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Vehicle control limit extension method and system based on driving and braking cooperative control

A technology of cooperative control and expansion method, which is applied in the field of vehicle manipulation limit expansion based on drive-brake cooperative control, and can solve problems such as limited adjustment range, inability to maintain vehicle speed, and vehicle speed drop.

Active Publication Date: 2020-10-09
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the limitation of road surface adhesion, there is a certain upper limit for the additional yaw moment, that is, the adjustment range is limited. In extreme conditions, even if the maximum additional yaw moment is applied, the vehicle may still be unstable; Braking, the use of which necessarily results in a decrease in vehicle speed, the inability to maintain or accelerate the vehicle

Method used

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  • Vehicle control limit extension method and system based on driving and braking cooperative control
  • Vehicle control limit extension method and system based on driving and braking cooperative control
  • Vehicle control limit extension method and system based on driving and braking cooperative control

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Experimental program
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Embodiment 1

[0071] Such as figure 1 As shown, the embodiment of the present invention provides a method for extending the vehicle handling limit based on the coordinated control of the brakes, including:

[0072] S101, calculating the expected additional yaw couple moment according to the deviation between the current vehicle state and the expected vehicle state;

[0073] S102, according to the additional yaw moment, the additional longitudinal force and its expected value, allocating the longitudinal force required by different wheels;

[0074] S103, using the slip ratio of the wheel to correct the longitudinal force required to be provided by the wheel;

[0075] S104. Coordinate the braking pressure of the braking system on the wheel with the output torque of the engine according to the corrected longitudinal force required to be provided by the wheel to generate a longitudinal force acting on the wheel.

[0076] Execute step S101, the expected additional yaw couple moment is calculat...

Embodiment 2

[0174] Such as figure 2 As shown, the embodiment of the present invention provides a vehicle handling limit extension system based on the cooperative control of brakes, including:

[0175] The expected additional yaw moment calculation module is used to calculate the expected additional yaw moment according to the deviation between the current vehicle state and the expected vehicle state;

[0176] The wheel longitudinal force distribution module is used to distribute the longitudinal force required by different wheels according to the additional yaw moment, the additional longitudinal force and its expected value;

[0177] a slip ratio control module, configured to use the slip ratio of the wheel to correct the longitudinal force required to be provided by the wheel;

[0178] The driving and braking force control module is used for coordinating the braking pressure of the braking system on the wheel with the output torque of the engine according to the corrected longitudinal...

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Abstract

The invention discloses a vehicle control limit extension method and system based on driving and braking cooperative control. The method comprises the steps of calculating an expected additional yawing couple moment according to a deviation between a current vehicle state and an expected vehicle state; distributing longitudinal force required to be provided by different wheels according to the additional yawing couple moment, the additional longitudinal force and expected values of the additional yawing couple moment and the additional longitudinal force; correcting the longitudinal force required to be provided by the wheels by utilizing the slip rate of the wheels; and coordinating the braking pressure of the braking system on the wheels and the output torque of the engine according to the corrected longitudinal force required to be provided by the wheels, and generating the longitudinal force acting on the wheels. According to the method, the driving force and the road surface adhesive force of the driving wheel are fully utilized, the upper limit value of the additional yawing couple moment under a certain adhesion condition is increased, and the adjustment range of the yawingposture of the vehicle is expanded. According to the method, a vehicle only provided with a traditional driving system can achieve different driving / braking forces on different wheels of a driving shaft, so that the longitudinal force of the vehicle is controllable, and then the speed of the vehicle can be adjusted.

Description

technical field [0001] The invention relates to the technical field of automobile safety, in particular to a method and system for extending vehicle handling limits based on cooperative control of brakes. Background technique [0002] Electronic Stability Control (ESC) is an important part of the existing automotive active safety system, and one of its important functions is yaw stability control (anti-yaw control, AYC). [0003] In the existing yaw stability control system, it directly measures or further calculates the state of the vehicle through sensors, such as yaw rate and side slip angle of the center of mass, and then calculates the oversteer or understeer state of the vehicle. When the vehicle is in an understeer state, the inner wheel is used to brake to generate an additional yaw moment to correct the vehicle's motion posture; when the vehicle is in an oversteer state, the outer wheel is used to brake to generate an additional yaw moment to correct Vehicle motion...

Claims

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Application Information

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IPC IPC(8): B60W30/02B60W40/00B60W40/06B60W40/064B60W40/10B60W40/105
CPCB60W30/02B60W40/00B60W40/06B60W40/064B60W40/10B60W40/105
Inventor 魏凌涛李亮王翔宇
Owner TSINGHUA UNIV