56 results about "Yaw stability control" patented technology

An enchanced stability control system (200) for a vehicle includes a vehicle status sensor that generates a sensor signal. A driver input sensor that generates an input signal. A controller (214) may disable normal yaw stability control operation and enable body-force- disturbance (BDF) yaw stability control (YSC) operation, which includes at least partially reducing response functions of the normal yaw stability control associated with the input signal, in response to the sensor signal and performing BFD-YSC functions to achieve desired control performance upon the detection of BFD reception. The controller (214) may also or alternatively compare the sensor signal to a threshold and detect an improperly functioning/inoperative vehicle status sensor. The controller (214) disregards information associated with the improperly functioning/inoperative vehicle status sensor, and continues to perform enhanced yaw stability control operations.

The invention discloses an integrated control method for distributed control of an electric automobile. The integrated control method comprises the following steps of according to automobile speed, a steering wheel rotating angle and a steering wheel rotating angular speed, obtaining an expected yaw angular speed and an expected mass center sideslip angle by a signal processing layer by referring to a module; in an integrated control layer, according to the actual value of the yaw angular speed and the expected yaw angular speed, deciding a rear wheel additional yaw torque required for realizing control of the stability of the automobile; according to the actual valve of the mass center sideslip angle and the expected mass center sideslip angle, deciding the front wheel additional rotating angle required for realizing control of the stability of the automobile; in a control distribution layer, according to a target driving torque of a driver and the rear wheel additional yaw torque, reasonably distributing four-wheel driving force, and according to a target front wheel rotating angle of the driver and the front wheel additional rotating angle, correcting the front wheel rotating angle; and controlling the yaw stability by an executing layer through a hub motor. The integrated control method disclosed by the invention has the characteristics that the handling safety stability of the automobile is high, and the steering comfortability of the driver is improved.

The present invention relates to a yaw stability control system for a vehicle equipped with electric power assisted steering and a method of controlling it. The system comprises: means (10) for determining the occurrence of understeer; means for determining the degree of understeer after the occurrence of understeer is determined; means (20) for determining if the determined degree of understeer exceeds a threshold value; means (30) for saving the steering wheel torque value and steering wheel angle value when determined that a calculated drop in steering wheel torque (8) exceeds the thresholdvalue; means for calculating a delta steering wheel torque (3), delta steering wheel angle (9) and updating the steering wheel angle (6) at the start of delta torque calculation; means for applying the calculated delta steering wheel torque (3) to the steering of the vehicle; means for calculating a driver intended steering wheel angle (5) and using it for controlling yaw stability control operations.

A system and method of controlling an automotive vehicle with a yaw stability control system and a trailer comprises determining a presence of a trailer, changing a side slip angle parameter threshold of the vehicle to a modified side slip parameter in response to the trailer signal, and controlling the yaw stability control system in response to the modified side slip parameter.

The invention discloses a multi-time scale rolling optimization control method for stability of a vehicle yaw. The method comprises the steps that vehicle path information is taken as a research point, side behavior characteristics of a driver are considered, and through rolling previewing decision optimization, a steering wheel angle meeting a driving path is obtained; and on the basis, different time scales of driver behaviors and vehicle active safety control are considered, and the multi-time scale rolling optimization method is adopted to control side stability of a vehicle. Firstly, a simplified vehicle dynamical model is built, and then design of a double-closed-loop controller is carried out, wherein the double-closed-loop controller comprises a driver decision module and a nonlinear side stability integrated control module, a control loop formed by the driver decision module and the nonlinear side stability integrated control module serves as an outer control loop, and a control loop formed by the nonlinear side stability integrated control module serves as an inner control loop, so that the stability control over the vehicle yaw can be completed.

The invention discloses a vehicle yaw stability control method based on a three-step method. A hierarchical control strategy is adopted, based on the three-step method, the front wheel turn angle and additional yaw moment are obtained, and based on a quadratic programming optimization method, the additional yaw moment is distributed into braking force on four wheels to act on a vehicle. The method includes the steps of firstly, establishing a simplified vehicle dynamics model, wherein the two-degree-of-freedom model is used for representing the relation between the steering stability of the vehicle and the lateral movement and yaw movement of the vehicle; secondly, designing a three-step method controller, wherein expected yaw velocity information is input into the three-step method controller, and the additional yaw moment and the front wheel turn angle are determined in a three-step method algorithm flow according to the value of expected yaw velocity and the lateral acceleration, actual yaw velocity, actual sideslip angle and longitudinal speed, fed back in real time, of the vehicle; thirdly, performing vehicle yaw stability control based on the three-step method controller designed in the second step.

A yaw stability control system (18) is enhanced to include roll stability control function for an automotive vehicle and includes a plurality of sensors (28-39) sensing the dynamic conditions of the vehicle. The sensors may include a speed sensor (20), a lateral acceleration sensor (32), a yaw rate sensor (28) and a longitudinal acceleration sensor (36). The controller (26) is coupled to the speed sensor (20), the lateral acceleration sensor (32), the yaw rate sensor (28) and a longitudinal acceleration sensor (36). The controller (26) generates both a yaw stability feedback control signal and a roll stability feedback control signal. The priority of achieving yaw stability control or roll stability control is determined through priority determination logic. If a potential rollover event is detected, the roll stability control will take the priority. The controller for roll stability control function determines a roll angle of the vehicle from the lateral acceleration sensor signal and calculates the feedback control signal based on the roll angle.

The invention discloses a distributed electric vehicle yaw stability control method and system. The distributed electric vehicle yaw stability control method includes the steps that a road surface adhesion coefficient of the road surface on which a vehicle is and the state data of the vehicle at current time are obtained; a centroid inclined angle-centroid inclined angle velocity phase plane diagram corresponding to the road surface on which the vehicle is is determined based on the road adhesion coefficient; a maximum stable area and a minimum stable area of the phase plane diagram are determined; and the positions of phase trajectory points of the vehicle in the phase plane diagram in a current state are determined; a centroid inclined angle weight coefficient is determined according to the positions; the expected yaw angular velocity and expected centroid inclined angle of the vehicle are calculated; a sliding mode surface switching function is established; according to the state data, the centroid inclined angle weight coefficient, the expected yaw angular acceleration and the expected centroid inclined angle velocity and the sliding mode surface switching function, a desired additional yaw moment is calculated; and the steering of the vehicle at the current moment is controlled based on the expected additional yaw moment. According to the distributed electric vehicle yaw stability control method and system, the stability degree of the vehicle can be accurately judged, and the steady-state steering of the electric vehicle is realized.

The present invention is a method and system to control regenerative braking during the operation of a yaw stability control system. The method and system use feedback control algorithms to monitor and dynamically modify regenerative and non-regenerative braking. The controller can use a simple proportional-integral-derivative feedback controller. A vehicle yaw stability control system can determine if a vehicle is experiencing an oversteer or understeer condition. The controller compares actual brake balance to a desired brake balance. The controller determines if the front axle wheels are overbraked relative to the rear axle wheels or if the rear axle wheels are overbraked relative to the front axle wheels as compared to the desired brake balance. The controller can adjust regenerative braking and non-regenerative braking levels according to the determinations.

The invention specifically discloses a method for controlling yaw stability of a multi-wheel independent drive electric vehicle during steering. The method for controlling the yaw stability of the multi-wheel independent drive electric vehicle during steering comprises the following steps of step 1, distributing initial driving moments for wheels during the steering of the vehicle; step 2, calculating an ideal yaw velocity and an ideal side slip angle; step 3, obtaining a yaw velocity difference by using the ideal yaw velocity and real-time yaw velocity and obtaining a side slip angle difference by using the ideal side slip angle and a real-time side slip angle; step 4, if the yaw velocity difference is too large or the side slip angle difference is too large, executing step 4; and otherwise, returning to the step 2; and step 5, driving the electric vehicle by using calculated final driving moment and then returning to the step 2. On the basis of controlling key parameters of the multi-wheel independent drive electric vehicle during steering, the method for controlling the yaw stability of the multi-wheel independent drive electric vehicle during steering has the advantages that wheel slip state management is taken into consideration to realize the vehicle yaw stability control so that the side stability of the vehicle in the running process can be effectively guaranteed.

The invention discloses a hub motor driven off-road vehicle yaw and roll stability integrated control method, which comprises the following steps of: obtaining vehicle operation parameters, obtaininga transverse load transfer rate and transverse motion balance equation at the current moment, and then obtaining a predicted transverse load transfer rate at the next moment; determining a yawing stability working condition according to the yawing angular velocity and the side slip angle; and determining a control mode of the yaw and roll integrated control system according to the predicted lateral load transfer rate and the yaw stability working condition. When the absolute value of the predicted transverse load transfer rate is lower than a safety threshold value, yaw stability control is taken as a primary target; and when the absolute value of the predicted transverse load transfer rate is greater than or equal to a safety threshold, roll stability control is taken as a primary targetand yawing stability control as a secondary target. Coordination optimization of the roll stability control system and the yaw stability control system is realized, conflicts during independent control of the two subsystems are eliminated, and coordinated control is performed to guarantee safety of the vehicle.

The invention discloses a vehicle yaw stability control method based on hybrid optimization of a genetic algorithm and GPC. The vehicle yaw stability control method comprises the steps of establishinga vehicle two-degree-of-freedom linear model as a predictive model, calculating and obtaining an ideal yaw rate and an ideal sideslip angle by virtue of the predictive model, detecting and obtainingreal-time data by virtue of sensors, calculating and obtaining an optimal additional yaw moment by virtue of the method of hybrid optimization of the genetic algorithm and GPC according to the real-time data, adopting a left and right wheel driving force rule distribution method to distribute the optimal additional yaw moment into driving forces of four wheels of a four-wheel independent driving hub motor electric vehicle, and applying the driving forces to the wheels in a one-to-one correspondence manner. Compared with a common generalized predictive algorithm, the algorithm provided by the invention is better in global searching ability and global convergence by virtue of the method which introduces the genetic algorithm into the rolling optimization process of GPC for hybrid optimization; and the hybrid optimization of the obtained additional yaw moment is performed so as to greatly improve the accuracy of the optimal solution.

A yaw stability control system for a vehicle detects and eliminates the vehicle yaw angle resulting from a body-force-disturbance and returns the vehicle to a pre disturbance heading. A yaw rate module generates a signal indicative of the vehicle yaw rate error. A yaw angle error module is triggered in response to a body-force-disturbance being detected by a body-force-disturbance detection unit, and performs integrations of the yaw rate signals to calculate a yaw angle error in order to obtain a correction of the vehicle yaw angle resulting from the body-force-disturbance. A yaw control module uses the yaw angle error in combination with the yaw rate error for a limited time period to generate yaw control signals that are sent to the vehicle brakes and/or active steering system for performing vehicle yaw stability control operations a signal to perform a body-force-disturbance yaw stability control operation for.

The invention relates to an anti-rollover comprehensive control method for a distributed driving electric vehicle, which is characterized in that four control strategies of yaw stability control, rollstability control, decoupling control and differential brake-based anti-rollover control are used for combined control, and vehicle driving force and braking force are controlled at the same time; therefore, the rollover prevention comprehensive control of the distributed driving electric automobile is realized; for a distributed driving electric automobile, through research on yaw stability androll stability, delta MZ and delta MX are subjected to decoupling control to achieve torque distribution, the influence between yaw moment and roll moment is reduced to the maximum extent, the automobile can keep stable running to the maximum extent, and meanwhile, through distribution of braking moment, the torque distribution effect is improved to the maximum extent; and furthermore through brake torque distribution, anti-rollover control over the automobile is conducted based on differential braking. According to the whole scheme, aiming at the characteristic that four wheels of the distributed driving electric automobile can be independently controlled, driving force and braking force of the four wheels of the distributed driving electric automobile are distributed, and therefore rollover prevention control over the automobile is comprehensively conducted.

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

Embodiments herein relate to a vehicle yaw stability control method as well as a vehicle yaw stability control apparatus (1). The yaw rate È of the vehicle is measured. A first reference yaw rate È ref is set. A difference yaw rate ” È is set. Stabilizing braking intervention is triggered when a value of the difference yaw rate ” È exceeds limits defined by difference yaw rate threshold values ” È min , ” È max . Information regarding the shape of the road ahead of the vehicle is acquired. The reliability of the driver steering input ´ is evaluated upon stabilizing braking intervention being triggered. In case the driver steering input ´ is deemed unreliable a replacement reference yaw rate È Ù ref road is set based on the acquired road shape and a replacement difference yaw rate ” È road is set whereupon stabilizing braking intervention is performed based on the replacement difference yaw rate ” È road .