Vehicle handling stability control method, system, vehicle and storage medium

Abstract

The present invention discloses a method, system, vehicle, and storage medium for controlling vehicle handling stability. The method includes: a signal acquisition module for acquiring a lateral acceleration control state signal S1, a roll motion state signal S2, bus signals Z1 and Z2, a front axle wheel center roll angle S7, a rear axle wheel center roll angle S8, and a bus signal Z3; a controller for calculating a front stabilizer bar lateral acceleration control torque target S3 and a rear stabilizer bar lateral acceleration control torque target S4 based on S1 and Z1; a controller for calculating a front stabilizer bar roll control torque target S5 and a rear stabilizer bar roll control torque target S6 based on S2 and Z2; and a controller for calculating a front stabilizer bar anti-roll torque target S10 and a rear stabilizer bar anti-roll torque target S11 based on S3, S4, S5, S6, S7, S8, and Z3. The present invention improves vehicle handling stability during driving.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle driving performance control, and specifically to a method, system, vehicle and storage medium for controlling vehicle handling stability. Background Art

[0002] As vehicle dynamics increase, high-speed driving scenarios will gradually increase, placing greater demands on the vehicle's high-speed handling stability. Active stabilizer bars proactively apply calculated anti-roll torque to the vehicle, enabling control of roll motion at any moment. Based on the needs of different scenarios, vehicle response to load, tire forces, and sprung mass motion can be optimized, enhancing vehicle handling stability, optimizing the user experience, and improving driving safety.

[0003] Currently, existing technologies related to active stabilizers primarily optimize specific performance characteristics such as comfort or handling, or develop control strategies for a limited number of combinations of driver input and road conditions. There is no description of a continuous composite control method for active stabilizers. For example, patent application CN115366599A discloses a comprehensive vehicle control method and system based on an active stabilizer. This method divides the driver's operating intention into three conditions: steady state, cornering, and exiting a corner, and classifies road roughness into flat and uneven. This method combines nine operating conditions: straight flat road, straight uneven road, flat road with a gentle bend, uneven road with a gentle bend, exiting a sharp corner flat road, entering a sharp corner flat road, exiting a sharp corner uneven road, entering a sharp corner uneven road, and steady corner center. Based on the operating condition, the control algorithm outputs for stability, comfort, agility, or passability are assigned preset fixed weights, and the active stabilizer output torque is compositely calculated. However, in actual vehicle driving, the combination of steering and road conditions is complex and random. Dividing real-world scenarios into a limited number of operating conditions may risk misidentifying the operating condition and mismatching the driver's expectations. Moreover, the use of preset fixed weights for compounding will inevitably lead to a sudden change in the vehicle's response characteristics, affecting the driver's subjective feelings and judgment of the vehicle's status, and reducing driving safety.

[0004] Therefore, it is necessary to develop a control method, system, vehicle and storage medium for vehicle handling stability. Summary of the Invention

[0005] The object of the present invention is to provide a method, system, vehicle and storage medium for controlling vehicle handling stability, which can improve the handling stability of the vehicle during driving.

[0006] In a first aspect, a vehicle handling stability control system according to the present invention comprises:

[0007] A signal acquisition module is used to obtain a lateral acceleration control state signal S1, a roll motion state signal S2, a bus signal Z1, a bus signal Z2, a front axle wheel center roll angle S7, a rear axle wheel center roll angle S8, and a bus signal Z3;

[0008] a controller connected to the signal acquisition module, the controller calculating a front stabilizer bar lateral acceleration control torque target S3 and a rear stabilizer bar lateral acceleration control torque target S4 based on the lateral acceleration control state signal S1 and the bus signal Z1; calculating a front stabilizer bar roll control torque target S5 and a rear stabilizer bar roll control torque target S6 based on the roll motion state signal S2 and the bus signal Z2; calculating a front stabilizer bar anti-roll torque target S10 and a rear stabilizer bar anti-roll torque target S11 based on the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, the rear stabilizer bar roll control torque target S6, the front axle wheel center roll angle S7, the rear axle wheel center roll angle S8, and the bus signal Z3; and outputting a stabilizer bar torque command based on the front stabilizer bar anti-roll torque target S10 and the rear stabilizer bar anti-roll torque target S11;

[0009] The bus signal Z1 includes at least one of a vehicle speed signal S9 and a sprung mass lateral acceleration measurement signal S21;

[0010] The bus signal Z2 includes at least one of a vehicle speed signal S9, a steering wheel angle signal S12, a driving mode signal S13, a sprung mass yaw angular velocity measurement signal S14, a left front suspension travel signal S15, a right front suspension travel signal S16, a left rear suspension travel signal S17, a right rear suspension travel signal S18, a road roll angle S19, a sprung mass roll angular velocity measurement signal S20, a sprung mass lateral acceleration measurement signal S21, a vehicle stabilizer bar anti-roll torque feedback signal S22, and a vehicle anti-roll torque feedback signal S23.

[0011] The bus signal Z3 includes a vehicle speed signal S9 .

[0012] Optionally, the controller includes a first judgment module, a second judgment module, a lateral acceleration control module, a first lateral acceleration control value assignment module, and a second lateral acceleration control value assignment module; the first judgment module is connected to the first lateral acceleration control value assignment module and the second lateral acceleration control value assignment module respectively, the first lateral acceleration control value assignment module and the second lateral acceleration control value assignment module are respectively connected to the second judgment module, and the second judgment module is connected to the lateral acceleration control module; the first judgment module and the lateral acceleration control module are also respectively connected to the signal acquisition module;

[0013] The first judgment module makes a judgment based on the lateral acceleration control state signal S1. When the value of the lateral acceleration control state signal S1 is state code I, the first lateral acceleration control assignment module is executed, and the lateral acceleration control module is activated through the second judgment module. When the value of the lateral acceleration control state signal S1 is state code II, the second lateral acceleration control assignment module is executed, and the lateral acceleration control module is activated through the second judgment module. The lateral acceleration control module performs calculations based on the bus signal Z1 to generate a front stabilizer bar lateral acceleration control torque target S3 and a rear stabilizer bar lateral acceleration control torque target S4.

[0014] Optionally, the controller further includes a third judgment module, a fourth judgment module, a roll motion control module, a first roll motion value assignment module, a second roll motion value assignment module, and a third roll motion value assignment module; the third judgment module is connected to the first roll motion value assignment module, the second roll motion value assignment module, and the third roll motion value assignment module, respectively; the first roll motion value assignment module, the second roll motion value assignment module, and the third roll motion value assignment module are respectively connected to the fourth judgment module, and the fourth judgment module is connected to the roll motion control module; the third judgment module and the roll motion control module are also respectively connected to the signal acquisition module;

[0015] The third judgment module makes a judgment based on the roll motion state signal S2. When the value of the roll motion state signal S2 is state code III, the first roll motion assignment module is executed, and the roll motion control module is activated through the fourth judgment module. When the value of the roll motion state signal S2 is state code IV, the second roll motion control assignment module is executed, and the roll motion control module is activated through the fourth judgment module. When the value of the roll motion state signal S2 is state code V, the third roll motion control assignment module is executed, and the roll motion control module is activated through the fourth judgment module. The roll motion control module calculates based on the bus signal Z2 to generate a front stabilizer bar roll control torque target S5 and a rear stabilizer bar roll control torque target S6, and transmits them to the torque command synthesis module.

[0016] Optionally, a torque command synthesis module is further included, and the torque command synthesis module is connected to the lateral acceleration control module, the roll motion control module and the signal acquisition module respectively;

[0017] The torque command synthesis module calculates based on the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, the rear stabilizer bar roll control torque target S6, the front axle wheel center roll angle S7, the rear axle wheel center roll angle S8, and the vehicle speed signal S9 to generate a front stabilizer bar anti-roll torque target S10 and a rear stabilizer bar anti-roll torque target S11.

[0018] Optionally, the lateral acceleration control module includes a lateral acceleration prediction module, a lateral acceleration compensation module, a lateral acceleration damping module, a vehicle speed correction module, a first vehicle anti-roll torque distribution module and a lateral acceleration control target torque calculation module; the lateral acceleration prediction module is respectively connected to the lateral acceleration compensation module and the lateral acceleration damping module; the lateral acceleration compensation module, the lateral acceleration damping module, the vehicle speed correction module and the first vehicle anti-roll torque distribution module are respectively connected to the lateral acceleration control target torque calculation module; the lateral acceleration prediction module, the vehicle speed correction module and the first vehicle anti-roll torque distribution module are respectively connected to the signal acquisition module;

[0019] The lateral acceleration prediction module calculates based on the sprung mass lateral acceleration measurement signal S21 and the time length to generate a lateral acceleration prediction value S31-1;

[0020] The lateral acceleration compensation module performs calculations based on the lateral acceleration prediction value S31-1 and generates a compensation command S32-1;

[0021] The lateral acceleration damping module performs calculations based on the lateral acceleration prediction value S31-1 and generates a damping command S33-1;

[0022] The vehicle speed correction module performs calculations based on the vehicle speed signal S9 to generate a correction coefficient S34-1;

[0023] The first vehicle anti-roll torque distribution module calculates based on the vehicle speed signal S9 to generate a distribution coefficient S35-1;

[0024] The lateral acceleration control target torque calculation module calculates based on the compensation command S32-1, the damping command S33-1, the correction coefficient S34-1 and the distribution coefficient S35-1 to generate the front stabilizer bar lateral acceleration control torque target S3 and the rear stabilizer bar lateral acceleration control torque target S4.

[0025] Optionally, the lateral acceleration control target torque calculation module includes a first adder, a first multiplier, a second multiplier and a first subtractor;

[0026] The first adder is connected to the lateral acceleration compensation module and the lateral acceleration damping module respectively;

[0027] The first multiplier is connected to the first adder and the vehicle speed correction module respectively;

[0028] The second multiplier is connected to the first multiplier and the first vehicle anti-roll torque distribution module respectively;

[0029] The first multiplier and the second multiplier are respectively connected to the first subtractor;

[0030] The first adder adds the compensation command S32-1 and the damping command S33-1;

[0031] The first multiplier multiplies the sum of the compensation command S32-1 and the damping command S33-1 by the correction coefficient S34-1 to generate a torque signal S30-1;

[0032] The second multiplier multiplies the torque signal S30-1 by the distribution coefficient S35-1 to generate the front stabilizer bar lateral acceleration control torque target S3 and transmits it to the outside of the lateral acceleration control module;

[0033] The first subtractor subtracts the front stabilizer bar lateral acceleration control torque target S3 from the torque signal S30 - 1 to generate a rear stabilizer bar lateral acceleration control torque target S4 and transmits the result to the outside of the lateral acceleration control module.

[0034] Optionally, the roll motion control module includes a target roll angle calculation module, a second vehicle anti-roll torque distribution module, a vehicle anti-roll torque calculation module and a roll control target torque calculation module; the target roll angle calculation module is respectively connected to the second vehicle anti-roll torque distribution module and the vehicle anti-roll torque calculation module; the second vehicle anti-roll torque distribution module and the vehicle anti-roll torque calculation module are respectively connected to the roll control target torque calculation module; the target roll angle calculation module, the second vehicle anti-roll torque distribution module and the vehicle anti-roll torque calculation module are respectively connected to the signal acquisition module;

[0035] The target roll angle calculation module calculates based on the steering wheel angle signal S12, the vehicle speed signal S9, and the driving mode signal S13, and generates a target roll angle S61-1;

[0036] The second vehicle anti-roll torque distribution module calculates a distribution coefficient S62-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, the driving mode signal S13, the sprung mass yaw rate measurement signal S14, the left front suspension travel signal S15, the right front suspension travel signal S16, the left rear suspension travel signal S17, and the right rear suspension travel signal S18;

[0037] The vehicle anti-roll torque calculation module generates a torque command S63-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, the road roll angle S19, the sprung mass roll angular velocity measurement signal S20, the sprung mass lateral acceleration measurement signal S21, the vehicle stabilizer bar anti-roll torque feedback signal S22, and the vehicle anti-roll torque feedback signal S23.

[0038] The roll control target torque calculation module calculates the front stabilizer bar roll control torque target S5 based on the distribution coefficient S62-1 and the torque command S63-1 and transmits it to the outside of the roll motion control module; and calculates the rear stabilizer bar roll control torque target S6 based on the torque command S63-1 and the front stabilizer bar roll control torque target S5 and transmits it to the outside of the roll motion control module.

[0039] Optionally, the roll control target torque calculation module includes a third multiplier and a second subtractor; the third multiplier is connected to the second vehicle anti-roll torque distribution module and the vehicle anti-roll torque calculation module respectively; the second subtractor is connected to the output end of the third multiplier and the vehicle anti-roll torque calculation module respectively;

[0040] The third multiplier multiplies the torque command S63-1 by the distribution coefficient S62-1 to generate the front stabilizer bar roll control torque target S5 and transmits it to the outside of the roll motion control module;

[0041] The second subtractor subtracts the front stabilizer roll control torque target S5 from the torque command S63 - 1 to generate the rear stabilizer roll control torque target S6 and transmits the result to the outside of the roll motion control module.

[0042] Optionally, the vehicle anti-roll torque calculation module includes a roll angle prediction module, a damping control module, a proportional control module, a differential control module, an integral control module, a torque signal calculation module and a deviation signal generation module;

[0043] The roll angle prediction module is connected to the deviation signal generation module, and the deviation signal generation module is connected to the proportional control module, the differential control module and the integral control module respectively;

[0044] The damping control module, proportional control module, differential control module and integral control module are respectively connected to the torque signal calculation module;

[0045] The deviation signal generating module is connected to the target roll angle calculating module and the signal acquiring module;

[0046] The roll angle prediction module is connected to the signal acquisition module;

[0047] The damping control module is connected to the signal acquisition module;

[0048] The roll angle prediction module calculates the roll angle prediction signal S631-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, the road roll angle S19, the sprung mass lateral acceleration measurement signal S21, and the vehicle anti-roll torque feedback signal S23;

[0049] The deviation signal generating module subtracts the roll angle prediction signal S631-1 from the target roll angle S61-1 to generate a deviation signal S630-1;

[0050] The damping control module generates a torque signal S632-1 based on the sprung mass roll angular velocity measurement signal S20 and the proportional coefficient IV;

[0051] The proportional control module performs calculations based on the deviation signal S630-1 and the proportional coefficient I to generate a torque signal S633-1;

[0052] The differential control module performs calculations based on the deviation signal S630-1 and the proportional coefficient II to generate a torque signal S634-1;

[0053] The integral control module performs calculations based on the deviation signal S630-1 and the proportional coefficient III to generate a torque signal S635-1;

[0054] The torque signal calculation module generates a torque signal S63-1 based on the torque signal S632-1, the torque signal S633-1, the torque signal S634-1, the torque signal S635-1, and the proportional coefficient V.

[0055] Optionally, the torque signal calculation module includes a third adder, a fourth multiplier and a fourth adder;

[0056] The third adder is connected to the damping control module, the proportional control module, the differential control module, and the integral control module respectively;

[0057] The fourth multiplier is connected to the third adder;

[0058] The fourth adder is connected to the fourth multiplier and the signal acquisition module respectively;

[0059] The third adder generates a torque signal S630-2 based on the addition of the torque signal S632-1, the torque signal S633-1, the torque signal S634-1, and the torque signal S635-1;

[0060] The fourth multiplier multiplies the torque signal S630-2 by the proportional coefficient V to obtain a torque signal S630-3;

[0061] The fourth adder adds the torque signal S630-3 and the vehicle stabilizer bar anti-roll torque feedback signal S22 to generate a torque signal S63-1 and transmits it to the outside of the vehicle anti-roll torque calculation module M6.

[0062] Optionally, the torque command synthesis module includes a first table lookup module, a second table lookup module, a first stabilizer bar torque calculation module, a second stabilizer bar torque calculation module and a torque signal generation module;

[0063] The first table lookup module and the second table lookup module are respectively connected to the torque signal generating module, and the torque signal generating module is respectively connected to the first stabilizer bar torque calculating module and the second stabilizer bar torque calculating module;

[0064] The first table lookup module, the second table lookup module, the first stabilizer bar torque calculation module, and the second stabilizer bar torque calculation module are respectively connected to the signal acquisition module;

[0065] The torque signal generating module is connected to the lateral acceleration control module and the roll motion control module respectively;

[0066] The first table lookup module generates a distribution coefficient S71-1 based on the vehicle speed signal S9;

[0067] The second table lookup module generates a distribution coefficient S73-1 based on the vehicle speed signal S9;

[0068] The torque signal generation module generates torque signals S70-5 and S70-6 based on the distribution coefficient S71-1, the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, and the distribution coefficient S73-1.

[0069] The first stabilizer bar torque calculation module calculates based on the torque signal S70-5 and the front axle wheel center roll angle S7 to generate a front stabilizer bar anti-roll torque target S10 and transmits it to the outside of the torque command synthesis module;

[0070] The second stabilizer bar torque calculation module calculates based on the torque signal S70-6 and the rear axle wheel center roll angle S8 to generate a rear stabilizer bar anti-roll torque target S11 and transmits it to the outside of the torque command synthesis module.

[0071] Optionally, the torque signal generating module includes a fifth multiplier, a sixth multiplier, a seventh multiplier, an eighth multiplier, a fifth adder and a sixth adder;

[0072] The fifth multiplier is connected to the first table lookup module and the lateral acceleration control module respectively;

[0073] The sixth multiplier is connected to the first table lookup module and the lateral acceleration control module respectively;

[0074] The seventh multiplier is connected to the second table lookup module and the roll motion control module respectively;

[0075] The eighth multiplier is connected to the second table lookup module and the roll motion control module respectively;

[0076] The fifth multiplier and the seventh multiplier are respectively connected to the fifth adder;

[0077] The sixth multiplier and the eighth multiplier are respectively connected to the sixth adder;

[0078] The fifth adder is connected to the first stabilizer bar torque calculation module;

[0079] The sixth adder is connected to the second stabilizer bar torque calculation module;

[0080] The fifth multiplier multiplies the distribution coefficient S71-1 by the front stabilizer bar lateral acceleration control torque target S3 to generate a torque signal S70-1;

[0081] The sixth multiplier multiplies the distribution coefficient S71-1 by the rear stabilizer bar lateral acceleration control torque target S4 to generate a torque signal S70-2;

[0082] The seventh multiplier multiplies the distribution coefficient S73-1 by the front stabilizer bar roll control torque target S5 to generate a torque signal S70-3;

[0083] The eighth multiplier multiplies the distribution coefficient S73-1 by the rear stabilizer bar roll control torque target S6 to generate a torque signal S70-4;

[0084] The fifth adder adds the torque signal S70 - 1 and the torque signal S70 - 3 to generate a torque signal S70 - 5 ;

[0085] The sixth adder adds the torque signal S70 - 2 and the torque signal S70 - 4 to generate a torque signal S70 - 6 .

[0086] In a second aspect, a method for controlling vehicle handling stability according to the present invention employs the vehicle handling stability control system according to the present invention, and the method comprises the following steps:

[0087] Acquire lateral acceleration control state signal S1, roll motion state signal S2, bus signal Z1, bus signal Z2, front axle wheel center roll angle S7, rear axle wheel center roll angle S8, and bus signal Z3;

[0088] Calculating a front stabilizer bar lateral acceleration control torque target S3 and a rear stabilizer bar lateral acceleration control torque target S4 based on the lateral acceleration control state signal S1 and the bus signal Z1;

[0089] Calculate the front stabilizer bar roll control torque target S5 and the rear stabilizer bar roll control torque target S6 based on the roll motion state signal S2 and the bus signal Z2;

[0090] Calculate a front stabilizer bar anti-roll torque target S10 and a rear stabilizer bar anti-roll torque target S11 based on the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, the rear stabilizer bar roll control torque target S6, the front axle wheel center roll angle S7, the rear axle wheel center roll angle S8, and the bus signal Z3;

[0091] A stabilizer bar torque command is output based on the front stabilizer bar anti-roll torque target S10 and the rear stabilizer bar anti-roll torque target S11 .

[0092] In a third aspect, a vehicle according to the present invention adopts the vehicle handling stability control system according to the present invention.

[0093] In a fourth aspect, a storage medium according to the present invention stores a computer-readable program therein, and when the computer-readable program is called, it can execute the steps of the vehicle handling stability control method according to the present invention.

[0094] The present invention has the following advantages: It is used to improve the handling stability of a vehicle while driving. The method can achieve smooth transitions in vehicle roll motion control across the full speed range under different driving conditions, thereby avoiding sudden changes in vehicle body response and improving driving experience and driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0096] Figure 1 It is a principle block diagram of this embodiment;

[0097] Figure 2 It is a schematic diagram of the controller in this embodiment;

[0098] Figure 3 is a schematic diagram of the lateral acceleration control module in this embodiment;

[0099] Figure 4 is a schematic diagram of the roll motion control module in this embodiment;

[0100] Figure 5 is a schematic diagram of the vehicle anti-roll torque calculation module in this embodiment;

[0101] Figure 6 is a schematic diagram of the torque command synthesis module in this embodiment;

[0102] Figure 7 is a principle block diagram of a vehicle including an active stabilizer bar control system in this embodiment;

[0103] in:

[0104] Figure 2 Middle: M1, first judgment module, M2, second judgment module, M3, lateral acceleration control module, M4, third judgment module, M5, fourth judgment module, M6, roll motion control module, M7, torque command synthesis module, M8, first lateral acceleration control assignment module, M9, second lateral acceleration control assignment module, M10, first roll motion assignment module, M11, second roll motion control assignment module, M12, third roll motion control assignment module;

[0105] Figure 3 Middle: M31, lateral acceleration prediction module, M32, lateral acceleration compensation module, M33, lateral acceleration damping module, M34, vehicle speed correction module, M35, first vehicle anti-roll torque distribution module, M36, lateral acceleration control target torque calculation module; M361, first adder, M362, first multiplier, M363, second multiplier, M364, first subtractor;

[0106] Figure 4 Middle: M61, target roll angle calculation module, M62, second vehicle anti-roll torque distribution module, M63, vehicle anti-roll torque calculation module, M64, roll control target torque calculation module; M641, third multiplier, M642, second subtractor;

[0107] Figure 5 Middle: M631, roll angle prediction module, M632, damping control module, M633, proportional control module, M634, differential control module, M635, integral control module, M636, torque signal calculation module, M637, deviation signal generation module; M6361, third adder, M6362, fourth multiplier, M6363, fourth adder;

[0108] Figure 6 Middle: M71, first table lookup module, M72, first stabilizer bar torque calculation module, M73, second table lookup module, M74, second stabilizer bar torque calculation module, M75, torque signal generation module; M751, fifth multiplier, M752, sixth multiplier, M753, seventh multiplier, M754, eighth multiplier, M755, fifth adder, M756, sixth adder;

[0109] Figure 7Chinese: 10. Vehicle; 11. Left side unsprung mass of front axle, 12. First suspension height sensor; 21. Right side unsprung mass of front axle, 22. Second suspension height sensor; 31. Left side unsprung mass of rear axle, 32. Third suspension height sensor; 41. Right side unsprung mass of rear axle, 42. Fourth suspension height sensor; 50. Front stabilizer bar assembly, 51. Front stabilizer bar motor assembly, 52. Front stabilizer bar actuator controller, 53. Left half of front stabilizer bar, 54. Right half of front stabilizer bar; 60. Rear stabilizer bar assembly, 61. Rear stabilizer bar motor assembly, 62. Rear stabilizer bar actuator controller, 63. Left half of rear stabilizer bar, 64. Right half of rear stabilizer bar; 70. Active stabilizer bar composite continuous control device, 71. Controller, 72. Inertial measurement unit, 73. Vehicle communication interface. DETAILED DESCRIPTION

[0110] The present invention will be described in detail below with reference to the accompanying drawings.

[0111] like Figure 1 As shown, in this embodiment, a vehicle handling stability control system includes a signal acquisition module and a controller 71, wherein the controller 71 is connected to the signal acquisition module. The signal acquisition module is used to obtain a lateral acceleration control state signal S1, a roll motion state signal S2, bus signals Z1 and Z2, a front axle wheel center roll angle S7, a rear axle wheel center roll angle S8, and a bus signal Z3. The controller 71 calculates the front stabilizer bar lateral acceleration control torque target S3 and the rear stabilizer bar lateral acceleration control torque target S4 based on the lateral acceleration control state signal S1 and the bus signal Z1; calculates the front stabilizer bar roll control torque target S5 and the rear stabilizer bar roll control torque target S6 based on the roll motion state signal S2 and the bus signal Z2; calculates the front stabilizer bar anti-roll torque target S10 and the rear stabilizer bar anti-roll torque target S11 based on the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, the rear stabilizer bar roll control torque target S6, the front axle wheel center roll angle S7, the rear axle wheel center roll angle S8, and the bus signal Z3; and outputs a stabilizer bar torque instruction based on the front stabilizer bar anti-roll torque target S10 and the rear stabilizer bar anti-roll torque target S11.

[0112] In this embodiment, the bus signal Z1 includes the vehicle speed signal S9 and the steering wheel angle signal S12. The bus signal Z2 includes the vehicle speed signal S9, the steering wheel angle signal S12, the driving mode signal S13, the sprung mass yaw rate measurement signal S14, the left front suspension travel signal S15, the right front suspension travel signal S16, the left rear suspension travel signal S17, the right rear suspension travel signal S18, the road roll angle S19, the sprung mass roll rate measurement signal S20, the sprung mass lateral acceleration measurement signal S21, the vehicle stabilizer bar anti-roll torque feedback signal S22, and the vehicle anti-roll torque feedback signal S23. The bus signal Z3 includes the vehicle speed signal S9.

[0113] like Figure 2 As shown, in this embodiment, the controller 71 includes a first judgment module M1, a second judgment module M2, a lateral acceleration control module M3, a third judgment module M4, a fourth judgment module M5, a roll motion control module M6, a torque command synthesis module M7, a first lateral acceleration control value assignment module M8, a second lateral acceleration control value assignment module M9, a first roll motion value assignment module M10, a second roll motion value assignment module M11, and a third roll motion value assignment module M12. The first judgment module M1 is connected to the first lateral acceleration control value assignment module M8 and the second lateral acceleration control value assignment module M9, respectively. The first lateral acceleration control value assignment module M8 and the second lateral acceleration control value assignment module M9 are connected to the second judgment module M2, respectively. The second judgment module M2 is connected to the lateral acceleration control module M3. The third judgment module M4 is connected to the first roll motion assignment module M10, the second roll motion control assignment module M11, and the third roll motion control assignment module M12, respectively. The first roll motion assignment module M10, the second roll motion control assignment module M11, and the third roll motion control assignment module M12 are respectively connected to the fourth judgment module M5, which is connected to the roll motion control module M6. The lateral acceleration control module M3 and the roll motion control module M6 are respectively connected to the torque command synthesis module M7. The first judgment module M1, the third judgment module M4, and the torque command synthesis module M7 are respectively connected to the signal acquisition module.

[0114] like Figure 2As shown, in this embodiment, the first judgment module M1 performs a judgment based on the lateral acceleration control state signal S1. When the value of the lateral acceleration control state signal S1 is state code I, the first lateral acceleration control assignment module M8 is executed, and the lateral acceleration control module M3 is activated through the second judgment module M2. When the value of the lateral acceleration control state signal S1 is state code II, the second lateral acceleration control assignment module M9 is executed, and the lateral acceleration control module M3 is activated through the second judgment module M2. The lateral acceleration control module M3 calculates based on the bus signal Z1 to generate the front stabilizer bar lateral acceleration control torque target S3 and the rear stabilizer bar lateral acceleration control torque target S4, and transmits them to the torque command synthesis module M7. The signals included in the bus signal Z1 are shown in Table 1.

[0115] like Figure 2 As shown, in this embodiment, the third determination module M4 performs a determination based on the roll motion state signal S2. When the roll motion state signal S2 is in state code III, the first roll motion assignment module M10 is executed, and the roll motion control module M6 is activated via the fourth determination module M5. When the roll motion state signal S2 is in state code IV, the second roll motion control assignment module M11 is executed, and the roll motion control module M6 is activated via the fourth determination module M5. When the roll motion state signal S2 is in state code V, the third roll motion control assignment module M12 is executed, and the roll motion control module M6 is activated via the fourth determination module M5. The roll motion control module M6 calculates based on the bus signal Z2 to generate the front stabilizer bar roll control torque target S5 and the rear stabilizer bar roll control torque target S6, which are then transmitted to the torque command synthesis module M7. The signals included in the bus signal Z2 are shown in Table 1.

[0116] Signal number Signal name Z1 Z2 Z3 S9 Speed ​​signal ● ● ● S12 Steering wheel angle signal ● S13 Driving mode signal ● S14 Sprung mass yaw rate measurement signal ● S15 Left front suspension travel signal ● S16 Right front suspension travel signal ● S17 Left rear suspension travel signal ● S18 Right rear suspension travel signal ● S19 Road roll angle ● S20 Sprung mass roll angular velocity measurement signal ● S21 Sprung mass lateral acceleration measurement signal ● ● S22 Vehicle stabilizer bar anti-roll torque feedback signal ● S23 Vehicle anti-roll torque feedback signal ●

[0117] Table 1

[0118] like Figure 2 As shown, in this embodiment, the torque command synthesis module M7 calculates based on the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, the rear stabilizer bar roll control torque target S6, the front axle wheel center roll angle S7, the rear axle wheel center roll angle S8, and the vehicle speed signal S9 to generate the front stabilizer bar anti-roll torque target S10 and the rear stabilizer bar anti-roll torque target S11.

[0119] like Figure 2 and Figure 3As shown, in this embodiment, the lateral acceleration control module M3 includes a lateral acceleration prediction module M31, a lateral acceleration compensation module M32, a lateral acceleration damping module M33, a vehicle speed correction module M34, a first vehicle anti-roll torque distribution module M35, and a lateral acceleration control target torque calculation module M36. The lateral acceleration prediction module M31 is connected to the lateral acceleration compensation module M32 and the lateral acceleration damping module M33 respectively; the lateral acceleration compensation module M32, the lateral acceleration damping module M33, the vehicle speed correction module M34, and the first vehicle anti-roll torque distribution module M35 are respectively connected to the lateral acceleration control target torque calculation module M36. The lateral acceleration prediction module M31, the vehicle speed correction module M34, and the first vehicle anti-roll torque distribution module M35 are respectively connected to the signal acquisition module. The lateral acceleration prediction module M31 calculates a lateral acceleration prediction value S31-1 based on the sprung mass lateral acceleration measurement signal S21 and the time length (the time length is assigned in the first lateral acceleration control assignment module M8 and the second lateral acceleration control assignment module M9; when the first lateral acceleration control assignment module M8 is executed, the time length is equal to one value; when the second lateral acceleration control assignment module M9 is executed, the time length is equal to another value) . The lateral acceleration compensation module M32 calculates a compensation command S32-1 based on the lateral acceleration prediction value S31-1. The lateral acceleration damping module M33 calculates a damping command S33-1 based on the lateral acceleration prediction value S31-1. The vehicle speed correction module M34 calculates a correction coefficient S34-1 based on the vehicle speed signal S9. The first vehicle anti-roll torque distribution module M35 calculates a distribution coefficient S35-1 based on the vehicle speed signal S9. The lateral acceleration control target torque calculation module M36 generates a front stabilizer lateral acceleration control torque target S3 and a rear stabilizer lateral acceleration control torque target S4 based on the compensation command S32-1, the damping command S33-1, the correction coefficient S34-1 and the distribution coefficient S35-1.

[0120] like Figure 3As shown, in this embodiment, the lateral acceleration control target torque calculation module M36 includes a first adder M361, a first multiplier M362, a second multiplier M363 and a first subtractor M364; the input end of the first adder M361 is respectively connected to the lateral acceleration compensation module M32 and the lateral acceleration damping module M33; the input end of the first multiplier M362 is respectively connected to the output end of the first adder M361 and the vehicle speed correction module M34; the input end of the second multiplier M363 is respectively connected to the output end of the first multiplier M362 and the first vehicle anti-roll torque distribution module M35; the output end of the first multiplier M362 and the output end of the second multiplier M363 are respectively connected to the first subtractor M364. 64; the first adder M361 adds the compensation command S32-1 and the damping command S33-1; the first multiplier M362 multiplies the sum of the compensation command S32-1 and the damping command S33-1 by the correction coefficient S34-1 to generate a torque signal S30-1; the second multiplier M363 multiplies the torque signal S30-1 by the distribution coefficient S35-1 to generate a front stabilizer bar lateral acceleration control torque target S3 and transmits it to the outside of the lateral acceleration control module M3; the first subtractor M364 subtracts the front stabilizer bar lateral acceleration control torque target S3 from the torque signal S30-1 to generate a rear stabilizer bar lateral acceleration control torque target S4 and transmits it to the outside of the lateral acceleration control module M3.

[0121] like Figure 2 and Figure 4As shown, in this embodiment, the roll motion control module M6 includes a target roll angle calculation module M61, a second vehicle anti-roll torque distribution module M62, a vehicle anti-roll torque calculation module M63, and a roll control target torque calculation module M64. The target roll angle calculation module M61 is connected to the second vehicle anti-roll torque distribution module M62 and the vehicle anti-roll torque calculation module M63, respectively. The second vehicle anti-roll torque distribution module M62 and the vehicle anti-roll torque calculation module M63 are each connected to the roll control target torque calculation module M64. The target roll angle calculation module M61, the second vehicle anti-roll torque distribution module M62, and the vehicle anti-roll torque calculation module M63 are each connected to the signal acquisition module. The target roll angle calculation module M61 calculates the target roll angle S61-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, and the driving mode signal S13. The second vehicle anti-roll torque distribution module M62 calculates the distribution coefficient S62-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, the driving mode signal S13, the sprung mass yaw rate measurement signal S14, the left front suspension travel signal S15, the right front suspension travel signal S16, the left rear suspension travel signal S17, and the right rear suspension travel signal S18. The vehicle anti-roll torque calculation module M63 calculates the torque command S63-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, the road roll angle S19, the sprung mass roll rate measurement signal S20, the sprung mass lateral acceleration measurement signal S21, the vehicle stabilizer bar anti-roll torque feedback signal S22, and the vehicle anti-roll torque feedback signal S23. The roll control target torque calculation module M64 calculates the front stabilizer bar roll control torque target S5 based on the distribution coefficient S62-1 and the torque command S63-1 and transmits it to the outside of the roll motion control module M6; and calculates the rear stabilizer bar roll control torque target S6 based on the torque command S63-1 and the front stabilizer bar roll control torque target S5 and transmits it to the outside of the roll motion control module M6.

[0122] like Figure 4 As shown, in this embodiment, the roll control target torque calculation module M64 includes a third multiplier M641 and a second subtractor M642. The input end of the third multiplier M641 is connected to the second vehicle anti-roll torque distribution module M62 and the vehicle anti-roll torque calculation module M63, respectively. The input end of the second subtractor M642 is connected to the output end of the third multiplier M641 and the vehicle anti-roll torque calculation module M63, respectively. The third multiplier M641 multiplies the torque command S63-1 by the distribution coefficient S62-1 to generate a front stabilizer roll control torque target S5 and transmits it to the outside of the roll motion control module M6. The second subtractor M642 subtracts the front stabilizer roll control torque target S5 from the torque command S63-1 to generate a rear stabilizer roll control torque target S6 and transmits it to the outside of the roll motion control module M6.

[0123] like Figure 5 As shown, in this embodiment, the vehicle anti-roll torque calculation module M63 includes a roll angle prediction module M631, a damping control module M632, a proportional control module M633, a differential control module M634, an integral control module M635, a torque signal calculation module M636, and a deviation signal generation module M637. The roll angle prediction module M631 is connected to the deviation signal generation module M637, which is in turn connected to the proportional control module M633, the differential control module M634, and the integral control module M635. The damping control module M632, the proportional control module M633, the differential control module M634, and the integral control module M635 are each connected to the torque signal calculation module M636. The deviation signal generation module M637 is connected to the target roll angle calculation module M61 and the signal acquisition module; the roll angle prediction module M631 is connected to the signal acquisition module, and the damping control module M632 is connected to the signal acquisition module. The roll angle prediction module M631 calculates the roll angle prediction signal S631-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, the road roll angle S19, the sprung mass lateral acceleration measurement signal S21, and the vehicle anti-roll torque feedback signal S23. The deviation signal generation module M637 subtracts the roll angle prediction signal S631-1 from the target roll angle S61-1 to generate a deviation signal S630-1. The damping control module M632 calculates the torque signal S632-1 based on the sprung mass roll angular velocity measurement signal S20 and proportional coefficient IV. The proportional control module M633 calculates the torque signal S633-1 based on the deviation signal S630-1 and proportional coefficient I. The differential control module M634 calculates the torque signal S634-1 based on the deviation signal S630-1 and proportional coefficient II. The integral control module M635 calculates based on the deviation signal S630-1 and the proportional coefficient III to generate a torque signal S635-1. The torque signal calculation module M636 calculates based on the torque signal S632-1, the torque signal S633-1, the torque signal S634-1, the torque signal S635-1, and the proportional coefficient V to generate a torque signal S63-1. Figure 2 As for the assignments in the first roll motion control assignment module M10, the second roll motion control assignment module M11 and the third roll motion control assignment module M12, as long as the first roll motion control assignment module M10 is executed, the proportional coefficients I to IV are equal to one set of values; when the second roll motion control assignment module M11 is executed, the proportional coefficients I to IV are equal to another set of values; when the third roll motion control assignment module M12 is executed, the proportional coefficients I to IV are equal to the third set of values.

[0124] like Figure 5 As shown, in this embodiment, the torque signal calculation module M636 includes a third adder M6361, a fourth multiplier M6362, and a fourth adder M6363. The third adder M6361 is connected to the damping control module M632, the proportional control module M633, the differential control module M634, and the integral control module M635, respectively. The fourth multiplier M6362 is connected to the third adder M6361. The fourth adder M6363 is connected to the fourth multiplier M6362 and the signal acquisition module, respectively. The third adder M6361 adds the torque signals S632-1, S633-1, S634-1, and S635-1 to generate a torque signal S630-2. The fourth multiplier M6362 multiplies the torque signal S630-2 by the proportional coefficient V to generate a torque signal S630-3. The fourth adder M6363 adds the torque signal S630-3 and the vehicle stabilizer bar anti-roll torque feedback signal S22 to generate a torque signal S63-1 and transmits it to the outside of the vehicle anti-roll torque calculation module M6.

[0125] like Figure 2 and Figure 6As shown, in this embodiment, the torque command synthesis module M7 includes a first table lookup module M71, a second table lookup module M73, a first stabilizer bar torque calculation module M72, a second stabilizer bar torque calculation module M74, and a torque signal generation module M75. The first table lookup module M71 and the second table lookup module M73 are respectively connected to the torque signal generation module M75, which is in turn respectively connected to the first stabilizer bar torque calculation module M72 and the second stabilizer bar torque calculation module M74. The first table lookup module M71, the second table lookup module M73, the first stabilizer bar torque calculation module M72, and the second stabilizer bar torque calculation module M74 are respectively connected to the signal acquisition module. The torque signal generation module M75 is respectively connected to the lateral acceleration control module M3 and the roll motion control module M6. The first table lookup module M71 generates a distribution coefficient S71-1 based on the vehicle speed signal S9. The second table lookup module M73 generates a distribution coefficient S73-1 based on the vehicle speed signal S9. The torque signal generation module M75 generates torque signals S70-5 and S70-6 based on the distribution coefficient S71-1, the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, and the distribution coefficient S73-1. The first stabilizer bar torque calculation module M72 generates a front stabilizer bar anti-roll torque target S10 based on the torque signal S70-5 and the front axle wheel center roll angle S7, and transmits it to the outside of the torque command synthesis module M7. The second stabilizer bar torque calculation module M74 generates a rear stabilizer bar anti-roll torque target S11 based on the torque signal S70-6 and the rear axle wheel center roll angle S8, and transmits it to the outside of the torque command synthesis module M7.

[0126] like Figure 6As shown, in this embodiment, the torque signal generating module M75 includes a fifth multiplier M751, a sixth multiplier M752, a seventh multiplier M753, an eighth multiplier M754, a fifth adder M755 and a sixth adder M756; the fifth multiplier M751 is connected to the first table lookup module M71 and the lateral acceleration control module M3 respectively; the sixth multiplier M752 is connected to the first table lookup module M71 and the lateral acceleration control module M3 respectively; the seventh multiplier M753 is connected to the second table lookup module M71 and the lateral acceleration control module M3 respectively; The first stabilizer bar torque calculation module M72 is connected to the first stabilizer bar torque calculation module M72, and the sixth stabilizer bar torque calculation module M74 is connected to the second stabilizer bar torque calculation module M72. The fifth multiplier M751 multiplies the front stabilizer bar lateral acceleration control torque target S3 by the distribution coefficient S71-1 to generate a torque signal S70-1. The sixth multiplier M752 multiplies the rear stabilizer bar lateral acceleration control torque target S4 by the distribution coefficient S71-1 to generate a torque signal S70-2. A seventh multiplier M753 multiplies the distribution coefficient S73-1 by the front stabilizer bar roll control torque target S5 to generate a torque signal S70-3. An eighth multiplier M754 multiplies the distribution coefficient S73-1 by the rear stabilizer bar roll control torque target S6 to generate a torque signal S70-4. A fifth adder M755 adds the torque signal S70-1 to the torque signal S70-3 to generate a torque signal S70-5. A sixth adder M756 adds the torque signal S70-2 to the torque signal S70-4 to generate a torque signal S70-6.

[0127] In this embodiment, a method for controlling vehicle handling stability adopts the vehicle handling stability control system described in this embodiment, and the method includes the following steps:

[0128] Acquire lateral acceleration control state signal S1, roll motion state signal S2, bus signal Z1, bus signal Z2, front axle wheel center roll angle S7, rear axle wheel center roll angle S8, and bus signal Z3;

[0129] Calculating a front stabilizer bar lateral acceleration control torque target S3 and a rear stabilizer bar lateral acceleration control torque target S4 based on the lateral acceleration control state signal S1 and the bus signal Z1;

[0130] Calculate the front stabilizer bar roll control torque target S5 and the rear stabilizer bar roll control torque target S6 based on the roll motion state signal S2 and the bus signal Z2;

[0131] Calculate a front stabilizer bar anti-roll torque target S10 and a rear stabilizer bar anti-roll torque target S11 based on the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, the rear stabilizer bar roll control torque target S6, the front axle wheel center roll angle S7, the rear axle wheel center roll angle S8, and the bus signal Z3;

[0132] A stabilizer bar torque command is output based on the front stabilizer bar anti-roll torque target S10 and the rear stabilizer bar anti-roll torque target S11 .

[0133] like Figure 7 As shown, in this embodiment, a vehicle adopts the vehicle handling stability control system 70 described in this embodiment. The vehicle handling stability control system 70 includes a controller 71 and a signal acquisition module. The signal acquisition module includes a vehicle communication interface 73. The vehicle communication interface 73 is used to acquire a vehicle speed signal S9, a steering wheel angle signal S12, a driving mode signal S13, and a steering wheel angle signal S12, and transmits them to the controller 71.

[0134] The signal acquisition module also includes an inertial measurement unit 72, which is used to measure the vehicle's sprung mass lateral acceleration measurement signal S21, sprung mass yaw angular velocity measurement signal S14, sprung mass roll angular velocity measurement signal S20 and other signals at each moment and transmit them to the controller 71.

[0135] In this embodiment, the left front suspension travel signal S15, the right front suspension travel signal S16, the left rear suspension travel signal S17, and the right rear suspension travel signal S18 are respectively measured by the four suspension height sensors, namely the first suspension height sensor 12, the second suspension height sensor 22, the third suspension height sensor 32, and the fourth suspension height sensor 42.

[0136] like Figure 1 As shown, in this embodiment, the vehicle 10 further includes a front stabilizer bar assembly 50 and a rear stabilizer bar assembly 60. The front stabilizer bar assembly 50 receives instructions from the controller 71 via the front stabilizer bar actuator controller 52. After calculation, the front stabilizer bar motor assembly 51 is controlled to generate a corresponding torque. The torque is converted into pressure and transmitted to the front axle left unsprung mass 11 and the front axle right unsprung mass 21 via the front stabilizer bar left half-rod 53 and the front stabilizer bar right half-rod 54. The actuator controller 52 also calculates the actual torque output by the front stabilizer bar motor assembly at each moment, generates a front stabilizer bar output torque feedback signal based on this measurement, and transmits it to the controller 71. In another embodiment, the actuator controller 52 also measures the actual rotation angle of the stabilizer bar motor assembly 51's rotor relative to its default operating position, generates a front stabilizer bar torsion angle signal based on this angle, and transmits it to the controller 71.

[0137] In this embodiment, the rear stabilizer bar assembly 60 receives commands from the controller 71 via the rear stabilizer bar actuator controller 62. After calculation, it controls the rear stabilizer bar motor assembly 61 to generate a corresponding torque. This torque is then converted into pressure and transmitted to the left and right front axle unsprung masses 11 and 21 via the rear stabilizer bar left and right half-rods 63 and 64. The actuator controller 62 also calculates the actual torque output by the rear stabilizer bar motor assembly at each moment and, based on this torque, generates a rear stabilizer bar output torque feedback signal, which is then transmitted to the controller 71. The actuator controller 62 also measures the actual rotation angle of the stabilizer bar motor assembly 61's rotor relative to its default operating position and, based on this angle, generates a rear stabilizer bar torsion angle signal, which is then transmitted to the controller 71.

[0138] In this embodiment, a storage medium stores a computer-readable program, which, when called, can execute the steps of the vehicle handling stability control method described in this embodiment.

[0139] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A vehicle handling stability control system, characterized in that: include: A signal acquisition module is used to obtain a lateral acceleration control state signal S1, a roll motion state signal S2, a bus signal Z1, a bus signal Z2, a front axle wheel center roll angle S7, a rear axle wheel center roll angle S8, and a bus signal Z3; A controller (71) is connected to the signal acquisition module. The controller (71) calculates a front stabilizer bar lateral acceleration control torque target S3 and a rear stabilizer bar lateral acceleration control torque target S4 based on the lateral acceleration control state signal S1 and the bus signal Z1; calculates a front stabilizer bar roll control torque target S5 and a rear stabilizer bar roll control torque target S6 based on the roll motion state signal S2 and the bus signal Z2; calculates a front stabilizer bar anti-roll torque target S10 and a rear stabilizer bar anti-roll torque target S11 based on the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, the rear stabilizer bar roll control torque target S6, the front axle wheel center roll angle S7, the rear axle wheel center roll angle S8, and the bus signal Z3; and outputs a stabilizer bar torque instruction based on the front stabilizer bar anti-roll torque target S10 and the rear stabilizer bar anti-roll torque target S11. The bus signal Z1 includes at least one of a vehicle speed signal S9 and a sprung mass lateral acceleration measurement signal S21; The bus signal Z2 includes at least one of a vehicle speed signal S9, a steering wheel angle signal S12, a driving mode signal S13, a sprung mass yaw angular velocity measurement signal S14, a left front suspension travel signal S15, a right front suspension travel signal S16, a left rear suspension travel signal S17, a right rear suspension travel signal S18, a road roll angle S19, a sprung mass roll angular velocity measurement signal S20, a sprung mass lateral acceleration measurement signal S21, a vehicle stabilizer bar anti-roll torque feedback signal S22, and a vehicle anti-roll torque feedback signal S23; The bus signal Z3 includes a vehicle speed signal S9; The controller (71) includes a first judgment module (M1), a second judgment module (M2), a lateral acceleration control module (M3), a first lateral acceleration control assignment module (M8), and a second lateral acceleration control assignment module (M9); The first judgment module (M1) performs judgment based on the lateral acceleration control state signal S1. When the value of the lateral acceleration control state signal S1 is state code I, the first lateral acceleration control assignment module (M8) is executed, and the lateral acceleration control module (M3) is activated through the second judgment module (M2); when the value of the lateral acceleration control state signal S1 is state code II, the second lateral acceleration control assignment module (M9) is executed, and the lateral acceleration control module (M3) is activated through the second judgment module (M2); the lateral acceleration control module (M3) performs calculation based on the bus signal Z1 to generate a front stabilizer bar lateral acceleration control torque target S3 and a rear stabilizer bar lateral acceleration control torque target S4.

2. The vehicle handling stability control system according to claim 1, characterized in that: The first judgment module (M1) is connected to the first lateral acceleration control assignment module (M8) and the second lateral acceleration control assignment module (M9) respectively; the first lateral acceleration control assignment module (M8) and the second lateral acceleration control assignment module (M9) are connected to the second judgment module (M2) respectively; the second judgment module (M2) is connected to the lateral acceleration control module (M3); the first judgment module (M1) and the lateral acceleration control module (M3) are also connected to the signal acquisition module respectively.

3. The vehicle handling stability control system according to claim 2, characterized in that: The controller (71) further includes a third judgment module (M4), a fourth judgment module (M5), a roll motion control module (M6), a first roll motion value assignment module (M10), a second roll motion control value assignment module (M11), and a third roll motion control value assignment module (M12); the third judgment module (M4) is connected to the first roll motion value assignment module (M10), the second roll motion control value assignment module (M11), and the third roll motion control value assignment module (M12), respectively; the first roll motion value assignment module (M10), the second roll motion control value assignment module (M11), and the third roll motion control value assignment module (M12) are connected to the fourth judgment module (M5), respectively; the fourth judgment module (M5) is connected to the roll motion control module (M6); the third judgment module (M4) and the roll motion control module (M6) are also connected to the signal acquisition module, respectively; The third judgment module (M4) makes a judgment based on the roll motion state signal S2. When the value of the roll motion state signal S2 is state code III, the first roll motion assignment module (M10) is executed, and the roll motion control module (M6) is activated through the fourth judgment module (M5); when the value of the roll motion state signal S2 is state code IV, the second roll motion control assignment module (M11) is executed, and the roll motion control module (M6) is activated through the fourth judgment module (M5); when the value of the roll motion state signal S2 is state code V, the third roll motion control assignment module (M12) is executed, and the roll motion control module (M6) is activated through the fourth judgment module (M5); the roll motion control module (M6) performs calculation based on the bus signal Z2, generates a front stabilizer bar roll control torque target S5 and a rear stabilizer bar roll control torque target S6, and transmits them to the torque command synthesis module (M7).

4. The vehicle handling stability control system according to claim 3, characterized in that: It also includes a torque command synthesis module (M7), which is connected to the lateral acceleration control module (M3), the roll motion control module (M6) and the signal acquisition module respectively; The torque command synthesis module (M7) generates a front stabilizer bar anti-roll torque target S10 and a rear stabilizer bar anti-roll torque target S11 by calculation based on a front stabilizer bar lateral acceleration control torque target S3, a rear stabilizer bar lateral acceleration control torque target S4, a front stabilizer bar roll control torque target S5, a rear stabilizer bar roll control torque target S6, a front axle wheel center roll angle S7, a rear axle wheel center roll angle S8, and a vehicle speed signal S9.

5. The vehicle handling stability control system according to claim 2, characterized in that: The lateral acceleration control module (M3) includes a lateral acceleration prediction module (M31), a lateral acceleration compensation module (M32), a lateral acceleration damping module (M33), a vehicle speed correction module (M34), a first vehicle anti-roll torque distribution module (M35) and a lateral acceleration control target torque calculation module (M36); the lateral acceleration prediction module (M31) is connected to the lateral acceleration compensation module (M32) and the lateral acceleration damping module (M33) respectively; the lateral acceleration compensation module (M32), the lateral acceleration damping module (M33), the vehicle speed correction module (M34) and the first vehicle anti-roll torque distribution module (M35) are connected to the lateral acceleration control target torque calculation module (M36) respectively; the lateral acceleration prediction module (M31), the vehicle speed correction module (M34) and the first vehicle anti-roll torque distribution module (M35) are connected to the signal acquisition module respectively; The lateral acceleration prediction module (M31) calculates the sprung mass lateral acceleration measurement signal S21 and the time length to generate a lateral acceleration prediction value S31-1; The lateral acceleration compensation module (M32) performs calculations based on the lateral acceleration prediction value S31-1 and generates a compensation command S32-1; The lateral acceleration damping module (M33) performs calculations based on the lateral acceleration prediction value S31-1 and generates a damping command S33-1; The vehicle speed correction module (M34) performs calculations based on the vehicle speed signal S9 to generate a correction coefficient S34-1; The first vehicle anti-roll torque distribution module (M35) performs calculation based on the vehicle speed signal S9 to generate a distribution coefficient S35-1; The lateral acceleration control target torque calculation module (M36) generates a front stabilizer bar lateral acceleration control torque target S3 and a rear stabilizer bar lateral acceleration control torque target S4 based on the compensation command S32-1, the damping command S33-1, the correction coefficient S34-1 and the distribution coefficient S35-1.

6. The vehicle handling stability control system according to claim 5, characterized in that: The lateral acceleration control target torque calculation module (M36) includes a first adder (M361), a first multiplier (M362), a second multiplier (M363) and a first subtractor (M364); The first adder (M361) is connected to the lateral acceleration compensation module (M32) and the lateral acceleration damping module (M33) respectively; The first multiplier (M362) is connected to the first adder (M361) and the vehicle speed correction module (M34) respectively; The second multiplier (M363) is connected to the first multiplier (M362) and the first vehicle anti-roll torque distribution module (M35) respectively; The first multiplier (M362) and the second multiplier (M363) are respectively connected to the first subtractor (M364); The first adder (M361) adds the compensation command S32-1 and the damping command S33-1; The first multiplier (M362) multiplies the sum of the compensation command S32-1 and the damping command S33-1 by the correction coefficient S34-1 to generate a torque signal S30-1; The second multiplier (M363) multiplies the torque signal S30-1 by the distribution coefficient S35-1 to generate a front stabilizer bar lateral acceleration control torque target S3 and transmits it to the outside of the lateral acceleration control module (M3); The first subtractor (M364) subtracts the front stabilizer bar lateral acceleration control torque target S3 from the torque signal S30-1 to generate the rear stabilizer bar lateral acceleration control torque target S4 and transmits the result to the outside of the lateral acceleration control module (M3).

7. The vehicle handling stability control system according to claim 3, characterized in that: The roll motion control module (M6) includes a target roll angle calculation module (M61), a second vehicle anti-roll torque distribution module (M62), a vehicle anti-roll torque calculation module (M63), and a roll control target torque calculation module (M64); the target roll angle calculation module (M61) is connected to the second vehicle anti-roll torque distribution module (M62) and the vehicle anti-roll torque calculation module (M63), respectively; The second vehicle anti-roll torque distribution module (M62) and the vehicle anti-roll torque calculation module (M63) are respectively connected to the roll control target torque calculation module (M64); the target roll angle calculation module (M61), the second vehicle anti-roll torque distribution module (M62), and the vehicle anti-roll torque calculation module (M63) are respectively connected to the signal acquisition module; The target roll angle calculation module (M61) performs calculation based on the steering wheel angle signal S12, the vehicle speed signal S9, and the driving mode signal S13, and generates a target roll angle S61-1; The second vehicle anti-roll torque distribution module (M62) calculates and generates a distribution coefficient S62-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, the driving mode signal S13, the sprung mass yaw rate measurement signal S14, the left front suspension travel signal S15, the right front suspension travel signal S16, the left rear suspension travel signal S17, and the right rear suspension travel signal S18; The vehicle anti-roll torque calculation module (M63) generates a torque command S63-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, the road roll angle S19, the sprung mass roll angular velocity measurement signal S20, the sprung mass lateral acceleration measurement signal S21, the vehicle stabilizer bar anti-roll torque feedback signal S22, and the vehicle anti-roll torque feedback signal S23. The roll control target torque calculation module (M64) calculates the front stabilizer roll control torque target S5 based on the distribution coefficient S62-1 and the torque command S63-1 and transmits it to the outside of the roll motion control module (M6); and calculates the rear stabilizer roll control torque target S6 based on the torque command S63-1 and the front stabilizer roll control torque target S5 and transmits it to the outside of the roll motion control module (M6).

8. The vehicle handling stability control system according to claim 7, characterized in that: The roll control target torque calculation module (M64) includes a third multiplier (M641) and a second subtractor (M642); the third multiplier (M641) is connected to the second vehicle anti-roll torque distribution module (M62) and the vehicle anti-roll torque calculation module (M63) respectively; the second subtractor (M642) is connected to the output end of the third multiplier (M641) and the vehicle anti-roll torque calculation module (M63) respectively; The third multiplier (M641) multiplies the torque command S63-1 by the distribution coefficient S62-1 to generate a front stabilizer bar roll control torque target S5 and transmits it to the outside of the roll motion control module (M6); The second subtractor (M642) subtracts the front stabilizer roll control torque target S5 from the torque command S63-1 to generate a rear stabilizer roll control torque target S6 and transmits the result to the outside of the roll motion control module (M6).

9. The vehicle handling stability control system according to claim 7, characterized in that: The vehicle anti-roll torque calculation module (M63) includes a roll angle prediction module (M631), a damping control module (M632), a proportional control module (M633), a differential control module (M634), an integral control module (M635), a torque signal calculation module (M636) and a deviation signal generation module (M637); The roll angle prediction module (M631) is connected to the deviation signal generation module (M637), and the deviation signal generation module (M637) is respectively connected to the proportional control module (M633), the differential control module (M634) and the integral control module (M635); The damping control module (M632), the proportional control module (M633), the differential control module (M634) and the integral control module (M635) are respectively connected to the torque signal calculation module (M636); The deviation signal generating module (M637) is connected to the target roll angle calculating module (M61) and the signal acquiring module; The roll angle prediction module (M631) is connected to the signal acquisition module; The damping control module (M632) is connected to the signal acquisition module; The roll angle prediction module (M631) generates a roll angle prediction signal S631-1 based on the steering wheel angle signal S12, the vehicle speed signal S9, the road roll angle S19, the sprung mass lateral acceleration measurement signal S21, and the vehicle anti-roll torque feedback signal S23. The deviation signal generating module (M637) subtracts the roll angle prediction signal S631-1 from the target roll angle S61-1 to generate a deviation signal S630-1; The damping control module (M632) generates a torque signal S632-1 based on the sprung mass roll angular velocity measurement signal S20 and the proportional coefficient IV. The proportional control module (M633) generates a torque signal S633-1 based on the deviation signal S630-1 and the proportional coefficient I. The differential control module (M634) generates a torque signal S634-1 based on the deviation signal S630-1 and the proportional coefficient II. The integral control module (M635) generates a torque signal S635-1 based on the deviation signal S630-1 and the proportional coefficient III. The torque signal calculation module (M636) generates a torque signal S63-1 based on the torque signal S632-1, the torque signal S633-1, the torque signal S634-1, the torque signal S635-1, and the proportional coefficient V.

10. The vehicle handling stability control system according to claim 9, characterized in that: The torque signal calculation module (M636) includes a third adder (M6361), a fourth multiplier (M6362) and a fourth adder (M6363); The third adder (M6361) is respectively connected to the damping control module (M632), the proportional control module (M633), the differential control module (M634), and the integral control module (M635); The fourth multiplier (M6362) is connected to the third adder (M6361); The fourth adder (M6363) is connected to the fourth multiplier (M6362) and the signal acquisition module respectively; The third adder (M6361) generates a torque signal S630-2 based on the addition of the torque signal S632-1, the torque signal S633-1, the torque signal S634-1, and the torque signal S635-1; The fourth multiplier (M6362) multiplies the torque signal S630-2 by the proportional coefficient V to obtain a torque signal S630-3; The fourth adder (M6363) adds the torque signal S630-3 and the vehicle stabilizer bar anti-roll torque feedback signal S22 to generate a torque signal S63-1 and transmits it to the outside of the vehicle anti-roll torque calculation module M6.

11. The vehicle handling stability control system according to claim 4, characterized in that: The torque command synthesis module (M7) includes a first table lookup module (M71), a second table lookup module (M73), a first stabilizer bar torque calculation module (M72), a second stabilizer bar torque calculation module (M74) and a torque signal generation module (M75); The first table lookup module (M71) and the second table lookup module (M73) are respectively connected to the torque signal generation module (M75), and the torque signal generation module (M75) is respectively connected to the first stabilizer bar torque calculation module (M72) and the second stabilizer bar torque calculation module (M74); The first table lookup module (M71), the second table lookup module (M73), the first stabilizer bar torque calculation module (M72), and the second stabilizer bar torque calculation module (M74) are respectively connected to the signal acquisition module; The torque signal generating module (M75) is connected to the lateral acceleration control module (M3) and the roll motion control module (M6) respectively; The first table lookup module (M71) generates a distribution coefficient S71-1 based on the vehicle speed signal S9; The second table lookup module (M73) generates a distribution coefficient S73-1 based on the vehicle speed signal S9; The torque signal generation module (M75) generates torque signals S70-5 and S70-6 based on the distribution coefficient S71-1, the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, and the distribution coefficient S73-1. The first stabilizer bar torque calculation module (M72) calculates based on the torque signal S70-5 and the front axle wheel center roll angle S7, generates a front stabilizer bar anti-roll torque target S10 and transmits it to the outside of the torque command synthesis module (M7); The second stabilizer bar torque calculation module (M74) calculates based on the torque signal S70-6 and the rear axle wheel center roll angle S8, generates a rear stabilizer bar anti-roll torque target S11 and transmits it to the outside of the torque command synthesis module (M7).

12. The vehicle handling stability control system according to claim 11, characterized in that: The torque signal generating module (M75) includes a fifth multiplier (M751), a sixth multiplier (M752), a seventh multiplier (M753), an eighth multiplier (M754), a fifth adder (M755) and a sixth adder (M756); The fifth multiplier (M751) is connected to the first table lookup module (M71) and the lateral acceleration control module (M3) respectively; The sixth multiplier (M752) is connected to the first table lookup module (M71) and the lateral acceleration control module (M3) respectively; The seventh multiplier (M753) is connected to the second table lookup module (M73) and the roll motion control module (M6) respectively; The eighth multiplier (M754) is connected to the second table lookup module (M73) and the roll motion control module (M6) respectively; The fifth multiplier (M751) and the seventh multiplier (M753) are respectively connected to the fifth adder (M755); The sixth multiplier (M752) and the eighth multiplier (M754) are respectively connected to the sixth adder (M756); The fifth adder (M755) is connected to the first stabilizer bar torque calculation module (M72); The sixth adder (M756) is connected to the second stabilizer bar torque calculation module (M74); The fifth multiplier (M751) multiplies the distribution coefficient S71-1 by the front stabilizer bar lateral acceleration control torque target S3 to generate a torque signal S70-1; The sixth multiplier (M752) multiplies the distribution coefficient S71-1 by the rear stabilizer bar lateral acceleration control torque target S4 to generate a torque signal S70-2; The seventh multiplier (M753) multiplies the distribution coefficient S73-1 by the front stabilizer bar roll control torque target S5 to generate a torque signal S70-3; The eighth multiplier (M754) multiplies the distribution coefficient S73-1 by the rear stabilizer bar roll control torque target S6 to generate a torque signal S70-4; The fifth adder (M755) adds the torque signal S70-1 and the torque signal S70-3 to generate a torque signal S70-5; The sixth adder (M756) adds the torque signal S70-2 and the torque signal S70-4 to generate a torque signal S70-6.

13. A method for controlling vehicle handling stability, characterized by: A vehicle handling stability control system according to any one of claims 1 to 12 is used, wherein the method comprises the following steps: Acquire lateral acceleration control state signal S1, roll motion state signal S2, bus signal Z1, bus signal Z2, front axle wheel center roll angle S7, rear axle wheel center roll angle S8, and bus signal Z3; Calculating a front stabilizer bar lateral acceleration control torque target S3 and a rear stabilizer bar lateral acceleration control torque target S4 based on the lateral acceleration control state signal S1 and the bus signal Z1; Calculate the front stabilizer bar roll control torque target S5 and the rear stabilizer bar roll control torque target S6 based on the roll motion state signal S2 and the bus signal Z2; Calculate a front stabilizer bar anti-roll torque target S10 and a rear stabilizer bar anti-roll torque target S11 based on the front stabilizer bar lateral acceleration control torque target S3, the rear stabilizer bar lateral acceleration control torque target S4, the front stabilizer bar roll control torque target S5, the rear stabilizer bar roll control torque target S6, the front axle wheel center roll angle S7, the rear axle wheel center roll angle S8, and the bus signal Z3; A stabilizer bar torque command is output based on the front stabilizer bar anti-roll torque target S10 and the rear stabilizer bar anti-roll torque target S11 .

14. A vehicle, characterized in that: A vehicle handling stability control system according to any one of claims 1 to 13 is employed.

15. A storage medium, characterized in that: A computer-readable program is stored therein, and when the computer-readable program is called, the steps of the vehicle handling stability control method as claimed in claim 13 can be executed.

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