CN-119502885-B - Vehicle dynamic control method, vehicle dynamic control system and vehicle

CN119502885BCN 119502885 BCN119502885 BCN 119502885BCN-119502885-B

Abstract

The application provides a vehicle dynamic control method, a vehicle dynamic control system and a vehicle, and relates to the technical field of vehicles, wherein the method comprises the steps of obtaining current road condition information of a target vehicle; determining whether a target vehicle is in a rainy day running condition according to current road condition information, acquiring the actual yaw rate, the target yaw rate, the vehicle speed and the wheel speeds of a plurality of wheels of the target vehicle if the target vehicle is in the rainy day running condition, calculating the actual yaw rate of the target vehicle according to the actual yaw rate and the target yaw rate, determining whether a preset yaw control entry triggering condition is met or not, calculating a braking pressure value according to the actual yaw rate and the vehicle speed if the preset yaw control entry triggering condition is met, and determining tires to be controlled according to the wheel speeds of the plurality of wheels. The application can accurately restrain the yaw possibly generated by the target vehicle and reduce the risk of vehicle out of control.

Inventors

TAO ZHE
QIU JIANGHAI
ZHANG MENGYAO
WANG CHENGUANG
ZHAO MENGNAN

Assignees

上海拿森汽车电子有限公司

Dates

Publication Date: 20260512
Application Date: 20241223

Claims (9)

1. A vehicle dynamic control method, characterized in that the method comprises: Acquiring current road condition information of a target vehicle; Determining whether the target vehicle is in a rainy day driving condition according to the current road condition information; If the target vehicle is in a rainy day running condition, acquiring the actual yaw rate of the target vehicle, the target yaw rate, the vehicle speed and the wheel speeds of a plurality of wheels; calculating an actual yaw angle of the target vehicle according to the actual yaw rate and the target yaw rate; Determining whether a preset yaw control entry triggering condition is met according to the actual yaw deviation angle; if the preset yaw control entering triggering condition is met, determining a front axle braking moment value and a rear axle braking moment value according to the actual yaw deviation angle and the vehicle speed; According to the front axle braking moment value and the rear axle braking moment value, respectively calculating a front axle braking pressure value and a rear axle braking pressure value by adopting a preset braking moment conversion coefficient; determining a tire to be controlled according to the wheel speeds of the plurality of wheels; Applying braking pressure with corresponding pressure values to the tire to be controlled according to the braking pressure values, wherein the braking pressure values comprise a front axle braking pressure value and a rear axle braking pressure value; The tire to be controlled comprises a front axle tire to be controlled and a rear axle tire to be controlled, wherein the braking pressure of the corresponding pressure value is applied to the tire to be controlled according to the braking pressure value, and the tire to be controlled comprises the following components: And respectively applying braking pressures with corresponding pressure values to the front axle tire to be controlled and the rear axle tire to be controlled according to the front axle braking pressure value and the rear axle braking pressure value.
2. The method of claim 1, wherein the current traffic information is a traffic image collected by an optical camera on the target vehicle, and wherein determining whether the target vehicle is in a rainy driving condition according to the current traffic information comprises: carrying out road surface identification on the road condition image to obtain a target road surface category and a road friction coefficient of a road surface where the target vehicle is located; Determining whether the road friction coefficient is in a preset rainy day road condition friction coefficient range corresponding to the target road surface category; And if the road friction coefficient is within a preset rainy day road condition friction coefficient range corresponding to the target road surface category, determining that the target vehicle is in a rainy day running condition.
3. The method of claim 1, wherein the obtaining the actual yaw rate of the target vehicle, the target yaw rate, the vehicle speed, and the wheel speeds of the plurality of wheels comprises: Acquiring the actual yaw rate, the vehicle speed, and the wheel speeds of the plurality of wheels from an electronic stability system of the target vehicle; acquiring a steering wheel steering angle of the target vehicle from a steering electronic power assisting system of the target vehicle; And calculating the target yaw rate according to the steering angle of the steering wheel.
4. The method of claim 1, wherein the determining whether a preset yaw control entry trigger condition is satisfied according to the actual yaw deviation angle comprises: determining whether the actual yaw deviation angle is greater than a first preset deviation threshold; if the actual yaw deviation angle is larger than the first preset deviation threshold value, determining that the preset yaw control entering triggering condition is met; And if the actual yaw deviation angle is smaller than or equal to the first preset deviation threshold value, determining that the preset yaw control entering triggering condition is not met.
5. The method of claim 1, wherein determining a front axle braking torque value and a rear axle braking torque value based on the actual yaw bias angle and the vehicle speed comprises: according to the vehicle speed, table lookup is carried out to obtain a basic braking moment value under the vehicle speed; Calculating a target braking moment value according to the actual yaw deviation angle and the basic braking moment value, wherein the target braking moment value is larger than the basic braking moment value; Determining the target braking torque value as the front axle braking torque value; And determining the rear axle braking moment value according to the target braking moment value and a preset rear axle braking distribution coefficient.
6. The method of claim 1, wherein said determining a tire to be controlled based on wheel speeds of said plurality of wheels comprises: determining a lowest wheel speed wheel according to the wheel speeds of the plurality of wheels; And respectively determining a front axle tire and a rear axle tire on opposite sides of the lowest wheel speed wheel as the front axle tire to be controlled and the rear axle tire to be controlled, wherein the opposite sides of the lowest wheel speed wheel are opposite sides symmetrical relative to the central axis of a preset wheel of the target vehicle.
7. The method of claim 4, wherein after the satisfaction of the preset yaw control entry trigger condition, the method further comprises: Determining that a preset yaw control function is in an activated state; after the braking pressure with the corresponding pressure value is applied to the tire to be controlled according to the braking pressure value, the method further comprises the following steps: acquiring a yaw deviation angle after the braking pressure is applied; If the yaw deviation angle after the braking pressure is applied is smaller than or equal to a second preset deviation threshold, determining that a preset yaw control exit triggering condition is met, and controlling the preset yaw control function to be switched from an activated state to a closed state, wherein the second preset deviation threshold is smaller than the first preset deviation threshold.
8. A vehicle dynamics control system, characterized in that it is connected to a brake system for performing the vehicle dynamics control method according to any one of the preceding claims 1-7.
9. A vehicle, comprising the vehicle dynamics control system as set forth in claim 8.

Description

Vehicle dynamic control method, vehicle dynamic control system and vehicle Technical Field The application relates to the technical field of vehicles, in particular to a vehicle dynamic control method, a vehicle dynamic control system and a vehicle. Background Vehicle stability at high speed travel vehicle safety endpoint. Conventional vehicle control systems, such as ABS (antilock brake system), ESC (electronic stability control system), TCS (traction control system), etc., are mainly focused on maintaining the drivability of the vehicle in an emergency. However, these systems still have certain limitations when the vehicle is traveling at high speeds, particularly under rough or special road conditions. When the vehicle runs at a high speed on the ponding road surface, when a single side wheel or a single front wheel enters the ponding road surface, the wheel can not timely discharge ponding on the road surface, so that the wheel on the side has no adhesive force, and when the vehicle is unstable, a vehicle body stabilizing system intervenes. However, in the prior art, when a vehicle is unstable, the vehicle body stabilizing system intervenes, so that the intervention time of the vehicle body stabilizing system is late, the vehicle body stabilizing system intervenes and limits based on the steering requirement of a driver, and when the experience of the driver is insufficient, the vehicle is unstable continuously. Disclosure of Invention The application aims to overcome the defects in the prior art and provide a vehicle dynamic control method, a vehicle dynamic control system and a vehicle. In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows: in a first aspect, an embodiment of the present application provides a vehicle dynamic control method, including: Acquiring current road condition information of a target vehicle; Determining whether the target vehicle is in a rainy day driving condition according to the current road condition information; If the target vehicle is in a rainy day running condition, acquiring the actual yaw rate of the target vehicle, the target yaw rate, the vehicle speed and the wheel speeds of a plurality of wheels; calculating an actual yaw angle of the target vehicle according to the actual yaw rate and the target yaw rate; Determining whether a preset yaw control entry triggering condition is met according to the actual yaw deviation angle; if the preset yaw control entering triggering condition is met, calculating a brake pressure value according to the actual yaw deviation angle and the vehicle speed; determining a tire to be controlled according to the wheel speeds of the plurality of wheels; and applying braking pressure with a corresponding pressure value to the tire to be controlled according to the braking pressure value. Optionally, the current road condition information is a road condition image collected by an optical camera on the target vehicle, and the determining whether the target vehicle is in a rainy day driving condition according to the current road condition information comprises: carrying out road surface identification on the road condition image to obtain a target road surface category and a road friction coefficient of a road surface where the target vehicle is located; Determining whether the road friction coefficient is in a preset rainy day road condition friction coefficient range corresponding to the target road surface category; And if the road friction coefficient is within a preset rainy day road condition friction coefficient range corresponding to the target road surface category, determining that the target vehicle is in a rainy day running condition. Optionally, the acquiring the actual yaw rate of the target vehicle, the target yaw rate, the vehicle speed, and the wheel speeds of the plurality of wheels includes: Acquiring the actual yaw rate, the vehicle speed, and the wheel speeds of the plurality of wheels from an electronic stability system of the target vehicle; acquiring a steering wheel steering angle of the target vehicle from a steering electronic power assisting system of the target vehicle; And calculating the target yaw rate according to the steering angle of the steering wheel. Optionally, the determining whether the preset yaw control entry triggering condition is met according to the actual yaw deviation angle includes: determining whether the actual yaw deviation angle is greater than a first preset deviation threshold; if the actual yaw deviation angle is larger than the first preset deviation threshold value, determining that the preset yaw control entering triggering condition is met; And if the actual yaw deviation angle is smaller than or equal to the first preset deviation threshold value, determining that the preset yaw control entering triggering condition is not met. Optionally, the calculating a brake pressure value according to the actual yaw deviatio