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A vehicle speed control method, system, and vehicle in a turning scene

A vehicle speed control and vehicle technology, which is applied to control devices, vehicle components, input parameters of vehicle conditions, etc.

Active Publication Date: 2021-02-19
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In practice, it is found that the speed of the car changes greatly when turning at a large angle, and the traditional speed controller cannot accurately control and stabilize the speed of the vehicle, which may cause the vehicle to lose control, resulting in a car accident

Method used

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  • A vehicle speed control method, system, and vehicle in a turning scene
  • A vehicle speed control method, system, and vehicle in a turning scene
  • A vehicle speed control method, system, and vehicle in a turning scene

Examples

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Effect test

Embodiment 1

[0073] see figure 1 , figure 1 It is a schematic flowchart of a vehicle speed control method in a turning scene disclosed in an embodiment of the present invention. Such as figure 1 As shown, the vehicle speed control method in this turning scene may include the following steps:

[0074] 101. The vehicle speed control system in a turning scene obtains the lateral force on the front wheels of the vehicle according to the obtained side slip angle of the front wheels of the vehicle.

[0075] In the embodiment of the present invention, the vehicle speed control method in the turning scene can be applied to front-wheel steering and front-wheel drive vehicles; Wheel steering and rear wheel drive vehicles, or front wheel steering and front and rear wheel drive vehicles, the embodiments of the present invention are not limited; the embodiments of the present invention are described as examples of front wheel steering and front wheel drive vehicles, and should not be implemented in ...

Embodiment 2

[0127] see figure 2 , figure 2 It is a schematic flowchart of another vehicle speed control method in a turning scene disclosed in an embodiment of the present invention. Such as figure 2 As shown, the vehicle speed control method in this turning scene may include the following steps:

[0128] 201. The vehicle speed control system in a turning scene calculates the side slip angle of the front wheels of the vehicle according to the lateral speed of the vehicle wheels and the longitudinal speed of the vehicle wheels.

[0129] In the embodiment of the present invention, the vehicle speed control system in the turning scene can be based on the lateral speed v of the vehicle wheel c , the speed v of the vehicle wheel in the longitudinal direction l And combine the following formula to calculate the side slip angle of the front wheel of the vehicle, namely:

[0130] alpha f =tan -1 (v c / v l )

[0131] Among them, α f Indicates the slip angle of the front wheels of the...

Embodiment 3

[0143] see image 3 , image 3 It is a schematic structural diagram of a vehicle speed control system in a turning scene disclosed in an embodiment of the present invention. see image 3 , the vehicle speed control system in this turning scene may include:

[0144] The first obtaining unit 301 is configured to obtain the lateral force on the front wheels of the vehicle according to the obtained slip angle of the front wheels of the vehicle;

[0145] The second obtaining unit 302 is configured to obtain the longitudinal force received by the front wheels of the vehicle according to the moment balance relationship of the front wheels of the vehicle;

[0146] The third obtaining unit 303 is configured to obtain the driving force compensation amount that the front wheels of the vehicle need to increase when turning according to the target correspondence, the lateral force on the front wheels of the vehicle, and the longitudinal force on the front wheels of the vehicle;

[0147...

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Abstract

The embodiment of the present invention relates to the field of automobile technology, and discloses a vehicle speed control method and system in a turning scene, and a vehicle. The method includes: obtaining the lateral force on the front wheel of the vehicle according to the obtained side slip angle of the front wheel of the vehicle; Obtain the longitudinal force on the front wheels of the vehicle; according to the target correspondence between the acceleration of the longitudinal motion of the vehicle and the resultant force on the wheels of the vehicle, the lateral force and the longitudinal force on the front wheels of the vehicle, the required increase in the front wheels of the vehicle when turning is obtained The driving force compensation amount; the vehicle wheels include the vehicle front wheel and the vehicle rear wheel; the wheel end torque value compensation amount of the vehicle front wheel is determined according to the driving force compensation amount; the feedforward item is determined according to the wheel end torque value compensation amount; the feedforward The item is fed back to the speed controller of the vehicle, so that the speed controller controls the vehicle to travel at a preset speed when turning, and can control and stabilize the speed of the vehicle when the vehicle is turning to avoid loss of control of the vehicle.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to a vehicle speed control method and system in a turning scene, and a vehicle. Background technique [0002] With the rapid development of automobile manufacturing technology, the automatic driving of automobiles has gradually become the research and development object of automobile manufacturers. In the automatic driving of the car, in order to control the car to drive along the target path or trajectory while making the car meet the requirements of comfort and safety indicators, the car manufacturer has designed a vehicle speed controller to control and stabilize the driving speed of the car. [0003] In practice, it is found that the speed of the car changes greatly when turning at a large angle, and the traditional speed controller cannot accurately control and stabilize the speed of the vehicle, which may cause the vehicle to lose control, resulting in a car accident. Co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/04B60W40/00
CPCB60W30/04B60W40/00B60W2520/105B60W2520/20B60W2530/20B60W2720/10
Inventor 李弼超孙崇尚张超昱陈集辉赵永正李想
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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