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CN-115534933-B - Vehicle rollover prevention control method, system, device, equipment and storage medium

CN115534933BCN 115534933 BCN115534933 BCN 115534933BCN-115534933-B

Abstract

The invention discloses a vehicle rollover prevention control method, a system, a device, equipment and a storage medium, wherein the method comprises the steps of acquiring vehicle parameter data and a rollover threshold value; the method comprises the steps of calculating a rollover evaluation value according to vehicle parameter data, comparing the rollover evaluation value with a rollover threshold value, calculating the front wheel steering angle added value according to the rollover evaluation value if the rollover evaluation value is larger than or equal to the rollover threshold value, adjusting the vehicle according to the rollover evaluation value, reducing control time, enabling the vehicle to have more reaction time for rollover prevention control, improving the timeliness of vehicle active rollover prevention, further calculating a rollover derivative predictive index value if the rollover evaluation value is smaller than the rollover threshold value, and judging whether rollover prevention control intervenes according to the rollover derivative predictive index value. The combination mechanism of the rollover evaluation value and the rollover derivative predictive index value ensures that the vehicle has better response time under the condition of normal driving and abnormal driving so as to realize active rollover prevention control.

Inventors

  • CUI TAOWEN
  • QU YUAN
  • YIN SHANHUI

Assignees

  • 奇瑞汽车股份有限公司

Dates

Publication Date
20260505
Application Date
20220923

Claims (8)

  1. 1. The vehicle rollover prevention control method is characterized by comprising the following steps of: acquiring vehicle parameter data and a rollover threshold value; Calculating a rollover evaluation value ILTR according to the vehicle parameter data; Comparing the rollover evaluation value ILTR with a rollover threshold value, if the rollover evaluation value ILTR is greater than or equal to the rollover threshold value, calculating a front wheel corner additional value according to the rollover evaluation value ILTR, if the rollover evaluation value ILTR is smaller than the rollover threshold value, calculating a rollover derivative predictive index value IPLTR according to vehicle parameter data and the rollover evaluation value ILTR, and when | IPLTR | <1, the vehicle has no rollover risk, and when | IPLTR | is greater than or equal to 1, the vehicle has a rollover risk, and calculating a front wheel corner additional value according to the rollover derivative predictive index value IPLTR; the state of the vehicle is adjusted according to the additional value of the front wheel steering angle; The calculation of the rollover evaluation value ILTR specifically includes the following steps: establishing a vehicle rollover model which comprises three directions of rolling, transverse direction and yaw direction; Wherein m is the total mass of the car, m s is the sprung mass, k 1 、k 2 is the cornering stiffness, For the centroid slip angle, I xs is the moment of inertia of the sprung mass of the automobile about the x-axis of the vehicle coordinate system, I xz is the moment of inertia of the sprung mass of the automobile about the z-axis of the vehicle coordinate system, e is the distance from the sprung mass to the roll center, I z is the moment of inertia of the mass of the entire automobile about the z-axis of the vehicle coordinate system, r is the yaw rate, For the roll angle of the vehicle body, Is the roll angle speed of the vehicle body, For the acceleration of the roll angle, The rotation angle of the front wheel, u is the speed of the vehicle, For the roll stiffness, the roll stiffness is, In order to provide roll damping, For the lateral acceleration of the vehicle body, B is the center of mass to front axis distance and b is the center of mass to rear axis distance; The sprung mass is balanced against the moment at the center of roll O as shown in equation (2): the unsprung mass takes moment from the center of the two-sided wheel ground connection point connection, as shown in formula (3): Wherein F R and F L represent the total vertical reaction of the right and left wheels, respectively; Calculating sprung mass lateral acceleration As shown in formula (4): where v x denotes the vehicle longitudinal speed, Is the vehicle lateral acceleration; calculating a rollover evaluation value ILTR as shown in formula (5): Wherein t is the track, m d is the unsprung mass, and h d is the unsprung mass centroid to ground distance; The specific representation of the rollover derivative predictive index value IPLTR is shown in the formula (6): Wherein, the Representing the derivative of the lateral load transfer rate at time t 0 , t 0 representing the current time, The predicted time is indicated as such, 。
  2. 2. The vehicle rollover prevention control method of claim 1, wherein the vehicle parameters include roll angle, roll angle speed, body height, steering wheel angle, front wheel angle, and lateral acceleration.
  3. 3. A vehicle rollover prevention control system, characterized in that the method according to any one of claims 1-2 is adopted, comprising: the data acquisition module is used for acquiring vehicle parameter data and a rollover threshold value; The data calculation module is used for calculating a rollover evaluation value ILTR according to the vehicle parameter data; The comparison and judgment module is used for comparing the rollover evaluation value with the rollover threshold value, if the rollover evaluation value is larger than or equal to the rollover threshold value, the vehicle has rollover risk, and calculating the front wheel corner additional value according to the rollover evaluation value, if the rollover evaluation value is smaller than the rollover threshold value, the rollover derivative predictive index value IPLTR is calculated according to the vehicle parameter data and the rollover evaluation value, when | IPLTR | <1, the vehicle has no rollover risk, and when | IPLTR | <1, the vehicle has rollover risk, and the front wheel corner additional value is calculated according to the rollover derivative predictive index value IPLTR; and the action execution module is used for adjusting the state of the vehicle according to the additional value of the front wheel steering angle.
  4. 4. A vehicle rollover prevention control device, characterized in that the method of any one of claims 1-2 is adopted, comprising a sensing unit, a rollover evaluation unit, a derivative prediction unit and a control unit; The sensing unit is used for acquiring vehicle parameter data and transmitting the acquired vehicle parameter data to the rollover evaluation unit; The rollover evaluation unit substitutes the vehicle parameter data into the evaluation index to calculate a rollover evaluation value ILTR, and when the absolute value ILTR is smaller than 0.8, the vehicle parameter data and the rollover evaluation value ILTR are transmitted to the derivative prediction unit, and when the absolute value ILTR is larger than or equal to 0.8, the rollover evaluation value ILTR is transmitted to the control unit; The derivative prediction unit calculates a rollover derivative prediction index IPLTR value according to vehicle parameter data and a rollover evaluation value ILTR, and when | IPLTR | <1, the vehicle has no rollover risk, and when | IPLTR | is more than or equal to 1, the rollover derivative prediction index value IPLTR is transmitted to the control unit; The control unit calculates a corner motor control signal according to the rollover evaluation value ILTR or the rollover derivative predictive index value IPLTR, and adjusts the vehicle state according to the corner motor control signal.
  5. 5. The rollover prevention control device for a vehicle as defined in claim 4, wherein the control unit comprises a corner motor control unit and a corner motor execution unit, wherein the corner motor control unit calculates a corner motor control signal, transmits the corner motor control signal to the corner motor execution unit, and wherein the corner motor execution unit adjusts the vehicle state according to the corner motor control signal.
  6. 6. The rollover prevention control device for a vehicle as defined in claim 4, wherein the sensing unit is a data acquisition sensor including a roll angle sensor, a body height sensor, a steering wheel sensor, a front wheel steering angle sensor, and a lateral acceleration sensor.
  7. 7. An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1-2 when the computer program is executed.
  8. 8. A computer readable storage medium storing a computer program, which when executed by a processor performs the steps of the method according to any one of claims 1-2.

Description

Vehicle rollover prevention control method, system, device, equipment and storage medium Technical Field The invention belongs to the field of automobile steering, and relates to a vehicle rollover prevention control method, a system, a device, equipment and a storage medium. Background With the rapid development of economy, automobiles are becoming an indispensable transportation means in people's life nowadays, and the popularity is increasing. In recent years, with the rapid development of the automobile industry, the amount of maintenance of large SUVs, freight vehicles and the like has been continuously increased, and because of the high center of gravity of these vehicles and the high risk of rollover, the vehicle rollover is extremely harmful to lives and properties of drivers and passengers in the vehicle. The prior rollover prevention control methods mainly applied in the rollover prevention field comprise active steering, differential braking and active/semi-active suspensions, and a lateral Load Transfer Rate (LTR) rollover evaluation method based on the roll angle speed is commonly adopted in the aspect of rollover evaluation indexes. The anti-rollover control by the active steering mode mainly reduces rollover indexes by the mode of performing reverse additional corner intervention through a steering motor, the differential braking can generate an additional yaw moment and reduce the vehicle speed at the same time so as to reduce the rollover risk, and the active/semi-active suspension mainly adjusts damping through changing the hydraulic hole of the suspension damper, so that the anti-rollover capacity of the vehicle is enhanced. However, the rollover index of the control system is often an LTR evaluation index obtained by calculating a roll angle speed, a roll angle, a lateral acceleration, or the like, and there is an influence of the vehicle speed on the accuracy. The traditional method is to calculate the LTR value according to the roll angle speed and the roll angle according to the automobile dynamics model, and the LTR takes the whole automobile mass as a research object, but the influence of the inertial force of the unsprung mass on the rollover is not considered, so that the obtained LTR value cannot truly reflect the rollover state of the automobile. Disclosure of Invention The invention aims to solve the problem that the influence of the inertial force of unsprung mass on rollover is not considered in the prior art, and the calculated LTR value cannot truly reflect the rollover state of a vehicle, and provides a vehicle rollover prevention control method, a system, a device, equipment and a storage medium. In order to achieve the purpose, the invention is realized by adopting the following technical scheme: a vehicle rollover prevention control method comprises the following steps: acquiring vehicle parameter data and a rollover threshold value; Calculating a rollover evaluation value ILTR according to the vehicle parameter data; Comparing the rollover evaluation value ILTR with a rollover threshold value, if the rollover evaluation value ILTR is greater than or equal to the rollover threshold value, calculating a front wheel corner additional value according to the rollover evaluation value ILTR, if the rollover evaluation value ILTR is smaller than the rollover threshold value, calculating a rollover derivative predictive index value IPLTR according to vehicle parameter data and the rollover evaluation value ILTR, and when | IPLTR | <1, the vehicle has no rollover risk, and when | IPLTR | is greater than or equal to 1, the vehicle has a rollover risk, and calculating a front wheel corner additional value according to the rollover derivative predictive index value IPLTR; and adjusting the state of the vehicle according to the additional value of the front wheel steering angle. The invention further improves that: The calculation of the rollover evaluation value ILTR specifically includes the following steps: establishing a vehicle rollover model which comprises three directions of rolling, transverse direction and yaw direction; Where m is the total mass of the vehicle, m s is the sprung mass, k 1、k2 is the cornering stiffness, β is the centroid cornering angle, I xs is the moment of inertia of the sprung mass of the vehicle about the x-axis of the vehicle coordinate system, I xz is the moment of inertia of the sprung mass of the vehicle about the z-axis of the vehicle coordinate system, e is the distance from the sprung mass to the roll center, I z is the moment of inertia of the entire mass about the z-axis of the vehicle coordinate system, r is the yaw rate, For the roll angle of the vehicle body,Is the roll angle speed of the vehicle body,Is the roll angle acceleration, delta f is the front wheel rotation angle, u is the vehicle speed,For the roll stiffness, the roll stiffness is,A y is the lateral acceleration of the vehicle body, a is the distance from the mass center to the