Vehicle stability control method and device, equipment and storage medium

[0029] Example one

[0030] figure 1 A vehicle stability control apparatus in a vehicle stability control flowchart of a method according to a first embodiment of the present invention is applicable to cases where the vehicle stability control intelligent active present embodiment, the method of the present invention may be implemented by is performed, the apparatus may employ implementations, software and / or hardware. Vehicle stability control method provided in this embodiment includes the following steps:

[0031] S110, the vehicle traveling state based on the target time period to determine the target vehicle stability period of demand parameters.

[0032] Among them, the target time period refers to the next period of time. Vehicle travel state including a vehicle travel path and the vehicle speed. Vehicle stability parameter refers to demand to meet their own needs through the various sections of the vehicle to ensure the safe passage of vehicle parameters. Vehicle stability parameter requirements embodiment of the present embodiment comprises lateral forces, lateral acceleration, yaw rate, side slip angle, but are not limited to these parameters, the preferred embodiment of the present embodiment lateral acceleration.

[0033] Specifically, the target refers to the period of the vehicle travel state of the vehicle travel path and in the next period of time, the vehicle running speed to be adopted. Target parameter refers to the period of time the vehicle stability requirements in the next period of time, be able to meet their own needs through different sections of the vehicle when the vehicle parameters to ensure safe passage. Specifically, before determining the period of time the target vehicle stability parameter based on the target time period needs the vehicle running state, the target time period is determined first vehicle running state. Optionally, you can map information, road-vehicle sensor information, the autopilot planned trajectory information, any vehicle traveling state information to determine a current target time period the vehicle running state, you can also use a combination of the plurality of information to determining a target vehicle traveling state period. Incidentally, the present embodiment only determines a target vehicle running state period will be described, and not limitation.

[0034] Wherein, the vehicle running state current refers to the current time of the vehicle travel route and vehicle speed, including, but not limited thereto.

[0035] Specifically, the target time period determined by the map information or road-vehicle sensor information or autopilot planned trajectory information on the vehicle driving route and vehicle speed. Here mainly refers to the path of vehicle travel path tortuosity size vehicle target time period to be adopted. Wherein autopilot planned trajectory path information according to the curvature of the target vehicle through the period, a period predicted target vehicle speed.

[0036] Alternatively, the target vehicle speed time period can also be predicted based on the current vehicle running state. Determined by the map information or road-vehicle sensor information or autopilot planned trajectory information of the target period of vehicle travel path, the vehicle travel path is the size of the curvature of the path of the vehicle to be adopted. Based on the current traveling state of the vehicle, according to the size of the curved path of the vehicle to be adopted, the prediction target vehicle speed period.

[0037] Specifically, the stability demand parameter is lateral acceleration of the vehicle, for example, the vehicle stability demand parameter calculated by the formula (1):

[0038]

[0039] Wherein, v is the period of the target vehicle running speed, R is the bending radius of the target period in the vehicle travel path, a is y It is the target time period the vehicle to meet their own needs to ensure the safe passage of the lateral acceleration of the vehicle.

[0040] S120, determining the target road stability period based on the current state of the road boundary parameters.

[0041] Wherein the current state of the road, and dried refers to the current state of the road type, the current state of the road may be represented by the road friction coefficient may be represented by the road friction coefficient. Stability of boundary parameters road boundary value refers to the maximum stable normal driving conditions, and different types of road under dry conditions can be provided. Stability of the road boundary parameters embodiment of the present embodiment comprises lateral forces, lateral acceleration, yaw rate, side slip angle, but are not limited to these parameters, the preferred embodiment of the present embodiment lateral acceleration.

[0042] Further, the vehicle may slip information based on the camera information and the current sensor to determine the current state of the road tires. Specifically, the slip can be information for determining road friction coefficient based on the vehicle information and the current camera sensor of the tire and the road stability of the target time period is calculated according to the road friction coefficient boundary parameters.

[0043] Wherein the information may be current tire slip angle according to the vehicle steering wheel, vehicle accelerator pedal opening degree, the vehicle and the actual rotation angle of the actual vehicle speed information and the like obtained.

[0044] Specifically, the stability of the road to the boundary parameter is a lateral acceleration, for example, stability margin is calculated road parameters by the equation (2):

[0045] a y * = Μg (2)

[0046] Wherein, μ is the friction coefficient of the current road, g is the gravitational acceleration, a y * Is the target time period in normal driving conditions, the maximum stable lateral acceleration of the road has to offer. Incidentally, a period of time, the road coefficient of friction is constant. That is also the goal of the current road friction coefficient of road friction coefficient period.

[0047]S130, the target vehicle steady state period of time is determined based on the needs of the road parameters and the stability boundary of the vehicle stability parameter.

[0048] Wherein a vehicle stability condition includes a vehicle running state and a running state of the vehicle unstable. Unstable driving state of the vehicle also includes understeer and oversteer state status.

[0049] Specifically, the parameters and needs to be road boundary parameters of vehicle stability stability compared to when the vehicle stability parameter is less than or equal to the demand for road stability boundary parameters, the target time period in a steady running state of the vehicle; when the vehicle stability when the demand parameter is greater than the stability boundary of the road parameters, the period of the target vehicle traveling state is unstable.

[0050] Specifically, demand stability parameters and boundary road vehicle stability parameter is lateral acceleration example for comparison:

[0051] 1) When a y≤ a y * When the target time period the vehicle is in running state;

[0052] 2) When a y> a y * When the target time period the vehicle is unstable driving state.

[0053] When a y＞ a y * When determining the target time period the vehicle is unstable driving state. The period of the target vehicle speed v, the bending radius of the vehicle travel path of the target time period R, the target time period to meet the needs of their own to ensure safe passage of the lateral acceleration of a vehicle y Certain period of vehicle travel and other related information, calculates a vehicle longitudinal axle load distribution, to further clarify the particular desired front axle of the vehicle lateral force F Y1 The rear axle lateral force F Y2. Front and rear axle load here means the longitudinal axis borne by weight, with the front axle load G 1 Said rear axle load with G 2 Express. The front axle load G 1 The rear axle load G 2 Front and rear axles and a lateral force calculated road friction coefficient μ can provide ground:

[0054] Fly Y1 * = G 1 μ F Y2 * = G 2 μ

[0055] According to F Y1 With f Y1 * , F Y2 With f Y2 * The size relationship determining understeer or oversteer.

[0056] Incidentally, the main reason for the instability of the vehicle at higher vehicle speed and steering wheel angle is large, the steering of the vehicle to maintain a desired lateral force beyond the lateral boundaries of the ground can provide the maximum force (wet especially ground), so that the desired vehicle lateral acceleration, yaw angular velocity magnitude of motion can not be met, resulting in loss of the ideal state of motion of the vehicle, including drift steering, skidding when cornering, cornering roll rollovers and other dangerous situations.

[0057] S140, a steady state based on the vehicle running state control of the vehicle.

[0058] Specifically, when the vehicle is in the steady state is unstable when the vehicle traveling state, with the target time period based on the calculated deviation parameter needs stability and road boundary parameters of vehicle stability of the vehicle.

[0059] Steady state when the vehicle is traveling when the vehicle is in a steady state, control strategy based on a vehicle traveling vehicle is currently traveling.

[0060] Wherein the vehicle travels the travel path including a deviation of a deviation, the yaw rate deviation, sideslip angle deviation.

[0061] Specifically, the deviation calculated by the vehicle running stability control parameters to control the stiffness parameter determination according to the vehicle stability control to maintain a stable driving state of the target time period required for the additional yaw torque or suspension. Controlled by the intelligent chassis control system based on the additional yaw moment or stiffness of the suspension control, to control the vehicle in a stable driving state is maintained. For example, increasing the yaw moment of the vehicle to ensure the ability to achieve the desired steering differential driven by advancing braking info /, can be reduced in advance by the partial vehicle speed of the vehicle to ensure steady circumferential speed capability, it can also be pre-active suspension / stabilizer bar anti-roll control ensures the ability to achieve the desired vehicle, but in the case of multi reduce vehicle stability requirements needed to take the initiative to improve their ability to vehicle stability, prevent the vehicle from entering the unstable ensure follow the desired trajectory while traveling driving state to ensure driving stability and safety of the vehicle.

[0062] The present invention determines the target time period based on the target vehicle stability parameter demand periods vehicle travel state; road stability determining a target time period based on the current road state boundary parameters; determining a target demand parameter based on parameters of the vehicle and a road boundary stability Stability period of vehicle stable state; controlling the vehicle running state of the vehicle based on the steady state. By the stability of the road vehicle stability boundary parameters and demand parameters compares the target vehicle stability condition determined period of time, adjusting a control on the traveling state of the vehicle according to the vehicle stability condition. This embodiment will predict in advance and active control through the use of intelligent sensing information and automatic driving-related information such as the vehicle driving stability, to solve the traditional vehicle stability control and other control schemes passive control may result in dangerous consequences of insufficient or overkill the problem, to prevent the emergence of unstable state of the vehicle, ensure that the vehicle is always in a safe driving condition.

[0063] Example 2

[0064] figure 2 A vehicle stability control is a flowchart of a method according to a second embodiment of the present invention; the present embodiment is applicable to a case where the intelligent active vehicle stability control, the present embodiment further optimizes vehicle stability control method, such as figure 2 Shown, optimized vehicle stability control method, including the steps of:

[0065] S210, determining a target time period based on the map information on the vehicle running state or the road vehicle sensing information or autopilot planned trajectory and the current vehicle running state information; wherein, the traveling state of the vehicle including a vehicle travel path and the vehicle running speed.

[0066] Specifically, the map information, road-vehicle sensor information, the autopilot planned trajectory information to determine the target time period the vehicle is traveling path and vehicle speed. Mainly refers to the vehicle travel path curvature certain period of time the size of the path of the vehicle to be adopted.

[0067] Wherein the map information refers to a series of information around the vehicle current location of roads, buildings, road signs and road requirements. The map information may be acquired by a built-in map-vehicle terminal application, the application may be obtained by a third party terminal communicates with a vehicle terminal connected to the third-party terminal includes but is not limited to mobile phones, tablet computers, portable wearable devices.

[0068] Among them, the road-vehicle sensor can be onboard camera, laser radar. Car road-vehicle sensor information refers to information acquired by the road sensor.

[0069] Preferably, the autopilot planned trajectory information is a vehicle according to conventional autopilot system origin, the destination and the route information selected by the user out of the track of the vehicle planning information.

[0070] Alternatively, the target vehicle speed may be predicted time period according to a current vehicle running state. Determined by the map information or road-vehicle sensor information or autopilot planned trajectory information of the target period of vehicle travel path, the vehicle travel path is the size of the curvature of the path of the vehicle to be adopted. Based on the current traveling state of the vehicle, according to the size of the curved path of the vehicle to be adopted, the prediction target vehicle speed period.

[0071] S220, the vehicle travel path based on the target time period and a target period of time to determine the target vehicle speed demand period vehicle stability parameter.

[0072] Wherein the vehicle stability parameter may be a demand for lateral forces, lateral acceleration, yaw rate, any one or more of the sideslip angle.

[0073] Specifically, the stability demand parameter is lateral acceleration of the vehicle, for example, calculate the vehicle stability demand parameters by the equation (3):

[0074]

[0075] Wherein, v is the period of the target vehicle running speed, R is the bending radius of the target period in the vehicle travel path, a is y It is the target time period the vehicle to meet their own needs to ensure the safe passage of the lateral acceleration of the vehicle.

[0076] S230, the road friction coefficient based on the determined target road stability period boundary parameters.

[0077] Wherein the road friction coefficient according to the vehicle may be a camera sensor information, the current information determined tire slip. Stability of the road boundary parameters available lateral force, lateral acceleration, yaw rate, side slip angle and the like is described, including, but not limited thereto.

[0078] Specifically, the stability of the road to the boundary parameter is a lateral acceleration, for example, stability margin is calculated road parameters by the equation (4):

[0079] a y * = Μg (4)

[0080] Wherein, μ is the friction coefficient of the current road, g is the gravitational acceleration, a y * Is the target time period in normal driving conditions, the maximum stable lateral acceleration of the road has to offer. Incidentally, a period of time, the road coefficient of friction is constant. That is also the goal of the current road friction coefficient of road friction coefficient period.

[0081] S240, the target vehicle steady state period of time is determined based on the needs of the road parameters and the stability boundary of the vehicle stability parameter.

[0082] Specifically, according to the vehicle stability requirements and size parameters road stability boundary parameters are compared, when the vehicle stability parameter is less than or equal to the needs of the road when the stability boundary parameters, the target time period in a steady running state of the vehicle; when when the vehicle stability parameter is greater than the demand for road stability boundary parameters, in a certain period of time the vehicle unstable running state.

[0083] Specifically, demand stability parameters and boundary road vehicle stability parameter is lateral acceleration example for comparison:

[0084] 1) When a y≤ a y * When the target time period the vehicle is in running state;

[0085] 2) When a y> a y * When the target time period the vehicle is unstable driving state.

[0086] S250, if the vehicle is in the steady state is unstable vehicle driving state, the vehicle is determined with the target time period deviation.

[0087]Wherein the vehicle travels the travel path including a deviation of a deviation, the yaw rate deviation, sideslip angle deviation, including, but not limited thereto.

[0088] Specifically, the deviation calculated by the demand parameters and road stability boundary parameters corresponding to the vehicle stability parameter. Demand parameters and the stability boundary parameters road vehicle yaw rate stability, for example, stability requirements are determined yaw rate and road stability boundary yaw rate, the difference between the two calculated values.

[0089] S260, the control stability of the vehicle travel parameter calculation based on the deviation.

[0090] Wherein, if the vehicle stability control parameter refers to a stable state is unstable in the vehicle travel state of the vehicle back to the control parameter values ​​required for steady state running.

[0091] Specifically, the deviation is calculated based on the vehicle running control of the vehicle back to a predetermined force applied thereto required travel path. For example, the deviation of the vehicle travel path can be adjusted by applying a steering force to control the vehicle.

[0092] S270, parameter determination based on the vehicle stability control to maintain the required additional lateral stability in the traveling state of the target yaw moment or period of suspension stiffness control.

[0093] Wherein the additional yaw moment will be appreciated that the torque required to turn the vehicle is unstable when turning. Stiffness suspension control will be appreciated that to ensure a smooth stiffness of the vehicle suspension system to be controlled by the time zone easily instability.

[0094] S280, the intelligent chassis control system is controlled based on the additional yaw moment or stiffness of the suspension control, to control the vehicle in a stable driving state is maintained.

[0095] Specifically, the target time period is determined when the vehicle is in the running state unstable, the stability of the vehicle based on the road parameters and demand parameters calculated stability boundary can be predicted (with a deviation of the vehicle path errors occurring during running ahead in the future, cross- yaw rate deviation, sideslip angle deviation, etc.), stability control is then calculated based on the deviation amount predicted in advance, by a plurality of vehicle systems for the active control in advance, the control mode can be selected engine, brakes, steering, suspension, active stabilizer, etc. one or more of the system, while increasing the predetermined desired vehicle yaw moment of the vehicle to help improve the ability to maintain a stable steering neutral steering state, on the other hand increase the speed of the vehicle is reduced in advance part of the anti-skid capability ensures that the vehicle steady state can be maintained with a circumferential, furthermore controls the suspension system previously increased stiffness roll resistance of the vehicle to ensure that the vehicle is easy to smooth by the instability region.

[0096] Vehicle stability control method according to a second embodiment of the present invention, further optimization of the vehicle stability control method, comparison of demand parameters and the stability of the road vehicle stability boundary parameters obtained to determine the steady state of the vehicle is calculated based on the deviation of the two parameters determining a vehicle stability control parameters required to maintain an additional cross-running state in the target yaw moment or period of suspension stiffness control. Controlled by the intelligent chassis control system based on the additional yaw torque or stiffness suspension control, to control the vehicle in a stable driving state is maintained. Case by correcting the vehicle stability control early, but more than reducing vehicle stability requirements needed to take the initiative to improve the stability of borders and the ability to travel the road stability of the vehicle itself, prevent the vehicle from entering the unstable state, to ensure that vehicles from the source It has been in the safe driving condition, at the same time enable the vehicle to stabilize following the operation input information autopilot planning information out of the running track or driver of the vehicle.

[0097] Example three

[0098] image 3 It is a block schematic diagram of a vehicle stability control apparatus according to a third embodiment of the present invention. Embodiment of the present invention provides a vehicle stability control apparatus, comprising:

[0099] Demand parameter determination module 310 for determining the period of the target time period based on the target vehicle traveling state of the vehicle stability parameter requirements;

[0100] Boundary parameter determination module 320 for determining the target road stability period based on the current state of the road boundary parameters;

[0101] The steady state determination module 330 for determining the target time period based on the parameters and needs of the road vehicle stability parameter of the stability boundary of the vehicle stable state;

[0102] The control module 340, for controlling the running state of the vehicle based on the vehicle stable state.

[0103] A vehicle stability control apparatus according to a third embodiment of the present invention, the vehicle stability determination module determines a target period by the demand parameter demand parameter; stability determining module determines the target time period road boundary parameters by boundary parameters; steady state by parameter determination module for a vehicle stability requirements and road boundary parameters determining stability of a vehicle stability condition based on the target time period; by the control module controls the vehicle based on the vehicle running state steady state. By the stability of the road vehicle stability boundary parameters and demand parameters compares the target vehicle stability condition determined period of time, adjusting a control on the traveling state of the vehicle according to the vehicle stability condition. Overkill problem of insufficient control or other dangerous consequences to solve the traditional vehicle stability control schemes may be caused by passive control, to prevent the emergence of unstable state of the vehicle, ensure that the vehicle is always in a safe driving condition.

[0104] Further, the apparatus further comprising: a vehicle running state determining means for determining the target time period prior to a vehicle stability parameter based on the needs of the target period in the vehicle running state, based on the map information, or road vehicle sensing information or autopilot planned trajectory information, and determines a target vehicle is currently traveling state of the vehicle running state time period; wherein the traveling state of the vehicle includes a vehicle travel path and the vehicle running speed.

[0105] Further, the demand parameter determination module 310 is specifically a target period and a target period of the vehicle travel path to determine the target vehicle speed of the vehicle based on the period of stability demand parameters.

[0106] Further, the particular boundary parameter determination module 320 determines based on the road friction coefficient stability period target road boundary parameters.

[0107] Further, the steady state determination module 330 comprises:

[0108] Running state determining means for, if the vehicle stability parameter is less than or equal to the needs of the road stability boundary parameters, the target vehicle determined period of time in a stable traveling state;

[0109] Unstable driving state determination unit, for stability boundary parameters if said vehicle stability parameter is greater than the needs of the road, the target vehicle determined period of time in unstable driving state.

[0110] Further, the control module 340 comprises:

[0111] With the deviation determining means for, if the vehicle is in the steady state is unstable vehicle driving state, the vehicle is determined with the target time period deviation.

[0112] Parameter calculating means for calculating a bias based on the vehicle running stability control parameters.

[0113] A control unit for controlling the running state of the vehicle based on the stability of the control parameter.

[0114] Further, the control unit comprising:

[0115] Requirements determination sub-unit, for determining the vehicle to maintain the desired additional cross-running state in the target yaw moment or period of time based on the stiffness of the suspension control stability control parameters.

[0116] State control sub-unit, for intelligent chassis control systems based on the additional yaw torque control or suspension control rigidity, to control the vehicle in a stable driving state is maintained.

[0117] Vehicle stability control device according to the embodiment of the present invention to provide a vehicle stability control may perform the method provided in any embodiment of the present invention includes a method of performing the respective function module and benefits.