CN115973272A - Automobile turning control method and device - Google Patents
Automobile turning control method and device Download PDFInfo
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Abstract
The application relates to a method and a device for controlling vehicle turning. The method comprises the following steps: determining a maximum adhesion force of shaft ends, wherein the shaft ends comprise a front shaft and a rear shaft; acquiring the actual adhesive force of the shaft end; calculating available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end; when the requested torque of the shaft end is received and one available adhesion torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of a target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end which is pointed by the available adhesion torque smaller than the torque threshold value. By adopting the method, the stability of the automobile during turning in the prior art can be improved.
Description
Technical Field
The application relates to the technical field of automobile control, in particular to a method and a device for controlling vehicle turning.
Background
The automobile turning is realized by driving a steering gear through a steering wheel to further enable a gear rack steering gear to act and enable a front cross pull rod to swing left and right to enable a front wheel to generate an angle so as to generate steering. When the automobile runs on a curve, the driver needs to control the speed of the automobile besides operating the steering wheel, so that the automobile can run through the curve at a lower speed.
At present, the automobile usually adopts a front wheel steering mode to control the steering of the automobile, and the automobile speed can be difficult to accurately control by a driver in the turning process of the automobile, so that the requested torque received by the shaft end exceeds the normal working range of the shaft end, the instability of the automobile is caused slightly, and the safety accident is caused seriously.
Therefore, the stability of the prior art when the automobile turns still needs to be improved.
Disclosure of Invention
Therefore, the method and the device for controlling the turning of the vehicle are provided to improve the stability of the turning of the vehicle in the prior art.
In a first aspect, there is provided a control method of turning a vehicle, the method including:
determining a maximum adhesion force of shaft ends, wherein the shaft ends comprise a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
when the request torque of the shaft end is received and one available traction torque is smaller than a preset torque threshold value, transferring partial or all request torque of a target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end pointed by the available traction torque smaller than the torque threshold value.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the step of transferring part or all of the requested torque of the target shaft end to the other shaft end includes:
judging whether the sum of the requested torques of the front shaft and the rear shaft is larger than the available adhering torque of the other shaft end;
if yes, calculating a differential torque between the available adhesion torque and the requested torque of the other shaft end, and transferring the requested torque of the part of the target shaft end to the other shaft end, wherein the requested torque of the part is smaller than or equal to the differential torque;
if not, all the requested torque of the target shaft end is transferred to the other shaft end.
With reference to the first aspect or the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of determining the maximum adhesion force of the shaft end includes:
acquiring a first acceleration of a current vehicle in a driving direction and a second acceleration horizontally perpendicular to the driving direction;
acquiring the whole vehicle mass, the wheel track, the wheel base and the preset attachment coefficient of the current vehicle;
and obtaining the maximum adhesive force of the front axle and the rear axle based on the first acceleration, the second acceleration, the finished vehicle mass, the wheel track, the wheel base and the adhesion coefficient.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the step of obtaining the maximum adhesion force of the front axle includes:
setting a mass center of the current vehicle, and acquiring a first distance from the mass center to the front axle, a second distance from the mass center to the rear axle and a third distance from the mass center to the ground;
taking the driving direction as a reference direction, and obtaining the maximum adhesion of the left front wheel and the maximum adhesion of the right front wheel according to the adhesion coefficient, the finished vehicle mass, the second distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum adhesion of the left front wheel comprises:
obtaining a mathematical expression of the right front wheel maximum adhesion force includes:
F 1 maximum adhesion of the left front wheel, F 2 Is the maximum adhesion of the right front wheel, mu is the adhesion coefficient, m is the vehicle mass, g is the acceleration of gravity, L r Is the second distance, h is the third distance, a x Is the first acceleration, L is the wheel base, a y Is the second acceleration, L w Is the wheel track;
and calculating the sum of the maximum adhesion force of the left front wheel and the maximum adhesion force of the right front wheel to obtain the maximum adhesion force of the front axle.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the step of obtaining the maximum adhesion force of the rear axle includes:
obtaining a left rear wheel maximum adhesion force and a right rear wheel maximum adhesion force according to the adhesion coefficient, the vehicle mass, the first distance, the third distance, the first acceleration, the wheel base, the second acceleration and the wheel base, wherein obtaining a mathematical expression of the left rear wheel maximum adhesion force comprises:
obtaining a mathematical representation of the maximum adhesion of the right rear wheel includes:
F 3 maximum adhesion of the left rear wheel, F 4 Is the maximum adhesion force of the right rear wheel, L f Is the first distance;
and calculating the sum of the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel to obtain the maximum adhesive force of the rear axle.
With reference to the second possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, the step of obtaining the actual adhesion force of the shaft end includes:
acquiring the total vehicle required torque of the current vehicle;
obtaining the load of the shaft end based on the finished vehicle mass and the first acceleration;
and obtaining the actual adhesive force of the front shaft and the rear shaft based on the finished automobile required torque, the finished automobile mass and the load of the shaft end.
With reference to the fifth implementable manner of the first aspect, in a sixth implementable manner of the first aspect, the step of obtaining the load at the axle end based on the vehicle mass and the first acceleration includes:
setting a mass center of the current vehicle, and acquiring a first distance between the mass center and the front axle, a second distance between the mass center and the rear axle and a third distance between the mass center and the ground;
obtaining the load of the front axle according to the vehicle mass, the second distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the front axle comprises:
M 1 is the load of the front axle, m is the vehicle mass, g is the acceleration of gravity, L r Is the second distance, h is the third distance, a x Is the first acceleration, and L is the wheelbase.
With reference to the sixth implementable manner of the first aspect, in a seventh implementable manner of the first aspect, the step of obtaining the load at the shaft end based on the vehicle mass and the first acceleration further includes:
obtaining the load of the rear axle according to the finished vehicle mass, the first distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the rear axle comprises:
M 2 is the load of the rear axle, L f Is the first distance.
With reference to the fifth implementable manner of the first aspect, in an eighth implementable manner of the first aspect, the step of obtaining the actual adhesion force of the front axle based on the finished vehicle required torque, the finished vehicle mass, and the load at the axle end includes:
obtaining the wheel rolling radius of the current vehicle;
obtaining the actual adhesive force of the front axle according to the finished automobile required torque, the finished automobile mass, the wheel rolling radius and the load of the front axle, wherein the mathematical expression for obtaining the actual adhesive force of the front axle comprises the following steps:
F a1 for the actual adhesion of the front axle, T v Is the torque required by the whole vehicle, M is the mass of the whole vehicle, r is the rolling radius of the wheels, M 1 Is the load of the front axle.
With reference to the eighth implementable manner of the first aspect, in a ninth implementable manner of the first aspect, the step of obtaining the actual adhesion force of the rear axle based on the finished vehicle required torque, the finished vehicle mass, and the load at the axle end includes:
obtaining the actual adhesive force of the rear axle according to the finished automobile required torque, the finished automobile mass, the wheel rolling radius and the rear axle load, wherein the mathematical expression for obtaining the actual adhesive force of the rear axle comprises the following steps:
F a2 for the actual adhesion of the rear axle, M 2 Is the load of the rear axle.
With reference to the fifth possible implementation manner of the first aspect, in a tenth possible implementation manner of the first aspect, the step of calculating an available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end includes:
obtaining the wheel rolling radius of the current vehicle;
obtaining an available adhesion torque of the front axle from the maximum adhesion of the front axle, the load of the front axle, the second acceleration, the actual adhesion of the front axle, and the wheel rolling radius, wherein obtaining a mathematical representation of the available adhesion torque of the front axle comprises:
T 1 available adhesion torque for said front axle, F f Maximum adhesion of the front axle, M 1 Is the load of the front axle, a y Is said second acceleration, F a1 R is the wheel rolling radius, which is the actual adhesion of the front axle.
With reference to the tenth implementable manner of the first aspect, in an eleventh implementable manner of the first aspect, the step of calculating the available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end further comprises:
obtaining an available adhesion torque of the rear axle according to the maximum adhesion force of the rear axle, the load of the rear axle, the second acceleration, the actual adhesion force of the rear axle, and the rolling radius of the wheel, wherein obtaining a mathematical expression of the available adhesion torque of the rear axle comprises:
T 2 available attachment torque for said rear axle, F r Maximum adhesion of the rear axle, M 2 Is the load of the rear axle, F a2 Is the actual adhesion of the rear axle.
With reference to the first aspect or any one of the first to eleventh possible implementation manners of the first aspect, in a twelfth possible implementation manner of the first aspect, after the step of calculating the available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end, the method further includes:
acquiring a preset torque interval, and judging whether the available adhesion torque of the shaft end is positioned in the torque interval;
if yes, executing the step of transferring partial or all request torque of the target shaft end to the other shaft end when the request torque of the shaft end is received and available adhesion torque of one target shaft end is smaller than the torque threshold value;
if not, when the available adhesion torque of the shaft end is smaller than the minimum value of the torque interval, the minimum value of the torque interval is used as the available adhesion torque of the shaft end, and when the available adhesion torque of the shaft end is larger than the maximum value of the torque interval, the maximum value of the torque interval is used as the available adhesion torque of the shaft end.
In a second aspect, a control device for turning a vehicle is provided, the device including a vehicle control unit, wherein the vehicle control unit is configured to:
determining a maximum adhesion force of shaft ends, wherein the shaft ends comprise a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
when the requested torque of the shaft end is received and one available adhesion torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of a target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end which is pointed by the available adhesion torque smaller than the torque threshold value.
According to the control method and the control device for the vehicle turning, the maximum adhesive force of the shaft end is determined and the actual adhesive force of the shaft end is obtained, wherein the shaft end comprises a front shaft and a rear shaft; calculating available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end; when the request torque of the shaft end is received and one available adhering torque is smaller than the preset torque threshold value, transferring partial or all request torque of the target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end pointed by the available adhering torque smaller than the torque threshold value. The available adhesion torque is a threshold value for ensuring the driving stability of the vehicle, when the available adhesion torque at the shaft end is smaller than a preset torque threshold value, it indicates that the shaft end cannot continue to perform torque control, and if the torque control is continued, the vehicle is unstable, so that in order to maintain the stability of the vehicle, the requested torque received by the shaft end needs to be transferred to the other shaft end. Therefore, compared with the prior art, the method improves the stability of the automobile during turning.
Drawings
FIG. 1 is a schematic flow chart diagram of a control method for turning a vehicle according to one embodiment;
fig. 2 is a block diagram showing the configuration of a control device for turning a vehicle in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application and are not drawn according to the number, shape and size of the components in actual implementation, the type, quantity and proportion of each component in actual implementation may be changed freely, and the layout of the components may be more complicated.
The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the content of the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims and the appended claims, and therefore, they do not have the essential meaning in the art, and any structural modification, changes in proportions, or adjustments in size, should not affect the performance or performance of the disclosure, but fall within the scope of the disclosure.
References in this specification to "upper", "lower", "left", "right", "middle", "longitudinal", "lateral", "horizontal", "inner", "outer", "radial", "circumferential", etc., indicate orientations and positional relationships based on those shown in the drawings, and are for convenience only to simplify the description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In one embodiment, as shown in fig. 1, a vehicle turning control method is provided, which takes a vehicle control unit as an execution subject of the method for description, and includes the following steps:
s101: determining a maximum adhesion force for the shaft ends, wherein the shaft ends comprise a front shaft and a rear shaft.
Here, the adhesion refers to the interaction force between the car tire and the ground, and its magnitude is related to the quality of the whole car, the material, type, pattern, tire pressure, type of ground, and speed of the car. In one embodiment, the maximum adhesion force may be calculated according to physical quantities such as a vehicle mass and a vehicle speed, and specifically includes the following steps: acquiring a first acceleration of a current vehicle in a driving direction and a second acceleration horizontally perpendicular to the driving direction; acquiring the whole vehicle mass, the wheel track, the wheel base and the preset attachment coefficient of the current vehicle; and obtaining the maximum adhesive force of the front axle and the rear axle based on the first acceleration, the second acceleration, the finished vehicle mass, the wheel track, the wheel base and the adhesion coefficient. In other embodiments, the maximum adhesion may also be determined by performing real-time testing on a particular vehicle model.
Further, with the current driving direction of the vehicle as a reference direction, respectively calculating the maximum adhesion of the left front wheel and the maximum adhesion of the right front wheel, and then obtaining the maximum adhesion of the front axle according to the sum of the maximum adhesion of the left front wheel and the maximum adhesion of the right front wheel, specifically, the method comprises the following steps:
setting a mass center of the current vehicle, and acquiring a first distance from the mass center to the front axle, a second distance from the mass center to the rear axle and a third distance from the mass center to the ground;
taking the driving direction as a reference direction, and obtaining the maximum adhesion of the left front wheel and the maximum adhesion of the right front wheel according to the adhesion coefficient, the finished vehicle mass, the second distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum adhesion of the left front wheel comprises:
obtaining a mathematical expression of the right front wheel maximum adhesion force includes:
F 1 maximum adhesion of the left front wheel, F 2 Is the maximum adhesion of the right front wheel, mu is the adhesion coefficient, m is the vehicle mass, g is the acceleration of gravity, L r Is the second distance, h is the third distance, a x Is the first acceleration, L is the wheel base, a y Is the second acceleration, L w Is the track width;
and calculating the sum of the maximum adhesive force of the left front wheel and the maximum adhesive force of the right front wheel to obtain the maximum adhesive force of the front axle.
Similarly, the maximum adhesion force of the left rear wheel and the maximum adhesion force of the right rear wheel are respectively calculated, and then the maximum adhesion force of the rear axle is obtained according to the sum of the maximum adhesion force of the left rear wheel and the maximum adhesion force of the right rear wheel, and the method specifically comprises the following steps:
obtaining a left rear wheel maximum adhesion force and a right rear wheel maximum adhesion force according to the adhesion coefficient, the vehicle mass, the first distance, the third distance, the first acceleration, the wheel base, the second acceleration and the wheel base, wherein obtaining a mathematical expression of the left rear wheel maximum adhesion force comprises:
obtaining a mathematical representation of the maximum adhesion of the right rear wheel includes:
F 3 maximum adhesion of the left rear wheel, F 4 Is the maximum adhesion force of the right rear wheel, L f Is the first distance, μ, m, g, h, a x 、L、a y And L w The meaning of (a) has been described in the step of obtaining the maximum adhesive force of the front axle, and the related contents refer to the above-mentioned contents, which are not described herein again;
and calculating the sum of the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel to obtain the maximum adhesive force of the rear axle.
It should be noted that, in the above-mentioned calculation of the maximum adhesion force of the left front wheel, the maximum adhesion force of the right front wheel, the maximum adhesion force of the left rear wheel and the maximum adhesion force of the right rear wheel, and the calculation of the maximum adhesion forces of the front axle and the rear axle, respectively, a serial time sequence control mode or a parallel time sequence control mode may be adopted.
S102: and acquiring the actual adhesive force of the shaft end.
In one embodiment, the step of obtaining the actual adhesion force of the shaft end comprises: acquiring the total vehicle required torque of the current vehicle; obtaining the load of the shaft end based on the finished vehicle mass and the first acceleration; and obtaining the actual adhesive force of the front shaft and the rear shaft based on the finished automobile required torque, the finished automobile mass and the load of the shaft end. In other embodiments, the actual adhesion force of the front axle and the rear axle can also be acquired by the sensor in real time.
Further, the step of obtaining the load at the shaft end based on the vehicle mass and the first acceleration includes:
setting a mass center of the current vehicle, and acquiring a first distance between the mass center and the front axle, a second distance between the mass center and the rear axle and a third distance between the mass center and the ground;
obtaining the load of the front axle according to the finished vehicle mass, the second distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the front axle comprises:
M 1 is the load of the front axle, m is the vehicle mass, g is the acceleration of gravity, L r Is the second distance, h is the third distance, a x Is the first acceleration, and L is the wheelbase.
Similarly, the step of calculating the load of the rear axle, specifically, obtaining the load of the axle end based on the vehicle mass and the first acceleration, further includes:
obtaining the load of the rear axle according to the vehicle mass, the first distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the rear axle comprises:
M 2 is the load of the rear axle, L f Is the first distance, m, g, h, a x And the meaning of L is described in the step of calculating the load of the front axle, and the related contents refer to the above-mentioned contents, which are not described herein again.
Furthermore, based on the loads of the front axle and the rear axle, the required torque of the whole vehicle and the mass of the whole vehicle, the actual adhesion force of the front axle can be calculated, and the method specifically comprises the following steps:
obtaining the rolling radius of the wheels of the current vehicle;
obtaining the actual adhesive force of the front axle according to the finished automobile required torque, the finished automobile mass, the wheel rolling radius and the load of the front axle, wherein the mathematical expression for obtaining the actual adhesive force of the front axle comprises the following steps:
F a1 for the actual adhesion of the front axle, T v Is the torque required by the whole vehicle, m is the mass of the whole vehicle, r is the rolling of the wheelsRadius, M 1 Is the load of the front axle.
Similarly, the actual adhesion force of the rear axle can be calculated, specifically, the method comprises the following steps:
obtaining the actual adhesion of the rear axle according to the vehicle demand torque, the vehicle mass, the wheel rolling radius and the rear axle load, wherein the mathematical expression for obtaining the actual adhesion of the rear axle comprises:
F a2 for the actual adhesion of the rear axle, M 2 Load of said rear axle, T v The meanings of m and r have been described in the step of calculating the actual adhesion force of the front axle, and please refer to the above description for related contents, which will not be described herein again.
It should be noted that, the foregoing calculation of the loads of the front axle and the rear axle and the calculation of the actual adhesion forces of the front axle and the rear axle may adopt a serial timing control manner or a parallel timing control manner, and from the viewpoint of improving the control efficiency, the embodiment adopts the parallel timing control manner, that is, the loads of the front axle and the rear axle are respectively calculated at the same time, and then the actual adhesion forces of the front axle and the rear axle are calculated at the same time based on the parameters such as the loads and the required torque of the entire vehicle.
S103: and calculating the available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end.
In one embodiment, said step of calculating an available grip torque of said axle stub from said maximum grip force and said actual grip force of said axle stub comprises:
obtaining the rolling radius of the wheels of the current vehicle;
obtaining an available adhesion torque of the front axle from the maximum adhesion of the front axle, the load of the front axle, the second acceleration, the actual adhesion of the front axle, and the wheel rolling radius, wherein obtaining a mathematical representation of the available adhesion torque of the front axle comprises:
T 1 available attachment torque for the front axle, F f Maximum adhesion of the front axle, M 1 Is the load of the front axle, a y Is said second acceleration, F a1 R is the wheel rolling radius, which is the actual adhesion of the front axle.
The step of calculating the available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end further comprises:
obtaining an available adhesion torque of the rear axle according to the maximum adhesion force of the rear axle, the load of the rear axle, the second acceleration, the actual adhesion force of the rear axle, and the wheel rolling radius, wherein obtaining a mathematical expression of the available adhesion torque of the rear axle comprises:
T 2 available attachment torque for said rear axle, F r Maximum adhesion of the rear axle, M 2 Is the load of the rear axle, F a2 Is the actual adhesion of the rear axle, a y And r has the same meaning as that described in the step of calculating the available adhesion torque of the front axle, and the related description is referred to above and will not be repeated herein.
It should be noted that, from the viewpoint of improving the control efficiency, the parallel timing control method, that is, the available adhesion torques of the front axle and the rear axle are calculated simultaneously, may be adopted.
S104: when the requested torque of the shaft end is received and one available adhesion torque is smaller than a preset torque threshold value, transferring part or all of the requested torque of a target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end which is pointed by the available adhesion torque smaller than the torque threshold value.
For example, the torque threshold may be zero, the available adhesion torque may be a threshold for ensuring the driving stability of the vehicle, when the available adhesion torque at the shaft end is less than zero, it indicates that the shaft end cannot continue to perform the torque control, and if the torque control is continued, the vehicle may be unstable, so that the available adhesion torque is used as a condition for determining whether the requested torque transfer needs to be performed in order to maintain the stability of the vehicle. For example, if the available adhesion torque of the rear axle is less than zero and the available adhesion torque of the front axle is greater than zero, then some or all of the requested torque of the rear axle is transferred to the front axle.
Specifically, the step of transferring part or all of the requested torque of the target shaft end to the other shaft end comprises the following steps: judging whether the sum of the requested torques of the front shaft and the rear shaft is larger than the available adhering torque of the other shaft end; if yes, calculating a difference torque between the available adhesion torque and the requested torque of the other shaft end, and transferring the requested torque of the part of the target shaft end to the other shaft end, wherein the requested torque of the part is smaller than or equal to the difference torque; if not, all the requested torque of the target shaft end is transferred to the other shaft end.
If the available adhesive torques of the front axle and the rear axle are smaller than the torque threshold value, the maximum adhesive torques of the front axle and the rear axle are multiplied by the rolling radius of the wheels respectively, so that the maximum adhesive torques of the front axle and the rear axle are obtained, and the maximum adhesive torques of the front axle and the rear axle are respectively used as limiting values of the requested torques of the front axle and the rear axle, so that the vehicle is prevented from being unstable due to overhigh requested torques of the front axle and the rear axle. In other embodiments, the vehicle instability can be avoided by automatically starting an Electronic Stability Controller (ESC) of the vehicle when the available adhesion torque of the front axle and the rear axle is less than the torque threshold. If the available adhesion torque of the front axle and the available adhesion torque of the rear axle are both larger than zero, the current running of the vehicle is considered to be stable, and other intervention operation is not needed for the moment.
Preferably, in some embodiments, after the step of calculating the available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end, a filtering process may be further performed and a maximum value may be set to limit the available adhesion torque, and in particular, the method further includes the following steps:
acquiring a preset torque interval, and judging whether the available adhesion torque of the shaft end is positioned in the torque interval;
if yes, executing the step of transferring partial or all request torque of the target shaft end to the other shaft end when the request torque of the shaft end is received and available adhesion torque of one target shaft end is smaller than the torque threshold value;
if not, when the available adhesion torque of the shaft end is smaller than the minimum value of the torque interval, the minimum value of the torque interval is used as the available adhesion torque of the shaft end, and when the available adhesion torque of the shaft end is larger than the maximum value of the torque interval, the maximum value of the torque interval is used as the available adhesion torque of the shaft end.
As described above, the vehicle turning control method calculates the available adhesion torque at the axle end when the vehicle is turning, and performs the requested torque shift when the available adhesion torque is smaller than the torque threshold value, using the available adhesion torque as a condition for determining whether the requested torque needs to be shifted. Since the available adhesion torque is a threshold value for ensuring the driving stability of the vehicle, when the available adhesion torque at the shaft end is smaller than a preset torque threshold value, it indicates that the shaft end cannot continue to perform torque control, and if the torque control is continued, the vehicle is unstable, so that in order to maintain the stability of the vehicle, the requested torque received by the shaft end needs to be transferred to the other shaft end. Therefore, compared with the prior art, the method improves the stability of the automobile during turning.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, a control device for turning a vehicle is provided, the device comprises a vehicle controller, wherein the vehicle controller is used for:
determining a maximum adhesion force of shaft ends, wherein the shaft ends comprise a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
when the request torque of the shaft end is received and one available traction torque is smaller than a preset torque threshold value, transferring partial or all request torque of a target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end pointed by the available traction torque smaller than the torque threshold value.
Specifically, the vehicle control unit is further configured to: judging whether the sum of the requested torques of the front shaft and the rear shaft is larger than the available adhering torque of the other shaft end; if yes, calculating a difference torque between the available adhesion torque and the requested torque of the other shaft end, and transferring the requested torque of the part of the target shaft end to the other shaft end, wherein the requested torque of the part is smaller than or equal to the difference torque; if not, all the requested torque of the target shaft end is transferred to the other shaft end.
Specifically, referring to fig. 2, the device may further include a speed sensor, wherein the speed sensor is electrically connected to the vehicle controller, and the speed sensor is configured to acquire a first acceleration of the current vehicle in the driving direction and a second acceleration horizontally perpendicular to the driving direction; the vehicle control unit is also used for acquiring the vehicle mass, the wheel track, the wheel base and the preset adhesion coefficient of the current vehicle; and obtaining the maximum adhesive force of the front axle and the rear axle based on the first acceleration, the second acceleration, the finished vehicle mass, the wheel track, the wheel base and the adhesion coefficient.
Specifically, the vehicle control unit is further configured to: setting a mass center of the current vehicle, and acquiring a first distance from the mass center to the front axle, a second distance from the mass center to the rear axle and a third distance from the mass center to the ground; taking the driving direction as a reference direction, and obtaining the maximum adhesion of the left front wheel and the maximum adhesion of the right front wheel according to the adhesion coefficient, the finished vehicle mass, the second distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum adhesion of the left front wheel comprises:
obtaining a mathematical representation of the right front wheel maximum adhesion force includes:
F 1 maximum adhesion of the left front wheel, F 2 Is the maximum adhesion of the right front wheel, mu is the adhesion coefficient, m is the vehicle mass, g is the acceleration of gravity, L r Is the second distance, h is the third distance, a x Is the first acceleration, L is the wheel base, a y Is the second acceleration, L w Is the wheel track; and calculating the sum of the maximum adhesion force of the left front wheel and the maximum adhesion force of the right front wheel to obtain the maximum adhesion force of the front axle.
Specifically, the vehicle control unit is further configured to: obtaining a left rear wheel maximum adhesion force and a right rear wheel maximum adhesion force according to the adhesion coefficient, the vehicle mass, the first distance, the third distance, the first acceleration, the wheel base, the second acceleration and the wheel base, wherein obtaining a mathematical expression of the left rear wheel maximum adhesion force comprises:
obtaining a mathematical representation of the maximum adhesion of the right rear wheel includes:
F 3 maximum adhesion of the left rear wheel, F 4 Is the maximum adhesion force of the right rear wheel, L f Is the first distance; and calculating the sum of the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel to obtain the maximum adhesive force of the rear axle.
Specifically, the vehicle control unit is further configured to: acquiring the total vehicle required torque of the current vehicle; obtaining the load of the shaft end based on the finished vehicle mass and the first acceleration; and obtaining the actual adhesive force of the front shaft and the rear shaft based on the finished automobile required torque, the finished automobile mass and the load of the shaft end.
Specifically, the vehicle control unit is further configured to: setting a mass center of the current vehicle, and acquiring a first distance between the mass center and the front axle, a second distance between the mass center and the rear axle and a third distance between the mass center and the ground; obtaining the load of the front axle according to the finished vehicle mass, the second distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the front axle comprises:
M 1 is the load of the front axle, m is the vehicle mass, g is the acceleration of gravity, L r Is the second distance, h is the third distance, a x Is the first acceleration, and L is the wheelbase.
Specifically, the vehicle control unit is further configured to: obtaining the load of the rear axle according to the finished vehicle mass, the first distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the rear axle comprises:
M 2 is the load of the rear axle, L f Is the first distance.
Specifically, the vehicle control unit is further configured to: obtaining the wheel rolling radius of the current vehicle; obtaining the actual adhesive force of the front axle according to the finished automobile required torque, the finished automobile mass, the wheel rolling radius and the load of the front axle, wherein the mathematical expression for obtaining the actual adhesive force of the front axle comprises the following steps:
F a1 for the actual adhesion of the front axle, T v Is the torque required by the whole vehicle, M is the mass of the whole vehicle, r is the rolling radius of the wheels, M 1 Is the load of the front axle.
Specifically, the vehicle control unit is further configured to: obtaining the actual adhesive force of the rear axle according to the finished automobile required torque, the finished automobile mass, the wheel rolling radius and the rear axle load, wherein the mathematical expression for obtaining the actual adhesive force of the rear axle comprises the following steps:
F a2 for the actual adhesion of the rear axle, M 2 Is the load of the rear axle.
Specifically, the vehicle control unit is further configured to: obtaining the wheel rolling radius of the current vehicle; obtaining an available adhesion torque of the front axle based on the maximum adhesion of the front axle, the load of the front axle, the second acceleration, the actual adhesion of the front axle, and the wheel rolling radius, wherein obtaining a mathematical representation of the available adhesion torque of the front axle comprises:
T 1 available attachment torque for the front axle, F f Maximum adhesion of the front axle, M 1 Is the load of the front axle, a y Is said second acceleration, F a1 R is the actual adhesion of the front axle and r is the rolling radius of the wheel.
Specifically, the vehicle control unit is further configured to: obtaining an available adhesion torque of the rear axle according to the maximum adhesion force of the rear axle, the load of the rear axle, the second acceleration, the actual adhesion force of the rear axle, and the rolling radius of the wheel, wherein obtaining a mathematical expression of the available adhesion torque of the rear axle comprises:
T 2 available attachment torque for said rear axle, F r Maximum adhesion of the rear axle, M 2 Is the load of the rear axle, F a2 Is the actual adhesion of the rear axle.
Specifically, the vehicle control unit is further configured to: acquiring a preset torque interval, and judging whether the available adhesion torque of the shaft end is positioned in the torque interval; if yes, executing the step of transferring partial or all request torque of the target shaft end to the other shaft end when the request torque of the shaft end is received and available adhesion torque of one target shaft end is smaller than the torque threshold value; if not, when the available adhesion torque of the shaft end is smaller than the minimum value of the torque interval, the minimum value of the torque interval is used as the available adhesion torque of the shaft end, and when the available adhesion torque of the shaft end is larger than the maximum value of the torque interval, the maximum value of the torque interval is used as the available adhesion torque of the shaft end.
For specific definition of the control device for turning the vehicle, reference may be made to the above definition of the control method for turning the vehicle, and details thereof are not repeated herein.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (14)
1. A method for controlling turning of a vehicle, the method comprising:
determining a maximum adhesion force of shaft ends, wherein the shaft ends comprise a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
when the request torque of the shaft end is received and one available traction torque is smaller than a preset torque threshold value, transferring partial or all request torque of a target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end pointed by the available traction torque smaller than the torque threshold value.
2. The method for controlling turning of an automobile according to claim 1, wherein the step of transferring a part or all of the requested torque of the target axle end to the other axle end comprises:
judging whether the sum of the requested torques of the front shaft and the rear shaft is larger than the available adhering torque of the other shaft end;
if yes, calculating a differential torque between the available adhesion torque and the requested torque of the other shaft end, and transferring the requested torque of the part of the target shaft end to the other shaft end, wherein the requested torque of the part is smaller than or equal to the differential torque;
if not, all the requested torque of the target shaft end is transferred to the other shaft end.
3. The method for controlling turning of an automobile according to claim 1 or 2, wherein the step of determining the maximum adhesion force of the shaft end includes:
acquiring a first acceleration of a current vehicle in a driving direction and a second acceleration horizontally perpendicular to the driving direction;
acquiring the whole vehicle mass, the wheel track, the wheel base and the preset attachment coefficient of the current vehicle;
and obtaining the maximum adhesive force of the front axle and the rear axle based on the first acceleration, the second acceleration, the finished vehicle mass, the wheel track, the wheel base and the adhesion coefficient.
4. The method for controlling turning of an automobile according to claim 3, wherein the step of obtaining the maximum adhesion force of the front axle includes:
setting a mass center of the current vehicle, and acquiring a first distance from the mass center to the front axle, a second distance from the mass center to the rear axle and a third distance from the mass center to the ground;
taking the driving direction as a reference direction, and obtaining the maximum adhesion of the left front wheel and the maximum adhesion of the right front wheel according to the adhesion coefficient, the finished vehicle mass, the second distance, the third distance, the first acceleration, the wheelbase, the second acceleration and the wheelbase, wherein obtaining the mathematical expression of the maximum adhesion of the left front wheel comprises:
obtaining a mathematical representation of the right front wheel maximum adhesion force includes:
F 1 maximum adhesion of the left front wheel, F 2 Is the maximum adhesion of the right front wheel, mu is the adhesion coefficient, m is the vehicle mass, g is the acceleration of gravity, L r Is the second distance, h is the third distance, a x Is the first acceleration, L is the wheel base, a y Is the second acceleration, L w Is the wheel track;
and calculating the sum of the maximum adhesive force of the left front wheel and the maximum adhesive force of the right front wheel to obtain the maximum adhesive force of the front axle.
5. The method for controlling turning of an automobile according to claim 4, wherein the step of obtaining the maximum adhesion force of the rear axle includes:
obtaining a left rear wheel maximum adhesion force and a right rear wheel maximum adhesion force according to the adhesion coefficient, the vehicle mass, the first distance, the third distance, the first acceleration, the wheel base, the second acceleration and the wheel base, wherein obtaining a mathematical expression of the left rear wheel maximum adhesion force comprises:
obtaining a mathematical representation of the maximum adhesion of the right rear wheel includes:
F 3 is the maximum adhesion of the left rear wheel, F 4 Is the maximum adhesion force of the right rear wheel, L f Is the first distance;
and calculating the sum of the maximum adhesive force of the left rear wheel and the maximum adhesive force of the right rear wheel to obtain the maximum adhesive force of the rear axle.
6. The method for controlling turning of an automobile according to claim 3, wherein said step of obtaining the actual adhesion force of said shaft end comprises:
acquiring the total vehicle required torque of the current vehicle;
obtaining the load of the shaft end based on the finished vehicle mass and the first acceleration;
and obtaining the actual adhesive force of the front shaft and the rear shaft based on the finished automobile required torque, the finished automobile mass and the load of the shaft end.
7. The method for controlling turning of an automobile according to claim 6, wherein the step of obtaining the load of the shaft end based on the entire vehicle mass and the first acceleration includes:
setting a mass center of the current vehicle, and acquiring a first distance between the mass center and the front axle, a second distance between the mass center and the rear axle and a third distance between the mass center and the ground;
obtaining the load of the front axle according to the finished vehicle mass, the second distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the front axle comprises:
M 1 is the load of the front axle, m is the vehicle mass, g is the acceleration of gravity, L r Is the second distance, h is the third distance, a x Is the first acceleration and L is the wheelbase.
8. The method for controlling turning of an automobile according to claim 7, wherein the step of obtaining the load of the shaft end based on the entire automobile mass and the first acceleration further includes:
obtaining the load of the rear axle according to the finished vehicle mass, the first distance, the third distance, the first acceleration and the wheel track, wherein obtaining the mathematical expression of the load of the rear axle comprises:
M 2 is the load of the rear axle, L f Is the first distance.
9. The method for controlling turning of an automobile according to claim 6, wherein the step of obtaining the actual adhesion force of the front axle based on the entire vehicle required torque, the entire vehicle mass, and the load at the axle end includes:
obtaining the rolling radius of the wheels of the current vehicle;
obtaining the actual adhesion of the front axle according to the vehicle demand torque, the vehicle mass, the wheel rolling radius and the load of the front axle, wherein the mathematical expression for obtaining the actual adhesion of the front axle comprises:
F a1 for the actual adhesion of the front axle, T v M is the vehicle mass, r is the wheel rolling radius, M 1 Is the load of the front axle.
10. The method for controlling turning of an automobile according to claim 9, wherein the step of obtaining the actual adhesion force of the rear axle based on the entire automobile required torque, the entire automobile mass, and the load at the axle end includes:
obtaining the actual adhesion of the rear axle according to the vehicle demand torque, the vehicle mass, the wheel rolling radius and the rear axle load, wherein the mathematical expression for obtaining the actual adhesion of the rear axle comprises:
F a2 for the actual adhesion of the rear axle, M 2 Is the load of the rear axle.
11. The method of controlling turning of an automobile according to claim 6, wherein the step of calculating the available adhesion torque of the shaft end based on the maximum adhesion force and the actual adhesion force of the shaft end includes:
obtaining the wheel rolling radius of the current vehicle;
obtaining an available adhesion torque of the front axle from the maximum adhesion of the front axle, the load of the front axle, the second acceleration, the actual adhesion of the front axle, and the wheel rolling radius, wherein obtaining a mathematical representation of the available adhesion torque of the front axle comprises:
T 1 available adhesion torque for said front axle, F f Maximum adhesion of the front axle, M 1 Is the load of the front axle, a y Is said second acceleration, F a1 R is the wheel rolling radius, which is the actual adhesion of the front axle.
12. The method of controlling turning of an automobile according to claim 11, wherein said step of calculating an available adhesion torque for said axle end based on said maximum adhesion force and said actual adhesion force for said axle end further comprises:
obtaining an available adhesion torque of the rear axle according to the maximum adhesion force of the rear axle, the load of the rear axle, the second acceleration, the actual adhesion force of the rear axle, and the rolling radius of the wheel, wherein obtaining a mathematical expression of the available adhesion torque of the rear axle comprises:
T 2 available adhesion torque for said rear axle, F r Maximum adhesion of the rear axle, M 2 Is the load of the rear axle, F a2 Is the actual adhesion of the rear axle.
13. The method for controlling turning of an automobile according to any one of claims 1 to 12, further comprising, after the step of calculating an available adhesion torque of the shaft end based on the maximum adhesion force and the actual adhesion force of the shaft end:
acquiring a preset torque interval, and judging whether the available adhesion torque of the shaft end is positioned in the torque interval;
if yes, executing the step of transferring partial or all request torque of the target shaft end to the other shaft end when the request torque of the shaft end is received and available adhesion torque of one target shaft end is smaller than the torque threshold value;
if not, when the available adhering torque of the shaft end is smaller than the minimum value of the torque interval, the minimum value of the torque interval is used as the available adhering torque of the shaft end, and when the available adhering torque of the shaft end is larger than the maximum value of the torque interval, the maximum value of the torque interval is used as the available adhering torque of the shaft end.
14. A control device for turning a vehicle, the device comprising a vehicle control unit, wherein the vehicle control unit is configured to:
determining a maximum adhesion force of shaft ends, wherein the shaft ends comprise a front shaft and a rear shaft;
acquiring the actual adhesive force of the shaft end;
calculating available adhesion torque of the shaft end according to the maximum adhesion force and the actual adhesion force of the shaft end;
when the request torque of the shaft end is received and one available traction torque is smaller than a preset torque threshold value, transferring partial or all request torque of a target shaft end to the other shaft end, wherein the target shaft end is used for indicating the shaft end pointed by the available traction torque smaller than the torque threshold value.
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| CN202211738805.7A CN115973272B (en) | 2022-12-30 | 2022-12-30 | Control method and device for automobile turning |
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Cited By (1)
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| CN116443022A (en) * | 2023-06-19 | 2023-07-18 | 成都赛力斯科技有限公司 | Method and device for adjusting vehicle based on road surface tire adhesion coefficient |
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| CN115973272B (en) | 2024-04-12 |
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