angular speed is greater than a preset first threshold value or not is judged, if yes, then the vehicle enters a drifting mode, and otherwise the yaw angular speed is continuously obtained; the yaw moment of the vehicle is adjusted, and the yaw angular speed is obtained in real time; and under the drifting mode, whether the yaw angular speed is less than a preset second threshold value or not is continuously judged, if yes, the vehicle exists the drifting mode, and otherwise the yaw angular speed is continuously obtained, wherein thesecond threshold value is not greater than the first threshold value. According to the control method and system of vehicle drifting and the vehicle, the yaw moment of the vehicle is adjusted to improve the yaw angular speedso that the vehicle can drift under a low-speed state, and the user experience of a driver under the condition of ensuring safe driving is effectively improved.

Description

technical field

[0001] The invention relates to the technical field of vehicle attitude control, in particular to a vehicle drift control method, control system and vehicle. Background technique

[0002] If traditional vehicles want to enter the drift state, they need higher speed and steering, so they have higher requirements on the driving skills of the driver, and there are hidden dangers of unsafety. For example, the traditional go-kart control logic is left and right equal torque control, and the driving force of the rear wheel cannot cause the vehicle to generate a yaw moment. In order for a traditional kart to drift, the yaw moment can only be generated by the lateral force of the front wheel, so the rear wheel needs to have a large driving force, so that the tire loses lateral friction and cannot balance with the lateral force of the front wheel , in order to generate a large yaw rate to drift.

[0003] On the basis of safe driving, satisfying the driving experienc...

Examples

Embodiment 1

[0056] Embodiment 1, the drive axle is a non-steering and independent drive axle, and braking force is applied to the inner tires of the drive axle. That is, the drive axle has a driving function, and the inner tire and the outer tire corresponding to the drive axle are under unified control. When entering the drift mode, a braking force is applied to the inner tires of the driving axle, so that the reaction force of the braking force of the tires produces a yaw moment on the vehicle, and the yaw rate is increased according to the yaw moment, and the vehicle is more likely to enter the "drifting state" ".

Embodiment 2

[0057] Embodiment 2, the drive axle is a steering dependent drive axle, and a braking force is applied to the tires of the drive axle to generate a yaw moment in the same direction as the steering direction, and the braking force is based on the tire position and tire position of the drive axle. direction. That is to say, the driving axle has driving function and braking function at the same time, and the corresponding inner tire and outer tire of the driving axle are controlled uniformly, and a braking force is applied to the tire of the driving axle to generate the same yaw moment as the steering direction , the braking force is based on the tire position and tire direction of the drive axle, when the wheel axis points to the side of the vehicle geometric center close to the apex, the braking force is applied to the tire, when the tire axis points to the vehicle geometric center close to the turning direction On the other side, add drive to that wheel. The reaction force of...

Embodiment 3

[0058] In the third embodiment, the driving axle is a non-steering independent driving axle, the braking force is applied to the inner tire of the driving axle, and the driving force is applied to the outer tire of the driving axle. That is, the drive axle only has a driving function, and the corresponding inner tires and outer tires of the drive axle are independently controlled, applying a braking force to the inner tires of the drive axle, and applying a driving force to the outer tires of the drive axle, so that the tires are opposite to each other. The reaction force of the ground driving force or the braking force produces a yaw moment on the vehicle, and the yaw rate is increased according to the yaw moment, and the vehicle is more likely to enter a "drift state".

technical field

[0001] The invention relates to the technical field of vehicle attitude control, in particular to a vehicle drift control method, control system and vehicle. Background technique

[0002] If traditional vehicles want to enter the drift state, they need higher speed and steering, so they have higher requirements on the driving skills of the driver, and there are hidden dangers of unsafety. For example, the traditional go-kart control logic is left and right equal torque control, and the driving force of the rear wheel cannot cause the vehicle to generate a yaw moment. In order for a traditional kart to drift, the yaw moment can only be generated by the lateral force of the front wheel, so the rear wheel needs to have a large driving force, so that the tire loses lateral friction and cannot balance with the lateral force of the front wheel , in order to generate a large yaw rate to drift.

[0003] On the basis of safe driving, satisfying the driving experienc...

Examples

Embodiment 1

[0056] Embodiment 1, the drive axle is a non-steering and independent drive axle, and braking force is applied to the inner tires of the drive axle. That is, the drive axle has a driving function, and the inner tire and the outer tire corresponding to the drive axle are under unified control. When entering the drift mode, a braking force is applied to the inner tires of the driving axle, so that the reaction force of the braking force of the tires produces a yaw moment on the vehicle, and the yaw rate is increased according to the yaw moment, and the vehicle is more likely to enter the "drifting state" ".

Embodiment 2

[0057] Embodiment 2, the drive axle is a steering dependent drive axle, and a braking force is applied to the tires of the drive axle to generate a yaw moment in the same direction as the steering direction, and the braking force is based on the tire position and tire position of the drive axle. direction. That is to say, the driving axle has driving function and braking function at the same time, and the corresponding inner tire and outer tire of the driving axle are controlled uniformly, and a braking force is applied to the tire of the driving axle to generate the same yaw moment as the steering direction , the braking force is based on the tire position and tire direction of the drive axle, when the wheel axis points to the side of the vehicle geometric center close to the apex, the braking force is applied to the tire, when the tire axis points to the vehicle geometric center close to the turning direction On the other side, add drive to that wheel. The reaction force of...

Embodiment 3

[0058] In the third embodiment, the driving axle is a non-steering independent driving axle, the braking force is applied to the inner tire of the driving axle, and the driving force is applied to the outer tire of the driving axle. That is, the drive axle only has a driving function, and the corresponding inner tires and outer tires of the drive axle are independently controlled, applying a braking force to the inner tires of the drive axle, and applying a driving force to the outer tires of the drive axle, so that the tires are opposite to each other. The reaction force of the ground driving force or the braking force produces a yaw moment on the vehicle, and the yaw rate is increased according to the yaw moment, and the vehicle is more likely to enter a "drift state".

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