CN-121973758-A - Progressive type out-of-control correction method and system based on vehicle state feedback

CN121973758ACN 121973758 ACN121973758 ACN 121973758ACN-121973758-A

Abstract

The invention discloses a progressive uncontrolled correction method and a system based on vehicle state feedback, wherein the method comprises the steps of acquiring state parameters of a vehicle in running in real time; the method comprises the steps of obtaining a runaway risk index of a vehicle according to the state parameters, grading the runaway degree of the vehicle according to the runaway risk index, correspondingly generating a runaway control quantity of each vehicle control unit for correcting the runaway vehicle according to a vehicle runaway grading result, obtaining an intervention degree index of a driver for operating the runaway vehicle, generating a runaway fusion control command according to the intervention degree index and the runaway control quantity, and controlling each vehicle control unit to correct the runaway vehicle according to the runaway fusion control command. Based on the data processing flow, the vehicle stability control system realizes smooth, accurate and humanized vehicle stability control through fine state evaluation, hierarchical progressive intervention and intelligent man-machine cooperation.

Inventors

DING GUOLIANG
YANG NAN
ZHANG QIFENG
XU RUI
WANG XING

Assignees

武汉江夏楚能汽车技术研发有限公司

Dates

Publication Date: 20260505
Application Date: 20260202

Claims (10)

1. A progressive runaway correction method based on vehicle state feedback, comprising: Acquiring state parameters of a vehicle in running in real time; Obtaining a runaway risk index of the vehicle according to the state parameters; grading the vehicle out-of-control degree according to the out-of-control risk index, and correspondingly generating out-of-control quantity of each vehicle control unit for correcting the out-of-control vehicle according to the vehicle out-of-control grading result; acquiring an intervention degree index of a driver for operating the out-of-control vehicle, and generating an out-of-control fusion control instruction according to the intervention degree index and the out-of-control quantity; and controlling each vehicle control unit to correct the out-of-control vehicle according to the out-of-control fusion control command.
2. A progressive runaway correction method based on vehicle condition feedback as defined in claim 1, wherein said condition parameters include centroid slip angle and yaw rate error; the calculation method of the centroid slip angle is shown as follows: ; Wherein, beta is the centroid slip angle, v y is the vehicle lateral speed, v x is the vehicle longitudinal speed, and ψ is the vehicle yaw angle; the calculation method of the yaw rate error is shown as follows: γ error = γ actual - γ desired ; Wherein, the ; Where γ error is the yaw rate error, γ actual is the actual yaw rate of the vehicle, γ desired is the desired yaw rate, δ sw is the steering wheel angle, L is the vehicle wheelbase, and K is the stability factor.
3. A progressive runaway correction method based on vehicle status feedback as claimed in claim 1, wherein said method of deriving a runaway risk index for a vehicle from said status parameter is as follows: ; Where L is the risk index of the vehicle for runaway, k 1 、k 2 is the weighting coefficient, β is the centroid slip angle, and γ error is the yaw rate error.
4. A progressive runaway correction method based on vehicle status feedback as defined in claim 1, wherein said classifying the degree of vehicle runaway according to said runaway risk index and correspondingly generating a runaway control amount for each vehicle control unit to correct the vehicle out of control according to the vehicle runaway classification result comprises: when the runaway risk index is detected to be smaller than a first index threshold value, judging that the vehicle is in a stable state; when the runaway risk index is detected to be larger than or equal to a first index threshold value and smaller than a second index threshold value, judging that the degree of vehicle runaway is a slight runaway level, generating a first steering auxiliary torque and transmitting the first steering auxiliary torque to an electric power steering unit; When the runaway risk index is detected to be larger than or equal to a second index threshold value and smaller than a third index threshold value, judging that the vehicle runaway degree is at a light runaway level, generating a second steering auxiliary torque and transmitting the second steering auxiliary torque to the electric power steering unit, generating a wheel braking force and transmitting the wheel braking force to the wheel braking unit; When the runaway risk index is detected to be greater than or equal to a third index threshold value, the vehicle runaway degree is judged to be a serious runaway level, a steering wheel steering angle is generated and sent to an electric power steering unit, a braking force difference between left and right wheels is generated and sent to a wheel braking unit, and a power torque opening is generated and sent to a power control unit.
5. A progressive runaway correction method based on vehicle condition feedback as defined in claim 4, wherein said first steering assist torque is calculated as follows: ; Where T assist1 is the first steering assist torque, kp 1 is the proportional gain factor, β is the centroid slip angle, T is the duration of time since the light runaway level was entered, and τ is the time constant.
6. A progressive runaway correction method based on vehicle condition feedback as defined in claim 4, wherein said second steering assist torque is calculated as follows: ; Wherein T assist2 is the second steering assist torque, kp 2 is the proportional gain coefficient, kd is the differential gain coefficient, dβ/dt is the rate of change of the centroid slip angle; the calculation method of the wheel braking force is shown as follows: ; In the formula, To be applied at the first Kb is a braking control gain coefficient, gamma error is a yaw rate error; Is the first Weight coefficient of each wheel.
7. The progressive runaway correction method based on vehicle state feedback of claim 4, wherein the method of calculating the steering wheel steering angle is as follows: ; Wherein delta cmd is the steering angle of the steering wheel, delta driver is the steering angle input of the steering wheel of a driver, K δ is the steering superposition control gain coefficient, and beta is the centroid side deflection angle; The calculation method of the braking force difference between the left and right wheels is as follows: ; Wherein, the ; Wherein DeltaF brake is the braking force difference between the left and right wheels, deltaM is the deviation correcting yaw moment, K Δ is the yaw moment control gain coefficient, track is the track of the vehicle, gamma actual is the actual yaw rate of the vehicle, and gamma desired is the expected yaw rate; the calculation method of the power torque opening degree is shown as follows: ; Wherein alpha throttle is the power torque opening degree, alpha driver is the basic opening degree, K α is the power attenuation gain coefficient, and beta is the centroid slip angle.
8. A progressive runaway correction method based on vehicle condition feedback as defined in claim 1, wherein the intervention degree index is calculated as follows: ; Wherein D driver is an intervention degree index, T driver is the torque exerted on the steering wheel by a driver, T max is the maximum manual torque calibration value of the steering wheel, omega steer is the rotation angular speed of the steering wheel, and omega max is the maximum rotation angular speed calibration value of the steering wheel; The method for generating the out-of-control fusion control instruction according to the intervention degree index and the out-of-control quantity is shown as the following formula: ; Wherein, the ; ; Wherein u system is the control quantity of the out-of-control, u driver is the control quantity of the operation of the out-of-control vehicle by the driver, u final is the control quantity corresponding to the out-of-control fusion control instruction, and W system 、W driver is the control weight.
9. A progressive runaway correction method based on vehicle status feedback as defined in claim 1, wherein said controlling each vehicle control unit to correct a runaway vehicle in accordance with said runaway fusion control command comprises: setting each priority coefficient corresponding to each vehicle control unit; When each vehicle control unit is detected to correspondingly acquire each out-of-control fusion control instruction, carrying out weighted average calculation on each priority coefficient corresponding to each vehicle control unit and each out-of-control fusion control instruction; and controlling each vehicle control unit to correct the uncontrolled vehicle according to the weighted average calculation result.
10. A progressive runaway correction system based on vehicle condition feedback, comprising: The state parameter acquisition module is used for acquiring state parameters of the vehicle in running in real time; The risk index calculation module is in communication connection with the state parameter acquisition module and is used for obtaining an uncontrolled risk index of the vehicle according to the state parameters; The runaway control quantity calculation module is in communication connection with the risk index calculation module and is used for grading the vehicle runaway degree according to the runaway risk index and correspondingly generating the runaway control quantity of each vehicle control unit for correcting the runaway vehicle according to the vehicle runaway grading result; the fusion module is in communication connection with the out-of-control amount calculation module and is used for acquiring an intervention degree index of a driver for operating the out-of-control vehicle, generating an out-of-control fusion control instruction according to the intervention degree index and the out-of-control amount, and generating a control command according to the intervention degree index and the out-of-control amount And the correction module is in communication connection with the fusion module and is used for controlling each vehicle control unit to correct the out-of-control vehicle according to the out-of-control fusion control instruction.

Description

Progressive type out-of-control correction method and system based on vehicle state feedback Technical Field The invention relates to the technical field of vehicle control, in particular to a progressive runaway correction method and system based on vehicle state feedback. Background Conventional electronic stability systems typically employ emergency braking or forced intervention to restore vehicle stability when a slight runaway occurs during vehicle travel. This intervention has the following problems: 1. the conventional system immediately applies the maximum braking force or steering torque when the runaway is detected, resulting in abrupt change of the vehicle posture and poor occupant comfort. 2. Strong interventions tend to cause the vehicle to transition from one out of control condition to another, creating an overcorrection risk. 3. The system adopts the same intervention strategy for the slight runaway and the serious runaway, and the degree of the runaway cannot be identified due to the lack of a hierarchical processing mechanism. 4. The conventional system takes over the vehicle control completely, ignoring corrective actions that the driver may be performing, resulting in human-machine conflicts. Disclosure of Invention The invention provides a progressive runaway correction method and a system based on vehicle state feedback, which realize smooth, accurate and humanized vehicle stability control through refined state evaluation, hierarchical progressive intervention and intelligent man-machine cooperation. In a first aspect, a progressive loss of control correction method based on vehicle state feedback is provided, comprising: Acquiring state parameters of a vehicle in running in real time; Obtaining a runaway risk index of the vehicle according to the state parameters; grading the vehicle out-of-control degree according to the out-of-control risk index, and correspondingly generating out-of-control quantity of each vehicle control unit for correcting the out-of-control vehicle according to the vehicle out-of-control grading result; acquiring an intervention degree index of a driver for operating the out-of-control vehicle, and generating an out-of-control fusion control instruction according to the intervention degree index and the out-of-control quantity; and controlling each vehicle control unit to correct the out-of-control vehicle according to the out-of-control fusion control command. In some embodiments, the state parameter includes centroid slip angle and yaw rate error; the calculation method of the centroid slip angle is shown as follows: ; Wherein, beta is the centroid slip angle, v y is the vehicle lateral speed, v x is the vehicle longitudinal speed, and ψ is the vehicle yaw angle; the calculation method of the yaw rate error is shown as follows: γerror= γactual- γdesired; Wherein, the ; Where γ error is the yaw rate error, γ actual is the actual yaw rate of the vehicle, γ desired is the desired yaw rate, δ sw is the steering wheel angle, L is the vehicle wheelbase, and K is the stability factor. In some embodiments, the method for obtaining the runaway risk index of the vehicle according to the state parameter is as follows: ; Where L is the risk index of the vehicle for runaway, k 1、k2 is the weighting coefficient, β is the centroid slip angle, and γ error is the yaw rate error. In some embodiments, the classifying the degree of vehicle runaway according to the runaway risk index, and correspondingly generating a runaway control quantity of each vehicle control unit for correcting the runaway vehicle according to the vehicle runaway classification result, including: when the runaway risk index is detected to be smaller than a first index threshold value, judging that the vehicle is in a stable state; when the runaway risk index is detected to be larger than or equal to a first index threshold value and smaller than a second index threshold value, judging that the degree of vehicle runaway is a slight runaway level, generating a first steering auxiliary torque and transmitting the first steering auxiliary torque to an electric power steering unit; When the runaway risk index is detected to be larger than or equal to a second index threshold value and smaller than a third index threshold value, judging that the vehicle runaway degree is at a light runaway level, generating a second steering auxiliary torque and transmitting the second steering auxiliary torque to the electric power steering unit, generating a wheel braking force and transmitting the wheel braking force to the wheel braking unit; When the runaway risk index is detected to be greater than or equal to a third index threshold value, the vehicle runaway degree is judged to be a serious runaway level, a steering wheel steering angle is generated and sent to an electric power steering unit, a braking force difference between left and right wheels is generated and sent to a wheel braking unit, and a power torque ope