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A method and system for extending the handling limit of a vehicle based on cooperative control of brakes
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An extension method and cooperative control technology, which is applied in the field of vehicle handling limit expansion based on drive-brake cooperative control, can solve problems such as limited adjustment range, inability to maintain vehicle speed, and vehicle acceleration
Active Publication Date: 2021-08-20
TSINGHUA UNIV
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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
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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 handling limit extension method and system based on drive brake cooperative control. The method includes: calculating the expected additional yaw moment according to the deviation between the current vehicle state and the expected vehicle state; assigning the longitudinal force required by different wheels according to the additional yaw moment and the additional longitudinal force and its expected value; using the slip ratio of the wheel Correct the longitudinal force required by the wheel; coordinate the braking pressure of the braking system on the wheel with the output torque of the engine according to the longitudinal force required to provide the corrected wheel, and generate the longitudinal force acting on the wheel. The method enables the driving wheels to fully utilize the driving force and road adhesion, improves the upper limit of the additional yaw couple moment under certain adhesion conditions, and expands the adjustment range of the yaw attitude of the vehicle. This method enables a vehicle equipped only with a conventional drive system to achieve different driving / braking forces on different wheels of the drive axle, making the longitudinal force of the vehicle controllable, which in turn enables the vehicle speed to 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...
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