CN111731244B - A braking control method for improving vehicle maneuverability - Google Patents
A braking control method for improving vehicle maneuverability Download PDFInfo
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- CN111731244B CN111731244B CN202010558652.2A CN202010558652A CN111731244B CN 111731244 B CN111731244 B CN 111731244B CN 202010558652 A CN202010558652 A CN 202010558652A CN 111731244 B CN111731244 B CN 111731244B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/241—Lateral vehicle inclination
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/246—Change of direction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
本发明涉及汽车控制技术领域，具体地指一种提高车辆机动性的制动控制方法。获取汽车车速以及方向盘转角信号，当方向盘转角大于设定转角且车速不高于设定车速时，启动车辆的液压控制单元，对车辆的后内车轮进行制动；获取汽车后内车轮和后外车轮在对后内车轮进行制动后的速度变化情况，根据该变化情况对后内车轮的制动力进行控制。本发明通过采集汽车后内车轮和后外车轮的转速情况，对后内车轮的制动力大小进行控制，以达到精确控制后内车轮制动力大小的目的，确保减小汽车的转弯半径，并且不会增加前桥向内侧滑移的风险，提高了驾驶舒适性。
The invention relates to the technical field of automobile control, in particular to a braking control method for improving vehicle mobility. Obtain the vehicle speed and steering wheel angle signals. When the steering wheel angle is greater than the set angle and the vehicle speed is not higher than the set speed, start the hydraulic control unit of the vehicle to brake the rear inner wheels of the vehicle; obtain the rear inner wheels and rear outer wheels of the car The speed change of the wheel after the rear inner wheel is braked, and the braking force of the rear inner wheel is controlled according to the change. The invention controls the braking force of the rear inner wheel by collecting the rotational speed of the rear inner wheel and the rear outer wheel of the car, so as to achieve the purpose of precisely controlling the braking force of the rear inner wheel, ensure that the turning radius of the car is reduced, and do not It increases the risk of the front axle slipping inward, improving driving comfort.
Description
Technical Field
The invention relates to the technical field of automobile control, in particular to a brake control method for improving vehicle maneuverability.
Background
The turning radius of the vehicle is an important parameter for measuring the good and bad performance of the vehicle. For off-road vehicles running on non-paved roads with narrow space, the vehicle is difficult to pass quickly due to the limitation of the turning angle and the wheelbase of the steering wheel of the vehicle, and at this time, if the steering radius of the vehicle can be further reduced, the improvement of the maneuvering performance of the vehicle is very important.
In the related art, the braking of the inner rear wheel can reduce the turning radius of the vehicle, and the control method comprises the following steps: firstly, when the steering radius is judged to be larger than the steering radius threshold value corresponding to the current working condition, the electronic parking brake system of the vehicle is utilized; and secondly, applying braking force to the braking wheels by utilizing the preset slip rate of the braking wheels. At present, for a vehicle with a large axle load and without an electronic parking brake system, if the vehicle passes through the electronic parking brake system, the radius cannot be reduced. In addition, if the longitudinal slip rate of the braking wheel is used as the judgment of the braking force, under special working conditions (when four tires of the vehicle are on different adhesion road surfaces), the front axle risks slipping inwards along with the increase of the braking force, and the driving comfort is influenced.
Disclosure of Invention
The present invention is directed to solve the above mentioned problems and provide a brake control method for improving vehicle mobility.
The technical scheme of the invention is as follows: a brake control method for improving vehicle mobility, characterized by: the method comprises the steps that the automobile speed and a steering wheel corner signal are obtained, and when the steering wheel corner is larger than a set corner and the automobile speed is not higher than the set automobile speed, a hydraulic control unit of the automobile is started to brake rear inner wheels of the automobile;
the speed change conditions of the rear inner wheel and the rear outer wheel of the automobile after the rear inner wheel is braked are obtained, and the braking force of the rear inner wheel is controlled according to the change conditions.
The method for controlling the braking force of the rear inner wheel comprises the following steps: acquiring the linear speed change rate eta of the rear inner wheel and the rear outer wheel after the rear inner wheel is braked, and if eta is smaller than a set value a, increasing the braking force of the rear inner wheel until eta is equal to the set value a; and if eta is larger than the set value a, reducing the braking force of the rear inner wheel until eta is equal to the set value a.
The method for further acquiring the linear speed change rate eta of the rear inner wheel and the rear outer wheel after the rear inner wheel is braked comprises the following steps: collecting the linear velocity V of the inner wheel rotating around the turning circle center of the vehicleA(ii) a Collecting the linear velocity V of the back outer wheel rotating around the turning circle center of the vehicle during turningB(ii) a The linear speed change rate of the rear inner wheel and the rear outer wheel is VAAnd VBIs the same as VAThe ratio of (a) to (b).
Further the set angle of rotation is an angle at which the vehicle steering wheel is rotated to 95% to 98% of the maximum angular position.
Further, the set vehicle speed is 10 km/h.
And further stopping braking the rear inner wheel of the vehicle when the steering wheel angle is not larger than the set steering angle or the vehicle speed is higher than the set vehicle speed.
The invention controls the braking force of the rear inner wheel by acquiring the rotating speed conditions of the rear inner wheel and the rear outer wheel of the automobile so as to achieve the aim of accurately controlling the braking force of the rear inner wheel, ensure the turning radius of the automobile to be reduced, avoid increasing the risk of inward sliding of a front axle and improve the driving comfort.
Drawings
FIG. 1: the invention discloses a schematic diagram of front and rear braking of rear inner wheels when a vehicle turns;
FIG. 2: the invention relates to a corresponding relation graph between a tire slip angle and a lateral force.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
In this embodiment, a certain vehicle type is selected for explanation, and the vehicle of this vehicle type is equipped with a high mobility driving control system as an independent system, and the high mobility driving control system includes a hydraulic control unit, a central processing unit (ECU) and a policy control unit. The hydraulic control unit comprises an electromagnetic control valve, a pressure sensor and a strategy control unit, and the strategy control unit stores preset programs. The ECU receives steering wheel angle signals, vehicle speed signals and rear axle left and right wheel speed signals through the CAN bus according to a program preset in the strategy control unit, and controls an engine management system and an automatic gearbox
And (3) identifying and calculating system signal interaction signals, and simultaneously finishing: 1. controlling the torque of the engine, finishing a target gear decision and ensuring that the vehicle is not higher than a preset vehicle speed; 2. when the steering wheel angle is larger than the preset steering wheel angle, different electromagnetic valves in the hydraulic control unit are controlled to be opened and closed, firstly, the pressure in the unit is adjusted according to the rotating speed signals of the left wheel and the right wheel of the rear axle, and secondly, the brake is ensured to be always acted on the rear inner wheel during steering.
The hydraulic control unit is respectively connected with the steering hydraulic system and the rear axle brake pipeline in parallel, and the pressure required by braking is provided by a steering oil pump in the steering system. The hydraulic control unit can normally operate only when the vehicle speed is not higher than the set vehicle speed (the set vehicle speed of the embodiment is 10km/h) and the steering wheel angle is larger than the set steering angle (the set steering angle of the embodiment is 95% to 98% of the angle of the vehicle steering wheel rotated to the maximum angle position), and the hydraulic control unit does not operate under other conditions.
The specific control measures are as follows: when the vehicle speed is lower than the set speed and the steering wheel angle is larger than the set steering angle, the hydraulic control unit brakes the rear inner wheels of the vehicle.
The linear velocities of the rear inner wheel and the rear outer wheel of the vehicle before and after braking the rear inner wheel are collected (the rear inner wheel of this embodiment is the rear wheel facing the turning circle center side when the vehicle is turning, and the rear outer wheel is the rear wheel far away from the turning circle center side when the vehicle is turning), as shown in fig. 1, the vehicle of this embodiment uses O before braking the rear inner wheel1The point is a circle center and the circular point rotates, at the moment, the rear inner wheel winds around the O1Linear velocity of point rotation is VA0Rear outer wheel winding O1Linear velocity of point rotation is VB0Then, the linear speed change rate of the vehicle to the front and rear inner wheels and the rear outer wheel of the wheel braking in the vehicle is:
wherein: eta0-the linear speed rate of change of the rear inner wheel and the rear outer wheel before braking the rear inner wheel;
VA0before braking the rear inner wheel, the rear inner wheel is wound around O1Linear velocity of dot rotation;
VB0before braking the rear inner wheel, the rear outer wheel is wound around O1Linear velocity of dot rotation.
The rear inner wheel is not braked, and the instant center O is wound when the vehicle turns under the condition of neglecting the deformation of the tire1The point moves circularly, then:
O1A＝L*cotβ1-K
wherein: o is1A-rear inner wheel to circle center O1The distance of (d);
l is the vehicle wheel base;
β1-is the outer wheel corner of the steering axle;
k is the wheel track of the rear inner wheel and the rear outer wheel.
When the rear inner wheel and the rear outer wheel turn around the same circle center, the angular velocities are equal, and the following formula can be obtained:
wherein: r is the radius of the rear inner wheel when the rear inner wheel turns around the circle center;
VA0before braking the rear inner wheel, the rear inner wheel is wound around O1Linear velocity of dot rotation;
VB0before braking the rear inner wheel, the rear outer wheel is wound around O1Linear velocity of dot rotation.
When the rear inner wheel is not braked, the vehicle winds the instant center O1Point steering, linear speed rate of change eta of rear inner wheel and rear outer wheelk；
I.e. as long as K and O are determined1A, the linear speed change rate eta of the rear inner wheel and the rear outer wheel can be obtained0K is the vehicle track, constant, O1A can be obtained by conversion and table look-up according to the collected steering wheel angle signals. Assuming that the vehicle is turning according to a minimum turning radius, i.e. O1A is the minimum turning radius of the vehicle of the present embodiment when the rear inner wheels are not braked.
As shown in FIG. 1, the vehicle of the present embodiment brakes the rear inner wheels and then drives the wheels to move in the direction of O2The point is a circle center and the circular point rotates, at the moment, the rear inner wheel winds around the O2Linear velocity of point rotation is VA1Rear outer wheel winding O2Linear velocity of point rotation is VB1Then, the linear speed change rate of the vehicle to the rear inner wheel and the rear outer wheel after the vehicle brakes the inner wheel is as follows:
wherein: eta1-the linear speed rate of change of the rear inner wheel and the rear outer wheel after braking the rear inner wheel;
VA1-after braking the rear inner wheel, the rear inner wheel is wound around O2Linear velocity of dot rotation;
VB1-after braking the rear inner wheel, the rear outer wheel is wound around O2Linear velocity of dot rotation.
Braking force F applied to rear axle wheels by rear inner wheelsμAnd a driving force FtMoment M generated at the center of mass O of the vehicleZ＝(Fμ+Ft) K, the lateral forces simultaneously applied to the inner and outer tires (i.e. the front inner and outer wheels) of the axle are F1And F2. By simplification, it can be seen that:
1. assuming equal lateral forces on the ground acting on the left and right tires of the steering axle, i.e. F1＝F2＝F；
2. The corners of the front inner wheel and the front outer wheel are both beta2The moment generated at the vehicle centroid O by the lateral forces acting on the front inner wheel and the front outer wheel is (F)1+F2)*cosβ2*a＝2*F*cosβ2A, according to a moment balance relationship:
2*F*cosβ2*a＝(Fμ+Ft)*K (1)
in the formula: a-is the distance from the front axle to the center of mass of the vehicle.
β2＝β1+ δ, δ is the slip angle of the tire due to the lateral force, and fig. 2 is a graph of the relationship between the lateral force and the slip angle, from which a quadratic equation for F and δ can be obtained:
F＝f(δ) (2)
the simultaneous equations (1) and (2) can yield the unique F and δ of the vehicle under the driving condition.
Because the wheels of the steering axle are at the design angle beta1On the basis of the angle delta of the tire, the vehicle is around the instant center O under the condition that the rear inner wheel is braked2Point steering, then:
O2A＝L*cotβ2-K
wherein: o is2A-rear inner wheel to circle center O2The distance of (c).
When the rear inner wheel brakes, the vehicle winds the instant center O2Point steering, rate of change η of difference in linear velocity of rear inner wheel and rear outer wheel1：
I.e. as long as K and O are determined2A, the linear speed change rate eta of the rear inner wheel and the rear outer wheel can be obtained1K is the vehicle track, constant, O2A can be obtained by conversion and table look-up according to the collected steering wheel angle signals. In actual use, the embodiment needs to calibrate the set value a, the set value a of the embodiment is determined according to the critical value b, the critical value b of the embodiment is the linear speed change rate of the rear inner wheel and the rear outer wheel when the rear inner wheel is braked to the maximum extent but the front axle of the vehicle does not slip inwards, the set value a selects 90% -95% of the critical value b as the set value, and the specific parameter selection can be adjusted according to the actual condition of the vehicle.
Obtaining the linear speed change rate eta of the rear inner wheel and the rear outer wheel after the rear inner wheel is braked1Then, comparing the front wheel brake force with a set value a, and if eta is smaller than the set value a, increasing the brake force of the rear inner wheel vehicle wheel until eta is equal to the set value a; and if eta is larger than the set value a, reducing the braking force of the wheels of the rear inner wheels until eta is equal to the set value a, and ensuring that the vehicle finally turns according to the minimum turning radius under the condition that the front axle does not slide inwards.
Taking the running situation of the specific vehicle type as an example:
the specific parameters of the vehicle are as follows: l is 3800 mm; the wheel track is as follows: k is 1800 mm; front outer wheel corner before rear inner wheel braking: beta is a130 °; radius of the tire: rd400 mm; vehicle speed: 10 Km/h; the total weight of the whole vehicle is as follows: m is 4000 Kg; distance of centroid to front axis: α is 1900 mm.
During normal turning, the vehicle does not brake the rear inner wheel, and the turning condition of the vehicle is around O as shown in FIG. 11Point rotation, turning radius R of whole vehicleCO1Comprises the following steps:
rate of change of linear velocity difference η0，
After the braking force is applied to the rear inner wheel, assuming that the load shared by the four wheels is the same, the friction coefficient between the tire and the ground is as follows: mu is 0.8; the maximum braking force of the inner wheel after application is as follows:
since the vehicle moves at an approximately constant speed during the turning process, the longitudinal force applied to the vehicle is zero, i.e. the vehicle is subjected to
Ft≈Fμ＝7840N
By the formula: 2F cos beta2*a＝(Fμ+Ft) K may be:
namely: f cos (. beta.) of1+δ2)＝7427N
Wherein: f-lateral force of ground acting on left and right tires on steering axle
β1-turning the left and right tires on the steering axle before braking the rear inner wheels;
β2-turning the left and right tires on the steering axle after braking the rear inner wheel;
δ1rear, front, inner, braking rear inner wheelThe slip angle of the wheel tire;
δ2-cornering angle of the front outer wheel tyre after braking of the rear inner wheel.
From the relationship between the tire slip angle and the lateral force (as shown in FIG. 2), the slip angle δ of the tire for the front outer wheel can be obtained after the rear inner wheel is braked2When the angle is 8 degrees, the angle beta of the left and right tires on the rear steering axle is braked to the rear inner wheel2＝β1+δ2＝38°。
At this time, the turning radius R of the entire vehicleCO2Comprises the following steps:
after the rear inner wheel is braked, the linear speed change rate eta of the rear inner wheel and the rear outer wheel1Comprises the following steps:
in the embodiment, the calibrated critical value b of the vehicle is 0.791, 90% of the critical value b is selected as the set value a, the set value a is 0.712, and the linear speed change rate η of the rear inner wheel and the rear outer wheel is 0.7121Smaller than the set value a, it is necessary to continue to increase the braking force of the inner rear wheel.
In the conventional control method, after the rear inner wheel is braked, the braking force of the rear inner wheel is not controlled any more, and the turning radius of the vehicle is reduced in a limited manner in such a control mode.
The inner side of the present embodiment refers to the side of the vehicle near the center of the turn, and the outer side refers to the side of the vehicle away from the center of the turn.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
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| CN112373450B (en) * | 2020-11-10 | 2022-04-05 | 上海拿森汽车电子有限公司 | Control method and device for vehicle auxiliary turning |
| CN112937527B (en) * | 2021-03-12 | 2022-05-10 | 东风柳州汽车有限公司 | Intelligent adjusting system and method for automobile turning |
| CN114572305B (en) * | 2022-02-25 | 2023-03-03 | 智己汽车科技有限公司 | Method and equipment for calculating turning radius of vehicle with rear wheels and reversely steered |
| CN114987411B (en) * | 2022-06-14 | 2023-06-23 | 安徽江淮汽车集团股份有限公司 | Intelligent automobile braking force distribution system, electronic equipment and storage medium |
| CN115384604A (en) * | 2022-09-21 | 2022-11-25 | 清华大学 | A New Steering System Based on Braking |
| CN115465259A (en) * | 2022-10-17 | 2022-12-13 | 中国第一汽车股份有限公司 | Steering control method, device, vehicle and storage medium |
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| GB2435023B8 (en) * | 2004-03-18 | 2008-10-22 | Ford Global Tech Llc | Parking assistance using diffrential torque steering |
| US7712845B2 (en) * | 2006-05-18 | 2010-05-11 | Gm Global Technology Operations, Inc. | Method to reduce the turn radius of motor vehicles utilizing automatic single side rear brake application |
| JP4984822B2 (en) * | 2006-10-26 | 2012-07-25 | 株式会社アドヴィックス | Vehicle braking control device and vehicle braking control method |
| WO2011000215A1 (en) * | 2009-07-03 | 2011-01-06 | Ge Yefan | Brake system with small turning radius |
| CN106541934B (en) * | 2016-10-25 | 2019-06-25 | 武汉理工大学 | Dual output power distribution method based on differential mechanism |
| CN109572814A (en) * | 2018-12-27 | 2019-04-05 | 精诚工科汽车系统有限公司 | Vehicular turn auxiliary system, method and machine readable storage medium |
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