Control method, apparatus and system for active stabilizer bar of vehicle, and electronic device and vehicle

Abstract

A control method, control apparatus and control system for an active stabilizer bar of a vehicle, and an electronic device, a vehicle and a computer-readable storage medium. The control method for an active stabilizer bar of a vehicle comprises: acquiring a sensor signal and a vehicle CAN signal of a vehicle; on the basis of the acquired sensor signal and vehicle CAN signal of the vehicle, estimating vehicle kinematic-state parameters, so as to obtain physical parameters that reflect a vehicle kinematic state; on the basis of the physical parameters that reflect the vehicle kinematic state, performing anti-roll moment decision-making, so as to obtain a desired anti-roll moment for the vehicle in the current state; and on the basis of the desired anti-roll moment for the vehicle in the current state, generating a torque control instruction corresponding to an active stabilizer bar configured for the vehicle, such that the active stabilizer bar outputs, on the basis of the torque control instruction, a reverse torque for preventing the vehicle from rolling. The requirement for anti-roll control of an active stabilizer bar can be met, thereby improving the vehicle operation stability and safety.

Description

Vehicle active stabilizer control method, device and system, electronic device, and vehicle TECHNICAL FIELD

[0001] The present application belongs to the field of automobile suspension system control, and particularly relates to a vehicle active stabilizer control method, a control device, a control system, an electronic device, a vehicle, and a computer readable storage medium. BACKGROUND

[0002] At present, with the continuous improvement of the demand for passenger car driving quality, active stabilizer technology is a new automobile chassis technology in recent years, and the assembly rate is getting higher and higher. The active stabilizer mainly has two types of hydraulic type based on electromagnetic valve combined with hydraulic assistance and motor type based on permanent magnet synchronous motor combined with planetary gear set deceleration mechanism. Compared with the traditional stabilizer, the active stabilizer of the two principle structures can apply continuous adjustable torque to the left and right wheels of the vehicle, which is equivalent to completely separating or completely restraining the two sides of the vehicle. By using this characteristic, in the curve and uneven road, combined with the vehicle signal input, the active stabilizer can provide a positive response torque in the roll direction of the vehicle, effectively offsetting the roll torque, and improving the vehicle experience in terms of handling, stability, comfort and the like.

[0003] However, with the iterative update of the mechanical structure of the active stabilizer in recent years, the height and speed of the vehicle are continuously increasing, and the function that can be realized by the active stabilizer applied to the vehicle is relatively single, and the active stabilizer cannot be accurately controlled according to the individualized function of the vehicle. SUMMARY

[0004] In view of the above defects or deficiencies of the prior art, the present application discloses a vehicle active stabilizer control method, a control device, an electronic device, a vehicle and a computer readable storage medium, which are used to solve the problems that the function that can be realized by the active stabilizer applied to the vehicle is relatively single, and the active stabilizer cannot be accurately controlled according to the individualized function of the vehicle in the prior art.

[0005] In a first aspect, the present application discloses a vehicle active stabilizer control method, comprising the following steps:

[0006] Obtaining a sensor signal of the vehicle and a vehicle CAN signal;

[0007] Based on the obtained sensor signal of the vehicle and the vehicle CAN signal, performing vehicle kinematics state parameter estimation to obtain physical parameters reflecting the vehicle dynamics state;

[0008] Based on the physical parameters reflecting the vehicle dynamics state, performing anti-roll torque decision to obtain an expected anti-roll torque under the current state of the vehicle; and

[0009] generate a torque control instruction corresponding to an active stabilizer bar of the vehicle configuration based on a desired roll prevention torque under a current state of the vehicle.

[0010] In an implementation form of the first aspect, the vehicle-configuration sensor comprises a vehicle body gyroscope sensor arranged at a vehicle body floor, a coordinate system of the gyroscope sensor being consistent with a vehicle body coordinate system; the obtaining the sensor signals of the vehicle comprises: obtaining sensor signals of the vehicle body gyroscope sensor, the sensor signals comprising one or more of a longitudinal acceleration, a lateral acceleration, a vertical acceleration, a roll angular velocity of the vehicle body, a pitch angular velocity, and a yaw angular velocity; the estimating the vehicle-kinematics state parameters based on the obtained sensor signals of the vehicle comprises: filtering and integrating the obtained sensor signals of the vehicle body gyroscope sensor to obtain a roll angular velocity and a roll angle reflecting a roll state of the vehicle body.

[0011] In an implementation form of the first aspect, the vehicle-configuration sensor comprises three vehicle body vertical acceleration sensors, the three vehicle body vertical acceleration sensors being arranged at an upper support point of a left front damper, an upper support point of a right front damper, and an upper support point of a left rear damper, respectively; the obtaining the sensor signals of the vehicle comprises: obtaining vertical accelerations of the vehicle body left front, the vehicle body right front, and the vehicle body left rear respectively detected by the three vehicle body vertical acceleration sensors; the estimating the vehicle-kinematics state parameters based on the obtained sensor signals of the vehicle comprises: filtering and integrating the obtained vertical accelerations of the vehicle body left front, the vehicle body right front, and the vehicle body left rear to obtain vehicle body vertical velocities of the vehicle body left front, the vehicle body right front, and the vehicle body left rear, respectively, and further to obtain a vehicle body mass center vertical velocity, a roll angular velocity, and a pitch angular velocity.

[0012] In an implementation form of the first aspect, the vehicle-configuration sensor comprises three vehicle body vertical acceleration sensors, the three vehicle body vertical acceleration sensors being arranged at an upper support point of a left front damper, an upper support point of a right front damper, and an upper support point of a right rear damper, respectively; the obtaining the sensor signals of the vehicle comprises: obtaining vertical accelerations of the vehicle body left front, the vehicle body right front, and the vehicle body right rear respectively detected by the three vehicle body vertical acceleration sensors; the estimating the vehicle-kinematics state parameters based on the obtained sensor signals of the vehicle comprises: filtering and integrating the obtained vertical accelerations of the vehicle body left front, the vehicle body right front, and the vehicle body right rear to obtain vehicle body vertical velocities of the vehicle body left front, the vehicle body right front, and the vehicle body right rear, respectively, and further to obtain a vehicle body mass center vertical velocity, a roll angular velocity, and a pitch angular velocity.

[0013] In an implementation form of the first aspect, the vehicle configured sensors comprise four vehicle body vertical acceleration sensors respectively arranged at an upper support point of a front left shock absorber, an upper support point of a front right shock absorber, an upper support point of a rear left shock absorber, and an upper support point of a rear right shock absorber; the obtaining the sensor signals of the vehicle comprises: obtaining vertical accelerations of the vehicle body respectively detected by the four vehicle body vertical acceleration sensors; the estimating the vehicle kinematic state parameters based on the obtained sensor signals of the vehicle to obtain the physical parameters reflecting the vehicle dynamics state comprises: performing signal filtering and integration processing on the obtained vertical accelerations of the vehicle body to obtain vehicle body vertical velocities of the vehicle body left front, the vehicle body right front, the vehicle body left rear, and the vehicle body right rear respectively, and further obtaining a vehicle body mass center vertical velocity, a roll angular velocity, and a pitch angular velocity.

[0014] In an implementation form of the first aspect, the obtaining the vehicle CAN signals comprises: obtaining a vehicle speed and a lateral acceleration.

[0015] In an implementation form of the first aspect, the making the roll prevention torque decision based on the physical parameters reflecting the vehicle dynamics state to obtain the expected roll prevention torque under the current state of the vehicle comprises:

[0016] calculating a first torque based on the physical parameters reflecting the vehicle dynamics state according to a torque formula;

[0017] The torque formula is:

[0018] wherein, the first torque is represented by I x the roll moment of inertia is represented by I the roll angular acceleration is represented by m s the vehicle body mass is represented by m s the distance from the mass center to the roll axis is represented by h y the lateral acceleration is represented by a the roll damping coefficient is represented by c the roll angular velocity is represented by φ the roll stiffness coefficient is represented by k the roll angle is represented by θ

[0019] a second torque is obtained based on the vehicle speed and the lateral acceleration and

[0020] the expected roll prevention torque under the current state of the vehicle is obtained based on the obtained first torque I and the second torque .

[0021] In an implementation form of the first aspect, the generating the torque control instructions corresponding to the active stabilizer bar configured for the vehicle based on the desired roll-stabilizing moment under the current state of the vehicle comprises:

[0022] obtaining a front active stabilizer actuator torque and a rear active stabilizer actuator torque based on the desired roll-stabilizing moment under the current state of the vehicle and the front and rear axle torque distribution; and

[0023] generating a front active stabilizer actuator torque control instruction reflecting a control input quantity of the front active stabilizer actuator based on the obtained front active stabilizer actuator torque, and generating a rear active stabilizer actuator torque control instruction reflecting a control input quantity of the rear active stabilizer actuator based on the obtained rear active stabilizer actuator torque.

[0024] The application discloses in the second aspect a kind of control device of vehicle active stabilizer bar, implement as described above the control method of vehicle active stabilizer bar, the control device of the vehicle active stabilizer bar includes:

[0025] information acquisition module, for obtaining the sensor signal and the whole vehicle CAN signal of vehicle;

[0026] state estimation module, for based on the sensor signal and the whole vehicle CAN signal of vehicle obtained, whole vehicle kinematics state parameter estimation is carried out, obtains the physical parameter reflecting whole vehicle dynamics state;

[0027] torque decision module, for based on the physical parameter reflecting whole vehicle dynamics state, carries out roll-stabilizing moment decision, obtains the desired roll-stabilizing moment under the current state of the vehicle;And

[0028] execution control module, for based on the desired roll-stabilizing moment under the current state of the vehicle, generates the torque control instruction corresponding to the active stabilizer bar configured for the vehicle.

[0029] The application discloses in the third aspect a kind of control system of vehicle active stabilizer bar, it is characterized in that, include: front active stabilizer assembly;Front active stabilizer actuator;Rear active stabilizer assembly;Rear active stabilizer actuator;Vehicle sensor, for detecting vehicle to obtain reaction sensor signal of vehicle state;Active stabilizer bar controller, with the front active stabilizer actuator, rear active stabilizer actuator, vehicle sensor, and CAN bus communication connection, the active stabilizer bar controller is configured to can execute as described above the control method of vehicle active stabilizer bar.

[0030] The electronic device disclosed in the fourth aspect of the present application comprises a memory for storing at least one computer program, and a processor connected to the memory and used for executing the at least one computer program to implement the control method of the active stabilizer bar of the vehicle as described above.

[0031] The vehicle disclosed in the fifth aspect of the present application comprises a vehicle body, a power system mounted on the vehicle body and used for driving the vehicle to travel, and the control system of the active stabilizer bar of the vehicle as described above or the electronic device as described above.

[0032] The computer readable storage medium disclosed in the sixth aspect of the present application stores at least one computer program, and the computer program is executed by a processor to implement the control method of the active stabilizer bar of the vehicle as described above.

[0033] As described above, the control method of the active stabilizer bar of the vehicle, the control device, the control system, the electronic device, the vehicle and the computer readable storage medium disclosed in the present application can obtain the current vehicle dynamics state by obtaining the sensor signals and the vehicle CAN signals of the vehicle and performing the vehicle kinematics state parameter estimation, and then perform the anti-roll torque decision to obtain the expected anti-roll torque under the current state of the vehicle and generate the torque control instruction corresponding to the active stabilizer bar configured for the vehicle, so that the active stabilizer bar outputs the reverse torque for preventing the vehicle from rolling according to the torque control instruction, which can meet the demand of the active stabilizer bar anti-roll control and improve the handling stability and safety of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0034] FIG. 1 shows an application schematic diagram of the control system of the active stabilizer bar of the vehicle in an embodiment of the present application.

[0035] FIG. 2 shows a flow schematic diagram of the control method of the active stabilizer bar of the vehicle in an embodiment of the present application.

[0036] FIG. 3 shows a schematic diagram of the sensors configured for the vehicle including the vehicle body gyroscope sensor in an embodiment.

[0037] FIG. 4 shows a schematic diagram of the sensors configured for the vehicle including three vehicle body vertical acceleration sensors in an embodiment.

[0038] FIG. 5 shows a structural block diagram of the control device of the active stabilizer bar of the vehicle in an embodiment of the present application.

[0039] FIG. 6 shows an application schematic diagram of the control system of the active stabilizer bar of the vehicle in another embodiment of the present application.

[0040] FIG. 7 shows a structural schematic diagram of the electronic device disclosed in the present application in an embodiment. DETAILED DESCRIPTION

[0041] The above objects, advantages and other features of the present application are explained in more detail in the following description in conjunction with the accompanying drawings in which:

[0042] It should be noted that the above-mentioned drawings provided in the following embodiments are only schematic and are not drawn to scale. They are provided merely to illustrate the basic principles of the application, the actual implementation can be varied depending on the specific implementation requirements. The drawings in the various embodiments disclosed herein are intended to be illustrative, and not restrictive, of the scope of the application.

[0043] In the following description, numerous specific details are discussed in order to provide a thorough understanding of the embodiments of the present application. However, those skilled in the relevant arts will recognize that the embodiments of the present application can be practiced without these specific details. In other instances, well-known structures and devices are not described in detail in order to avoid obscuring the embodiments of the present application.

[0044] The terms "first", "second", and the like, as used in the description and the claims of the present disclosure and the foregoing drawings, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of the terms so

[0045] Unless otherwise defined, the term "plurality" means two or more. In the present disclosure, the character " / " means a "or" relationship between the front and rear objects. For example, A / B means: A or B. The term "and / or" is a description of the relationship between the objects, which means that there can be three relationships. For example, A and / or B means: A or B, or, A and B, the three relationships.

[0046] Referring to FIG. 1, FIG. 1 shows a schematic diagram of the application of the control system of the vehicle active stabilizer bar in an embodiment. As shown in FIG. 1, the control system of the vehicle active stabilizer bar includes a front active stabilizer bar assembly 11, a front active stabilizer bar actuator 13, a rear active stabilizer bar assembly 15, a rear active stabilizer bar actuator 17, a vehicle sensor (not shown in the drawing), and an active stabilizer bar controller 19.

[0047] The front active stabilizer bar assembly 11 can include a front active stabilizer bar and a front active stabilizer bar motor assembly. In some embodiments, the front active stabilizer bar can be further divided into a front active stabilizer bar left half and a front active stabilizer bar right half.

[0048] The front active stabilizer bar actuator 13 receives torque control instructions from the active stabilizer bar controller 19 and, after calculation, controls the front active stabilizer bar assembly 11 to generate corresponding roll-prevention torques.

[0049] The rear active stabilizer bar assembly 15 can include a rear active stabilizer bar and a rear active stabilizer bar motor assembly. In some embodiments, the rear active stabilizer bar can be further divided into a rear active stabilizer bar left half and a rear active stabilizer bar right half.

[0050] The rear active stabilizer bar actuator 17 receives torque control instructions from the active stabilizer bar controller 19 and, after calculation, controls the rear active stabilizer bar assembly 15 to generate corresponding roll-prevention torques.

[0051] The vehicle sensors are used to detect the vehicle to obtain sensor signals reflecting the state of the vehicle.

[0052] The active stabilizer bar controller 19 is in communication connection with the front active stabilizer bar actuator 13, the rear active stabilizer bar actuator 17, the vehicle sensors, and the CAN bus, and the active stabilizer bar controller 19 is configured to be able to perform the control method of the vehicle active stabilizer bar.

[0053] Referring to FIG. 2, FIG. 2 shows a flowchart of the control method of the vehicle active stabilizer bar in an embodiment.

[0054] As shown in FIG. 2, the control method of the vehicle active stabilizer bar includes the following steps:

[0055] Step S11, obtaining sensor signals of the vehicle and vehicle CAN signals.

[0056] Generally, the vehicle is configured with different numbers or different types of sensors for detecting the vehicle to obtain sensor signals reflecting the state of the vehicle.

[0057] According to the types and numbers of sensors, different sensor implementation schemes can be used to detect the vehicle and obtain sensor signals reflecting the state of the vehicle.

[0058] In some embodiments, the vehicle-arranged sensors include a vehicle body gyro sensor, which can be one or more. With reference to FIG. 3, a schematic diagram of a vehicle-arranged sensor including a vehicle body gyro sensor in an embodiment is shown. As shown in FIG. 3, the vehicle is arranged with a vehicle body gyro sensor V1, which can be arranged at the vehicle body floor and fixedly connected with the vehicle body floor. In FIG. 3, a vehicle body coordinate system can be established, in which the front-rear direction of the vehicle body is set as the X-axis of the vehicle body coordinate system and the left-right direction of the vehicle body is set as the Y-axis of the vehicle body coordinate system. In this case, the coordinate system of the vehicle body gyro sensor V1 can be set to be consistent with the vehicle body coordinate system, i.e., the x-axis of the coordinate system of the vehicle body gyro sensor V1 is parallel to the X-axis of the vehicle coordinate system, and the y-axis of the coordinate system of the vehicle body gyro sensor V1 is parallel to the Y-axis of the vehicle coordinate system. The vehicle body gyro sensor can be used to detect various state information of the arrangement point, which can represent various states of the vehicle body, such as longitudinal acceleration a x , lateral acceleration a y , vertical acceleration a z , roll angular velocity ω x , pitch angular velocity ω y , yaw angular velocity ω z , etc. Therefore, in step S11, the sensing signal of the vehicle body gyro sensor can be obtained, which includes one or more of the longitudinal acceleration a x , lateral acceleration a y , vertical acceleration a z , roll angular velocity ω x , pitch angular velocity ω y , yaw angular velocity ω z .

[0059] In some embodiments, the vehicle-arranged sensors can include three vehicle body vertical acceleration sensors. With reference to FIG. 4, a schematic diagram of a vehicle-arranged sensor including three vehicle body vertical acceleration sensors in an embodiment is shown. As shown in FIG. 4, the vehicle is arranged with three vehicle body vertical acceleration sensors S1, S2, and S3, in which one vehicle body vertical acceleration sensor S1 is arranged at the upper support point of the front left shock absorber for detecting the vertical acceleration a z,f1 of the front left of the vehicle body, one vehicle body vertical acceleration sensor S2 is arranged at the upper support point of the front right shock absorber for detecting the vertical acceleration a z,fr of the front right of the vehicle body, and one vehicle body vertical acceleration sensor S3 is arranged at the upper support point of the rear left shock absorber for detecting the vertical acceleration a z,rl. Thus, in step S11, the vertical accelerations a z,fl , a z,fr , and a z,rl of the left front, right front, and left rear of the vehicle body, respectively, detected by the three vehicle body vertical acceleration sensors are acquired.

[0060] In some embodiments, the sensors of the vehicle configuration can include three vehicle body vertical acceleration sensors, one of which is arranged at the upper support point of the left front shock absorber to detect the vertical acceleration a z,fl of the left front of the vehicle body, one of which is arranged at the upper support point of the right front shock absorber to detect the vertical acceleration a z，fr of the right front of the vehicle body, and one of which is arranged at the upper support point of the right rear shock absorber to detect the vertical acceleration a z，rr of the right rear of the vehicle body. Thus, in step S11, the vertical accelerations a z,fl , a z,fr , and a z，rr of the left front, right front, and right rear of the vehicle body, respectively, detected by the three vehicle body vertical acceleration sensors are acquired.

[0061] In some embodiments, the sensors of the vehicle configuration can include four vehicle body vertical acceleration sensors, one of which is arranged at the upper support point of the left front shock absorber to detect the vertical acceleration a z,fl of the left front of the vehicle body, one of which is arranged at the upper support point of the right front shock absorber to detect the vertical acceleration a z，fr of the right front of the vehicle body, one of which is arranged at the upper support point of the left rear shock absorber to detect the vertical acceleration a z,rl of the left rear of the vehicle body, and one of which is arranged at the upper support point of the right rear shock absorber to detect the vertical acceleration a z，rr of the right rear of the vehicle body. Thus, in step S11, the vertical accelerations a z,fl , a z,fr , a z,rl , and a z，rr of the left front, right front, left rear, and right rear of the vehicle body, respectively, detected by the four vehicle body vertical acceleration sensors are acquired.

[0062] In addition, in step S11, the vehicle CAN signal of the vehicle is also acquired.

[0063] In some embodiments, the vehicle CAN signal of the vehicle can include the vehicle speed v x and the lateral acceleration a yBut not limited to, in some embodiments, the vehicle CAN signal of the whole vehicle includes vehicle speed v x , lateral acceleration a y , steering wheel angle δ, steering wheel angle speed , etc.

[0064] Step S13, based on the obtained sensor signals of the vehicle and the whole vehicle CAN signal, the whole vehicle kinematics state parameter estimation is carried out, and the physical parameters reflecting the whole vehicle dynamics state are obtained.

[0065] In step S13, the sensor signals of the vehicle and the whole vehicle CAN signal read in step S11 are further processed and analyzed.

[0066] In some embodiments, as shown in FIG. 3, the vehicle is configured with a body gyroscope sensor arranged at the body floor, and the whole vehicle kinematics state parameter estimation based on the obtained sensor signals of the vehicle includes: filtering and integrating the sensing signals of the obtained body gyroscope sensor to obtain the roll angular velocity and the roll angle , wherein the roll angle is obtained by filtering and integrating the roll angular velocity .

[0067] In some embodiments, as shown in FIG. 4, the vehicle is configured with three body vertical acceleration sensors, which are respectively arranged at the upper support points of the left front shock absorber, the right front shock absorber, and the left rear shock absorber.

[0068] The whole vehicle kinematics state parameter estimation based on the obtained sensor signals of the vehicle includes:

[0069] First, the obtained vertical acceleration of the corresponding body left front, body right front, and body left rear is filtered and integrated to obtain the body vertical velocity of the body left front, body right front, and body left rear, i.e., the obtained vertical acceleration a z,fl of the corresponding body left front is filtered and integrated to obtain the body vertical velocity v z,fl of the body left front, the obtained vertical acceleration a z,fr of the corresponding body right front is filtered and integrated to obtain the body vertical velocity v z,fr of the body right front, and the obtained vertical acceleration a z,rl of the corresponding body left rear is filtered and integrated to obtain the body vertical velocity v z，rl of the body left rear.

[0070] Then, based on the obtained vehicle body left front vertical velocity v z，fl , vehicle body right front vertical velocity v z,fr , and vehicle body left rear vertical velocity v z，rl , the vehicle body mass center vertical velocity v z,0 , roll angle velocity , and pitch angle velocity are calculated according to the following formula (1):

[0071] wherein X fl , X fr , and X rl respectively represent the longitudinal distances from the three vehicle body vertical acceleration sensors to the vehicle mass center, Y fl , Y fr , and Y rl respectively represent the lateral distances from the three vehicle body vertical acceleration sensors to the vehicle mass center, roll angle is obtained by filtering and integrating the roll angle velocity .

[0072] In some embodiments, the vehicle configured sensors include three vehicle body vertical acceleration sensors respectively arranged at the upper support points of the left front shock absorber, the right front shock absorber, and the right rear shock absorber. The vehicle kinematics state parameter estimation based on the obtained vehicle sensor signals to obtain physical parameters reflecting the vehicle dynamics state includes: signal filtering and integrating the obtained vertical accelerations of the vehicle body left front, the vehicle body right front, and the vehicle body right rear to obtain the vehicle body vertical velocities of the vehicle body left front, the vehicle body right front, and the vehicle body right rear respectively, and further obtain the vehicle body mass center vertical velocity, the roll angle velocity, and the pitch angle velocity. The specific operation can refer to the calculation method of the three vehicle body vertical acceleration sensors of the vehicle body left front, the vehicle body right front, and the vehicle body left rear in the previous embodiment, which will not be repeated here.

[0073] Similarly, in some embodiments, the vehicle configured sensors include four body vertical acceleration sensors respectively located at the upper support point of the left front shock absorber, the upper support point of the right front shock absorber, the upper support point of the left rear shock absorber, and the upper support point of the right rear shock absorber. The vehicle kinematics state parameter estimation based on the obtained vehicle sensor signals to obtain physical parameters reflecting the vehicle dynamics state, including: performing signal filtering and integral processing on the obtained vertical accelerations of the body left front, the body right front, the body left rear, and the body right rear to obtain the body vertical velocities of the body left front, the body right front, the body left rear, and the body right rear, respectively, and further obtain the body mass center vertical velocity, the roll angular velocity, and the pitch angular velocity.

[0074] Step S15, based on the physical parameters reflecting the vehicle dynamics state, anti-roll torque decision is performed to obtain the expected anti-roll torque under the current state of the vehicle.

[0075] In some embodiments, step S15 can further include:

[0076] First, based on the physical parameters reflecting the vehicle dynamics state, a first torque is calculated according to a torque formula That is:

[0077] Wherein, The first torque is represented by I x The roll moment of inertia is represented by I The roll angular acceleration is represented by m s The vehicle mass is represented by m s The distance from the mass center to the roll axis is represented by h y The lateral acceleration is represented by a The roll damping coefficient is represented by c The roll angular velocity is represented by φ The roll stiffness coefficient is represented by k The roll angle is represented by θ

[0078] Then, considering the actual running state of the vehicle, a second torque is obtained based on the vehicle speed and the lateral acceleration In some embodiments, the vehicle speed and the lateral acceleration obtain the second torque The second torque can be realized by table lookup, that is:

[0079] After that, the first torque And the second torque The expected anti-roll torque under the current state of the vehicle is obtained. In some embodiments, the expected anti-roll torque under the current state of the vehicle is the first torque and the second moment is the larger one, i.e.

[0080] Step S17, based on the expected anti-roll moment under the current state of the vehicle, a torque control instruction corresponding to the active stabilizer bar configured for the vehicle is generated.

[0081] In some embodiments, step S17 can further include the following sub-steps:

[0082] Firstly, based on the expected anti-roll moment under the current state of the vehicle and the front-rear axle torque distribution, the torque allocated to the front active stabilizer bar actuator and the torque allocated to the rear active stabilizer bar actuator are obtained.

[0083] Then, based on the obtained torque allocated to the front active stabilizer bar actuator, a front active stabilizer bar actuator torque control instruction reflecting the control input quantity of the front active stabilizer bar actuator is generated; based on the obtained torque allocated to the rear active stabilizer bar actuator, a rear active stabilizer bar actuator torque control instruction reflecting the control input quantity of the rear active stabilizer bar actuator is generated.

[0084] The above-mentioned various sub-steps are described in detail as follows.

[0085] The expected anti-roll moment obtained in step S15 carried by the front active stabilizer bar and the rear active stabilizer bar, the expected anti-roll moment carried by the front active stabilizer bar actuator and the rear active stabilizer bar actuator are respectively:

[0086] wherein, is the carrying torque of the front active stabilizer bar actuator; is the carrying torque of the rear active stabilizer bar actuator, and ε is the front-rear axle torque distribution coefficient.

[0087] The carrying torque of the front active stabilizer bar actuator obtained according to formula (5) is the torque allocated to the front active stabilizer bar actuator:

[0088] wherein, M actuato_f is the front active stabilizer bar actuator torque, M actuator_max_f is the maximum value of the front active stabilizer bar actuator torque, a f is the length of the front active stabilizer bar, b f is the length of the front active stabilizer bar force arm, i f is the speed ratio of the front active stabilizer bar actuator; η f is the transmission efficiency of the front active stabilizer bar actuator.

[0089] Based on the obtained moment M allocated to the front active stabilizer bar actuator actuato_f , the control input quantity of the front active stabilizer bar actuator is obtained through the inverse characteristic of the external characteristic of the front active stabilizer bar actuator, and a corresponding front active stabilizer bar actuator torque control instruction is generated.

[0090] Similarly, the bearing moment M of the rear active stabilizer bar actuator obtained according to formula (6) The moment allocated to the rear active stabilizer bar actuator is:

[0091] Wherein, M actuato_r is the rear active stabilizer bar actuator torque, M actuator_max_r is the maximum value of the rear active stabilizer bar actuator torque; a r is the rear active stabilizer bar length; b r is the rear active stabilizer bar force arm length; i r is the rear active stabilizer bar actuator speed ratio; η r is the rear stabilizer bar actuator transmission efficiency.

[0092] Based on the obtained moment M allocated to the rear active stabilizer bar actuator actuato_r , the control input quantity of the rear active stabilizer bar actuator is obtained through the inverse characteristic of the external characteristic of the rear active stabilizer bar actuator, and a corresponding rear active stabilizer bar actuator torque control instruction is generated.

[0093] Subsequently, the front active stabilizer bar actuator controls the front active stabilizer bar to output a corresponding anti-rollover torque according to the front active stabilizer bar actuator torque control instruction, and the rear active stabilizer bar actuator controls the rear active stabilizer bar to output a corresponding anti-rollover torque according to the rear active stabilizer bar actuator torque control instruction, so as to realize active anti-rollover control of the vehicle and enhance the vehicle handling stability.

[0094] As can be seen from the above, the control method of the vehicle active stabilizer bar disclosed in the present application can obtain the current vehicle dynamics state of the vehicle by acquiring the sensor signals and vehicle CAN signals of the vehicle and performing vehicle kinematics state parameter estimation, and then perform anti-rollover torque decision to obtain the expected anti-rollover torque under the current state of the vehicle and generate a torque control instruction corresponding to the active stabilizer bar configured for the vehicle, so that the active stabilizer bar outputs a reverse torque to prevent vehicle rollover according to the torque control instruction, which can meet the demand of active stabilizer bar anti-rollover control and improve the vehicle handling stability and safety.

[0095] The present application further discloses a control device of a vehicle active stabilizer bar.

[0096] Please refer to Fig. 5, which shows a structural block diagram of the control device of the vehicle active stabilizer bar in an embodiment of the present application. As shown in Fig. 5, the vehicle control device 2 comprises an information acquisition module 21, a state estimation module 23, a torque decision module 25, and an execution control module 27.

[0097] The information acquisition module 21 is configured to acquire sensor signals and vehicle CAN signals of the vehicle.

[0098] The state estimation module 23 is configured to estimate kinematic state parameters of the vehicle based on the acquired sensor signals and vehicle CAN signals of the vehicle, to obtain physical parameters reflecting the dynamics state of the vehicle.

[0099] The torque decision module 25 is configured to decide anti-roll torque based on the physical parameters reflecting the dynamics state of the vehicle, to obtain the expected anti-roll torque under the current state of the vehicle.

[0100] The execution control module 27 is configured to generate torque control instructions corresponding to the active stabilizer bar configured for the vehicle based on the expected anti-roll torque under the current state of the vehicle.

[0101] The control device of the vehicle active stabilizer bar can realize the control method of the vehicle active stabilizer bar as described above.

[0102] It should be noted that the control device of the vehicle active stabilizer bar disclosed in the above embodiments and the control method of the vehicle active stabilizer bar disclosed in the above embodiments belong to the same concept, and the specific manner in which each module and unit performs operations has been described in detail in the method embodiments, which will not be described here. The control device of the vehicle active stabilizer bar disclosed in the above embodiments can be applied in actual application, and the above functions can be completed by different functional modules according to needs, i.e., the internal structure of the system is divided into different functional modules to complete all or part of the above described functions, and this is not limited herein.

[0103] Based on the above embodiments, the present application discloses a control system of a vehicle active stabilizer bar, which comprises a front active stabilizer bar assembly, a front active stabilizer bar actuator, a rear active stabilizer bar assembly, a rear active stabilizer bar actuator, a vehicle sensor, and an active stabilizer bar controller. Fig. 1 is an application schematic diagram of the control system of the vehicle active stabilizer bar in an embodiment of the present application.

[0104] In addition, referring to FIG. 6, a schematic diagram of the application of the control system of the vehicle active stabilizer bar in another embodiment is shown. As shown in FIG. 6, the control system of the vehicle active stabilizer bar includes the front active stabilizer bar assembly 11, the front active stabilizer bar actuator 13, the rear active stabilizer bar assembly 15, the rear active stabilizer bar actuator 17, the vehicle sensor 18, and the active stabilizer bar controller 19. The specific structure and operation of the front active stabilizer bar assembly 11, the front active stabilizer bar actuator 13, the rear active stabilizer bar assembly 15, the rear active stabilizer bar actuator 17, the vehicle sensor 18, and the active stabilizer bar controller 19 have been described above, and thus will not be repeated here.

[0105] The application also discloses an electronic device. Referring to FIG. 7, a schematic diagram of the structure of the electronic device in an embodiment is shown. As shown in FIG. 7, the electronic device 4 includes a processor 41, a memory 43, and a computer program 45 stored in the memory 43 and capable of running on the processor 41. The processor 41 implements the steps in the above-mentioned embodiments of the control method of the vehicle active stabilizer bar when executing the computer program 45.

[0106] The processor 41 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0107] The memory 43 can be an internal storage unit of the electronic device 4, such as a hard disk or a memory of the electronic device 4. The memory 43 can also be an external storage device of the electronic device 4, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 43 can include both the internal storage unit and the external storage device of the electronic device 4. The memory 43 is used to store computer programs and other programs and data required by the electronic device. The memory 43 can also be used to temporarily store data that has been output or will be output.

[0108] The computer program 45 can be divided into one or more modules / units, which can be a series of computer program instruction segments capable of completing a specific function, and the instruction segments are used to describe the execution process of the computer program 45 in the electronic device 4.

[0109] In addition to the above structure, those skilled in the art can understand that FIG. 9 is only an example of the electronic device 4 and does not constitute a limitation on the electronic device 4, and the electronic device 4 can include more or fewer components than the diagram, or combine certain components, or different components, for example, the electronic device can also include an input / output device, a network access device, a bus, etc.

[0110] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or software. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the unit and module in the above system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0111] Based on the above embodiments, the present application further discloses a vehicle, comprising: a vehicle body; a power system carried on the vehicle body and used to drive the vehicle to travel; and the control system of the vehicle active stabilizer bar or the electronic device as described above.

[0112] Based on the above embodiments, the present application further discloses a computer readable storage medium having at least one computer program stored thereon, and the computer program is executed by a processor to realize the vehicle control method in the foregoing embodiments.

[0113] Those skilled in the art can understand that all or part of the steps in the method of implementing the above-mentioned embodiments can be instructed by a processor through a program, and the program can be stored in a computer-readable storage medium, which is a non-transitory medium, such as random access memory, read-only memory, flash memory, hard disk, solid state disk, magnetic tape, floppy disk, optical disc, and any combination thereof. The storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available medium can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, digital video disc (DVD)), or a semiconductor medium (for example, solid state disk (SSD)), etc.

[0114] The description of the corresponding flow or structure of each of the above figures has its own emphasis, and the parts not described in detail in a certain flow or structure can be referred to the related description of other flows or structures.

[0115] The above embodiments are only illustrative of the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical idea of the present application should be covered by the claims of the present application.

Claims

1. A control method of a vehicle active stabilizer bar, characterized by, The method comprises the following steps: obtaining sensor signals and vehicle CAN signals of a vehicle; based on the obtained sensor signals and vehicle CAN signals of the vehicle, performing vehicle kinematics state parameter estimation to obtain physical parameters reflecting the vehicle dynamics state; based on the physical parameters reflecting the vehicle dynamics state, performing anti-roll torque decision to obtain an expected anti-roll torque under the current state of the vehicle; and based on the expected anti-roll torque under the current state of the vehicle, generating a torque control instruction corresponding to the active stabilizer bar configured for the vehicle. The sensors configured for the vehicle include a vehicle body gyroscope sensor arranged at a vehicle body floor, and the coordinate system of the gyroscope sensor is consistent with the vehicle body coordinate system; the obtaining of the sensor signals of the vehicle includes obtaining sensor signals of the vehicle body gyroscope sensor, and the sensor signals include one or more of longitudinal acceleration, lateral acceleration, vertical acceleration, roll angular velocity, pitch angular velocity and yaw angular velocity of the vehicle body; the vehicle kinematics state parameter estimation based on the obtained sensor signals of the vehicle includes filtering and integrating the obtained sensor signals of the vehicle body gyroscope sensor to obtain roll angular velocity and roll angle reflecting the roll state of the vehicle body.

2. The control method of a vehicle active stabilizer bar according to claim 1, characterized by, The sensors configured for the vehicle include three vehicle body vertical acceleration sensors arranged at the upper support points of the left front shock absorber, the right front shock absorber and the left rear shock absorber respectively; the obtaining of the sensor signals of the vehicle includes obtaining the vertical accelerations of the left front, right front and left rear of the vehicle body respectively detected by the three vehicle body vertical acceleration sensors; the vehicle kinematics state parameter estimation based on the obtained sensor signals of the vehicle includes signal filtering and integration processing of the obtained vertical accelerations of the left front, right front and left rear of the vehicle body to obtain the vertical velocities of the left front, right front and left rear of the vehicle body respectively, and further obtain the vertical velocity of the vehicle body mass center, the roll angular velocity and the pitch angular velocity.

3. The control method of a vehicle active stabilizer bar according to claim 1, characterized by, The sensors configured for the vehicle include three vehicle body vertical acceleration sensors arranged at the upper support points of the left front shock absorber, the right front shock absorber and the right rear shock absorber respectively; the obtaining of the sensor signals of the vehicle includes obtaining the vertical accelerations of the left front, right front and right rear of the vehicle body respectively detected by the three vehicle body vertical acceleration sensors; the vehicle kinematics state parameter estimation based on the obtained sensor signals of the vehicle includes signal filtering and integration processing of the obtained vertical accelerations of the left front, right front and right rear of the vehicle body to obtain the vertical velocities of the left front, right front and right rear of the vehicle body respectively, and further obtain the vertical velocity of the vehicle body mass center, the roll angular velocity and the pitch angular velocity.

4. The control method of a vehicle active stabilizer bar according to claim 1, characterized by, ​ 5. The control method of the vehicle active stabilizer bar according to claim 1, characterized by, The vehicle configured sensor includes four vehicle body vertical acceleration sensors respectively arranged at upper support points of left front shock absorber, right front shock absorber, left rear shock absorber and right rear shock absorber; The sensor signal of the vehicle includes: the vertical acceleration of the corresponding vehicle body left front, right front, left rear and right rear detected by the four vehicle body vertical acceleration sensors respectively; the vehicle kinematics state parameter estimation based on the obtained sensor signal of the vehicle includes: signal filtering and integral processing of the obtained vertical acceleration of the corresponding vehicle body left front, right front, left rear and right rear to obtain the vehicle body vertical velocity of the vehicle body left front, right front, left rear and right rear respectively, and further obtain the vehicle body mass center vertical velocity, roll angular velocity and pitch angular velocity.

6. The control method of a vehicle active stabilizer bar according to claim 2, 3, 4 or 5, characterized by, The vehicle CAN signal includes: vehicle speed and lateral acceleration.

7. The control method of a vehicle active stabilizer bar according to claim 6, characterized by, The anti-roll torque decision based on the physical parameters reflecting the vehicle dynamics state includes: The first torque is calculated according to the torque formula based on the physical parameters reflecting the vehicle dynamics state; The moment formula is: wherein denotes the first moment of inertia, I x denotes the roll moment of inertia, represents roll angle acceleration, m s represents vehicle body mass, h s represents distance of center of mass to roll axis, a y represents lateral acceleration, represents a roll damping coefficient, represents a roll angle velocity, represents a roll stiffness coefficient, The roll angle is represented by g, and the gravity acceleration is represented by g; Based on the vehicle speed and the lateral acceleration, a second torque is obtained And based on the first moment and the second moment of force The expected anti-roll torque under the current state of the vehicle is obtained.

8. The control method of a vehicle active stabilizer bar according to claim 1 or 7, characterized by, The torque control instruction corresponding to the active stabilizer bar of the vehicle is generated based on the expected anti-roll torque under the current state of the vehicle, including: The torque allocated to the front active stabilizer bar actuator and the torque allocated to the rear active stabilizer bar actuator are obtained based on the expected anti-roll torque under the current state of the vehicle and the front and rear axle torque distribution; and The front active stabilizer bar actuator torque control instruction reflecting the control input quantity of the front active stabilizer bar actuator is generated based on the torque allocated to the front active stabilizer bar actuator, and the rear active stabilizer bar actuator torque control instruction reflecting the control input quantity of the rear active stabilizer bar actuator is generated based on the torque allocated to the rear active stabilizer bar actuator.

9. A control device of a vehicle active stabilizer bar that implements the control method of the vehicle active stabilizer bar according to any one of claims 1 to 8, characterized by The control device of the vehicle active stabilizer bar includes: An information acquisition module for acquiring the sensor signal and the vehicle CAN signal of the vehicle; A state estimation module for estimating the vehicle kinematics state parameters based on the acquired sensor signal and vehicle CAN signal of the vehicle to obtain the physical parameters reflecting the vehicle dynamics state; A torque decision module for making anti-roll torque decision based on the physical parameters reflecting the vehicle dynamics state to obtain the expected anti-roll torque under the current state of the vehicle; and An execution control module for generating the torque control instruction corresponding to the active stabilizer bar of the vehicle based on the expected anti-roll torque under the current state of the vehicle.

10. A control system for a vehicle active stabilizer bar, characterized by, It includes: A front active stabilizer bar assembly; A front active stabilizer bar actuator; A rear active stabilizer bar assembly; A rear active stabilizer bar actuator; A vehicle sensor for detecting the vehicle to obtain a sensor signal reflecting the state of the vehicle; and ​ An active stabilizer bar controller, in communication with the front active stabilizer bar actuator, the rear active stabilizer bar actuator, the vehicle sensors, and the CAN bus, the active stabilizer bar controller configured to perform the method of controlling an active stabilizer bar of a vehicle of any one of claims 1-8.

11. An electronic device, comprising: Comprising: a memory for storing at least one computer program; and a processor connected to the memory for executing the at least one computer program to implement the method of controlling an active stabilizer bar of a vehicle of any one of claims 1-8.

12. A vehicle characterized by comprising: Comprising: a vehicle body; a power system mounted on the vehicle body for driving the vehicle to travel; and the control system of claim 10 or the electronic device of claim 11.

13. A computer-readable storage medium, characterized in that, At least one computer program is stored, and the computer program is executed by a processor to implement the method of controlling an active stabilizer bar of a vehicle of any one of claims 1-8.

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