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Method for controlling yaw stability of semi-trailer

A stability control and stability technology, which is applied to control devices, vehicle components, and driver input parameters, etc., can solve problems such as vehicle yaw instability and unbalanced yaw moment, and reduce the degree of complex coupling of the system. Clear structure and logical relationship, easy to expand the effect

Active Publication Date: 2021-09-17
JILIN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because the vertical load of the left and right tires changes when the vehicle turns, due to the difference in the characteristics of each suspension, the load transfer of the left and right wheels of each axle is not the same, and the lateral force received will also change greatly, resulting in yaw The moment is unbalanced, and the vehicle yaws and becomes unstable

Method used

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  • Method for controlling yaw stability of semi-trailer
  • Method for controlling yaw stability of semi-trailer
  • Method for controlling yaw stability of semi-trailer

Examples

Experimental program
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Embodiment Construction

[0036]The driver conveys the driver's intention by turning the steering wheel or pressing the accelerator / brake pedal; folding angle sensor, wheel speed sensor, yaw rate sensor, roll rate sensor, lateral acceleration sensor, steering wheel angle sensor, air spring pressure sensor, The throttle opening sensor and the brake chamber pressure sensor respectively measure the vehicle's folding angle, wheel speed, yaw rate, roll rate, lateral acceleration, steering wheel angle, vertical load, engine operating conditions and brake gas chamber pressure and transmit the data signal to the electronic control unit (ECU).

[0037] A method for controlling the yaw stability of a semi-trailer provided by the invention comprises the following control steps:

[0038] Step 1. The electronic control unit judges whether the yaw stability control intervention of the semi-trailer is involved according to the working conditions of the vehicle: firstly, it is judged whether the vehicle has rolled ove...

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Abstract

The invention provides a method for controlling the yaw stability of a semi-trailer, which comprises the following steps: taking signals collected by sensors as system input, estimating a road adhesion coefficient by using lateral acceleration, calculating an ideal yaw velocity by using the lateral acceleration, a steering angle of a steering wheel, a wheel speed and the estimated road adhesion coefficient. The difference value between the actual vehicle yaw velocity measured by the yaw velocity sensor and the ideal yaw velocity is compared with the preset threshold value to serve as the basis for yaw stability control, and the control system can adapt to different road surfaces, so that the control instruction of the control system is more accurate, and the stability control effect is better. The output torque of an engine is reduced, active braking joint intervention is implemented in combination with yaw stability control intervention schemes under different working conditions, and accurate control over the yaw stability of the semi-trailer is achieved.

Description

technical field [0001] The invention relates to the field of yaw stability control of commercial vehicles, in particular to a method for controlling yaw stability of semi-trailer vehicles. Background technique [0002] The semi-trailer is connected by the combination of the tractor and the semi-trailer through the saddle, and the tractor plays the role of traction and bearing part of the load of the semi-trailer. In recent years, due to the continuous improvement of transportation efficiency and driving speed, traffic accidents caused by semi-trailers have also increased frequently. Among them, the yaw instability of the semi-trailer is also one of the main causes of traffic accidents. The yaw instability of the semi-trailer is due to the nonlinear characteristics of the tire, which makes the lateral force of the tire easier to achieve under braking conditions, driving conditions, large side slip angle conditions and excessive axle load transfer conditions. Road adhesion l...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W30/04B60W40/064B60W40/112B60W10/06B60W10/18B60W50/00
CPCB60W30/04B60W40/064B60W40/112B60W10/06B60W10/18B60W50/00B60W2030/043B60W2520/125B60W2520/28B60W2540/18B60W2710/0666B60W2710/182B60W2050/0031
Inventor 初亮杨明卓王引航刘鹏李世博
Owner JILIN UNIV
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