CN-118219740-B - Control method and control device of active stabilizer bar and vehicle

CN118219740BCN 118219740 BCN118219740 BCN 118219740BCN-118219740-B

Abstract

The invention provides a control method and a control device of an active stabilizer bar and a vehicle, wherein the control method of the active stabilizer bar comprises the following steps of obtaining vehicle attitude information, vehicle steering pre-aiming information and road surface information; and under the corresponding working mode, controlling the active stabilizer bar to output corresponding anti-roll moment based on at least one of the vehicle posture information and the road surface information. The control method of the active stabilizer bar is suitable for various running conditions, improves the anti-rolling capability of the vehicle, reduces the time lag for controlling the active stabilizer bar to output the anti-rolling moment, and improves the control response.

Inventors

SHI BO
LIU JIANHUA
Peng Caigeng
GE YUNQING
Xiang Yaoqian

Assignees

比亚迪股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230718

Claims (13)

1. The control method of the active stabilizer bar is characterized by comprising the following steps of: Acquiring vehicle attitude information, vehicle steering pre-aiming information and road surface information; The working mode of the active stabilizer bar is determined according to the steering pre-aiming information of the vehicle, if the vehicle is determined to be turned according to the steering pre-aiming information of the vehicle, the working mode is switched to the first working mode, and if the vehicle is determined to have no steering requirement according to the steering pre-aiming information of the vehicle, the working mode is switched to the second working mode; in the corresponding operation mode, controlling the active stabilizer bar to output a corresponding anti-roll moment based on at least one of the vehicle attitude information and the road surface information; And if the working mode is the first working mode, when the vehicle speed is greater than a preset vehicle speed threshold value, controlling the active stabilizer bar to output corresponding anti-roll moment according to the vehicle body roll angle and/or the lateral acceleration.
2. The method according to claim 1, wherein a sprung mass acceleration sensor signal is acquired, a road surface excitation characteristic signal is determined from the sprung mass acceleration sensor signal, and the road surface information is obtained by correcting the road surface excitation characteristic signal by a radar system.
3. The method for controlling an active stabilizer bar according to claim 1, wherein a steering wheel steering signal is obtained, the vehicle steering pre-aiming information is obtained according to the steering wheel steering signal, and the vehicle steering pre-aiming information includes at least one of a vehicle steering direction, a steering wheel angle and a vehicle steering radius information corresponding to the steering wheel steering signal.
4. The method of claim 1, wherein controlling the active stabilizer bar to output the corresponding anti-roll moment according to the vehicle body roll angle and/or the lateral acceleration includes controlling the active stabilizer bar to output the corresponding anti-roll moment when the vehicle body roll angle is greater than a preset roll angle threshold and/or the lateral acceleration is greater than a preset lateral acceleration threshold.
5. The method according to claim 4, wherein controlling the active stabilizer bar to output the corresponding anti-roll moment when the vehicle body roll angle is greater than a preset roll angle threshold and/or the lateral acceleration is greater than a preset lateral acceleration threshold comprises: and when the roll angle of the vehicle body is larger than or equal to 5 degrees or the lateral acceleration is larger than or equal to 0.4g, controlling the active stabilizer bar to output a preset maximum anti-roll moment.
6. The method of claim 1, wherein if the operating mode is the second operating mode, the suspension system is controlled to start to lower the wheels when the road surface identification information is a bad road or an off-road condition.
7. The method according to claim 6, wherein when the road surface identification information is bad road or off-road condition, the method further comprises controlling the active stabilizer bar to output a corresponding anti-roll moment when the displacement of the one-side or diagonal side suspension is greater than or equal to a displacement threshold value after the suspension system is controlled to start to lower the wheels.
8. The method according to claim 1, wherein the active stabilizer bar is controlled to output the corresponding anti-roll moment in the current operation mode if the lateral acceleration is equal to or greater than an intervention threshold value preset for the lateral acceleration, and the active stabilizer bar is controlled to exit the current operation mode without outputting the anti-roll moment if the lateral acceleration is less than or equal to an exit threshold value preset for the lateral acceleration, wherein the exit threshold value is less than the intervention threshold value.
9. The method of controlling an active stabilizer bar according to claim 1, wherein in controlling an active stabilizer bar to output a corresponding anti-roll moment based on at least one of the vehicle attitude information and the road surface information, further comprising deriving a vehicle body roll angle by performing weight correction and feed forward control with the vehicle attitude information; acquiring a difference value between the acquired vehicle body side inclination angle and the target side inclination angle in the vehicle posture information; And calculating and adjusting the output required anti-roll moment value in real time according to the specific function.
10. The method of controlling an active stabilizer bar according to claim 1, wherein in controlling the active stabilizer bar to output the corresponding anti-roll moment based on at least one of the vehicle attitude information and the road surface information, further comprising controlling the corresponding active stabilizer bar to output the corresponding anti-roll moment in accordance with a moment signal output by the adjustment motor of the vehicle attitude information.
11. The method of claim 10, wherein if the motor controller cannot receive the signal, controlling the corresponding motor to short to output the corresponding anti-roll moment.
12. The control device of the active stabilizer bar is characterized by comprising A memory having a computer program stored thereon; A processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-11.
13. A vehicle comprising the control device for an active stabilizer bar according to claim 12.

Description

Control method and control device of active stabilizer bar and vehicle Technical Field The invention relates to the technical field of automobiles, in particular to a control method and device for an active stabilizer bar and a vehicle. Background When the automobile is in steering movement, the automobile body can roll due to the action of centrifugal force, so that the comfort performance of a driver can be influenced, and particularly when the road condition is poor, the automobile is easier to accident. In order to prevent a rollover accident caused by excessive rolling of a vehicle body during running of the vehicle, most vehicle models are equipped with a passive stabilizer bar for suppressing the excessive rolling of the vehicle body. However, the torsional rigidity of the passive stabilizer bar is certain, and the passive stabilizer bar is difficult to adapt to complex and changeable driving conditions, so that the steering stability and the driving smoothness of the vehicle cannot be simultaneously considered, and meanwhile, certain hysteresis exists in the action process, and real-time adjustment cannot be realized, so that the active stabilizer bar concept is proposed by research institutions at home and abroad in recent years. The active stabilizer bar is formed by adding a motor actuator and a controller on the basis of the passive stabilizer bar, and is used for improving the speed and the accuracy of the stabilizer bar for outputting the anti-roll moment, reducing the roll angle of the vehicle body when the vehicle runs under different working conditions and improving the steering stability and the smoothness of the vehicle. The system can not control the active stabilizer bar to output proper anti-roll moment in real time according to different working conditions, and has poor effects of restraining the roll of the vehicle, improving the grounding property of the tire and improving the running performance. Disclosure of Invention Aiming at the problem that the active stabilizer bar in the existing vehicle has time lag in action and can not be controlled to output proper anti-roll moment according to different working conditions, the invention provides a control method and a control device of the active stabilizer bar and the vehicle. In one aspect, the invention provides a control method of an active stabilizer bar, comprising the following steps: Acquiring vehicle attitude information, vehicle steering pre-aiming information and road surface information; Determining the working mode of the active stabilizer bar according to the steering pre-aiming information of the vehicle; in the corresponding operation mode, the active stabilizer bar is controlled to output the corresponding anti-roll moment based on at least one of the vehicle posture information and the road surface information. According to the invention, the main controller is used for prejudging and distinguishing the steering intention by acquiring the steering preaiming information of the vehicle, so that whether the vehicle is in steering or not and what driving working condition is can be identified, the main controller is used for reducing the time lag of the active stabilizer bar for outputting the target anti-roll moment through algorithm control, and the control precision and the response speed are improved. And the main controller determines the working mode to which the active stabilizer bar needs to be switched according to the steering pre-aiming information of the vehicle. And calculating the required anti-roll moment output by the active stabilizer bar in the corresponding working mode based on at least one of the vehicle attitude information and the road surface information, thereby improving the performance of the vehicle. Optionally, a sprung mass acceleration sensor signal is obtained, a road surface excitation characteristic signal is determined according to the sprung mass acceleration sensor signal, and the road surface information is obtained by correcting the road surface excitation characteristic signal through a radar system. Optionally, a steering wheel steering signal is obtained, the vehicle steering pre-aiming information is obtained according to the steering wheel steering signal, and the vehicle steering pre-aiming information comprises at least one of a vehicle steering direction, a steering wheel angle and vehicle steering radius information corresponding to the steering wheel steering signal. Optionally, if the vehicle is determined to be turned according to the vehicle steering pre-aiming information, the working mode is switched to the first working mode, and if the vehicle is determined to have no steering requirement according to the vehicle steering pre-aiming information, the working mode is switched to the second working mode. Optionally, if the working mode is the first working mode, when the vehicle speed is greater than a preset vehicle speed threshold, the active stabilizer bar is control