CN-121973777-A - Vehicle drift control method based on model matching feedback

CN121973777ACN 121973777 ACN121973777 ACN 121973777ACN-121973777-A

Abstract

The invention discloses a vehicle drift control method based on model matching feedback, and relates to the technical field of vehicle control. The invention starts the drifting function by using the preset switch by a driver, the system stands by after self-checking, and after triggering the operations of 'driving direction + stepping on the accelerator + reversing driving direction', the system calculates the actual sliding rate and combines The torque distribution module performs distribution according to the expected torques of the left wheel and the right wheel, maintains stable drifting of the vehicle, and finally judges the exit function through active operation or automatic judgment. The invention uses the target slip rate as the core control target, and stabilizes the actual slip rate at the closed loop logic of model matching and feedback correction The sliding rate is precisely controlled, and the drifting stability is improved.

Inventors

YU WEIGUANG
LI YONG
ZHAN SIYA
YIN YULONG

Assignees

安徽中安智源科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260130

Claims (10)

1. The vehicle drift control method based on the model matching feedback is characterized by comprising the following steps of: Step S1, starting a drifting function, namely triggering a drifting function starting instruction by a driver through a vehicle preset switch to enable a system to enter a standby state, wherein the preset switch comprises a special function key, a central control interactive interface touch instruction or a voice control instruction; S2, acquiring the actual slip rate and the target slip rate, namely outputting the actual slip rate of the rear wheels of the vehicle in real time through an actual slip rate calculation module Presetting or dynamically adjusting the target slip rate through a target slip rate setting module The following steps The range of the values is as follows ; Step S3, triggering the drifting requirement, namely continuously monitoring operation by a module for monitoring the drifting requirement of a driver, and judging that the drifting requirement is triggered when the conditions of steering wheel turning, accelerator pedal stepping and back wheel sliding and back steering are met at the same time, so that the system enters an activated state; S4, calculating the expected torque on the wheels, wherein the expected torque calculation module on the wheels is integrated 、 And vehicle state parameters, outputting reference torque by the model matching control unit Outputting the corrected torque through other feedback control units Obtaining the expected torque ; Step S5, drift stability maintenance: the drift torque distribution module is based on Executing torque distribution control, cooperating with driver's manipulation, to make actual slip rate Stable at Is within the error interval of (2); and S6, exiting the drifting function, namely automatically triggering the drifting function to exit through the fact that a driver actively turns off a preset switch, hangs a P gear/N gear or the system detects a functional failure, and executing a return operation to recover a normal running state.
2. The method for controlling vehicle drift based on model matching feedback according to claim 1, wherein in step S2, the actual slip ratio calculation module calculates the actual slip ratio The acquisition modes include, but are not limited to, the following two modes: the method comprises the steps of directly transmitting through an external physical signal acquisition module, wherein the physical signal acquisition module comprises a slip rate sensor arranged on a wheel; In the second mode, the formula is adopted inside the ECU The calculation result shows that, in the formula, For the effective rolling radius of the wheel, Is the rotation angular velocity of the wheel, Is the speed of the vehicle, the Collected by a wheel speed sensor, said Collected by a vehicle speed sensor or a GPS positioning module.
3. The method for controlling vehicle drift based on model matching feedback according to claim 1, wherein in step S2, the target slip ratio is The setting modes of (a) include but are not limited to the following two modes: the first setting mode is that a driver manually inputs a specific numerical value through a central control interactive interface; The second setting mode is that the system dynamically corrects according to real-time state parameters of the vehicle, wherein the state parameters comprise the vehicle speed, steering wheel rotation angle and the side-tipping angle acquired by a vehicle body posture sensor.
4. The method according to claim 1, wherein in step S4, the model matching control unit outputs a reference torque The implementation mode of the method comprises the steps of off-line calibration of the MAP table, on-line iterative updating, model deep learning or machine learning, wherein the input parameters of the MAP table at least comprise actual slip rate And target slip ratio One or more of vehicle speed, steering wheel angle, and body roll angle may also be optionally included.
5. The method for controlling vehicle drift based on model matching feedback of claim 4, wherein the calibration rule of the offline calibration MAP table is as follows: at the same target slip rate When the actual slip rate is Reference torque at the time Along with it Is linearly decreased by an increase in (a), the decreasing slope is ; At the same target slip rate When the actual slip rate is Reference torque at the time Along with it Is linearly decreased by an increase in (a), the decreasing slope is ; When (when) In the time-course of which the first and second contact surfaces, An optimal reference torque value in the current vehicle state; For the non-calibrated points in the MAP table, calculating and outputting corresponding reference torque by quadratic curve fitting or linear interpolation 。
6. The method according to claim 1, wherein in step S4, the correction torque of the other feedback control unit is calculated by using the correction torque of the other feedback control unit The PID feedback control mode is adopted, and the specific calculation formula is as follows: ; In the formula, Indicating the deviation of the actual slip ratio from the target slip ratio, Is the proportional gain coefficient of the PID feedback controller, Is the integral gain coefficient of the PID feedback controller, Differential gain coefficients for the PID feedback controller; The feedback control mode can also be replaced by PI, LQR or MPC control mode.
7. The vehicle drift control method based on model matching feedback as set forth in claim 1, further comprising an image acquisition module and a road state analysis unit, wherein the image acquisition module is a high-definition camera and is installed at the center position inside a front windshield of a vehicle, and the road state analysis unit performs gray processing, edge detection and feature extraction on an acquired road image, determines a road surface type and an attachment coefficient, and outputs a second correction torque At this time, a torque is expected The following steps The range of the values is as follows The higher the road adhesion coefficient is The larger the value is.
8. The vehicle drift control method based on model matching feedback of claim 1, further comprising a road surface wettability detection module, wherein the road surface wettability detection module obtains the wettability parameter by one of: Analyzing the reflective intensity and texture characteristics of a road through an image acquisition module, and calculating a wet slip coefficient; calculating by a dynamics model, and based on the mapping relation of the longitudinal force, the lateral force and the slip rate of the tire, and reversely pushing a wet slip coefficient by combining the fluctuation range of the actual slip rate, wherein the wet slip coefficient is used for correcting the reference torque The correction logic is that each time the coefficient of the wet slip increases by 0.1, Down-regulation of 。
9. The vehicle drift control method based on model matching feedback according to claim 1, wherein the vehicle state parameters further comprise battery residual capacity or fuel oil liquid level, when the battery residual capacity is less than 20% or the fuel oil liquid level is less than 10%, the system refuses a drift function starting request and displays prompt information through a central control screen, wherein the hybrid vehicle simultaneously meets the conditions that the battery residual capacity is more than or equal to 20%, the fuel oil liquid level is more than or equal to 10%, a power system is fault-free and can be intervened in real time, and if the corresponding conditions are not met, the system refuses the drift function starting request and displays targeted prompt information through the central control screen.
10. The vehicle drift control method based on model matching feedback according to claim 1, wherein the torque distribution logic of the drift torque distribution module is that the rear wheel torque distribution proportion is more than or equal to 60% and the front wheel torque distribution proportion is less than or equal to 40%, and in the drift process, the left and right rear wheel torque distribution is dynamically adjusted according to the steering wheel rotation angle, the larger the rotation angle is, the higher the outer rear wheel torque distribution proportion is, and the maximum difference value can reach 50%.

Description

Vehicle drift control method based on model matching feedback Technical Field The invention belongs to the technical field of vehicle control, and particularly relates to a vehicle drift control method based on model matching feedback, which is suitable for various vehicles with controllable drift functions, including fuel vehicles, new energy vehicles (pure electric vehicles and hybrid power vehicles) and special operation vehicles. Background In the dynamics of vehicle drift, the theory of friction circle regards the maximum friction force between a single tire and the ground as a fixed value, which can be regarded as the radius of a circle, and the resultant force vector of the longitudinal force (driving or braking) and the lateral force generated by the tire cannot exceed the boundary of the circle, and once the resultant force breaks through the boundary, the tire slips. The drifting is an operation completed by a driver actively utilizing the principle, the driver deliberately breaks through the constraint of a friction circle to enter a sideslip state, namely, in the turning process or before entering a curve, the accelerator is suddenly increased, the resultant force of the driving force and the lateral force breaks through the limit of the friction circle, so that the rear wheel rotates in an idle mode and the tail of the vehicle is thrown outwards, the rear wheel mainly provides the driving force, the lateral ground grabbing capacity is greatly weakened, and the driver controls the drifting direction of the vehicle through the front wheel. Therefore, the key of drifting is that the rear wheels enter and maintain a controllable sliding state through accurate control, meanwhile, the rear wheels are guided by means of the ground grabbing force of the front wheels, and the steering vehicle is mounted to finish lateral sliding and bending through the cooperative operation of an accelerator, a steering wheel and a brake. In the drifting control, the actual slip rate of the rear wheels can be maintained in a reasonable range through an accurate torque control technology, the rear wheels enter a continuous sideslip state, and the vehicle can drift stably. The ideal drift control needs to accurately maintain the controllable slip state of the rear wheel, and the key is to stabilize the actual slip rate of the rear wheel in a reasonable range. In the prior art, as disclosed in patent CN120645960a, a triggering type output logic is adopted to store motion control force in advance according to drift power storage parameters, and output the storage force during sideslip, but the scheme lacks a definite control target (such as a wheel slip rate), and cannot realize accurate closed-loop control of the slip rate only by outputting a reference motion control force value through the parameters, so that drift stability is poor, operation difficulty is high, a driver with ordinary drift experience is difficult to master quickly, and rollover risks are easily caused by uncontrolled slip rate. Therefore, it is needed to develop an accurate torque control method with the slip ratio as the core control target and combining model matching and feedback correction, so as to reduce the drifting threshold and improve the stability and safety of the drifting process. Disclosure of Invention The invention aims to provide a vehicle drift control method based on model matching feedback, which realizes accurate control of a slip rate through a closed loop control logic by cooperative work of a plurality of functional modules and solves the problems that the existing vehicle drift control has no definite slip rate control target, is high in operation difficulty and is low in drift success rate. In order to solve the technical problems, the invention is realized by the following technical scheme: The invention relates to a vehicle drift control method based on model matching feedback, which comprises the following steps: Step S1, starting a drifting function, namely triggering a drifting function starting instruction by a driver through a vehicle preset switch to enable a system to enter a standby state, wherein the preset switch comprises a special function key, a central control interactive interface touch instruction or a voice control instruction; S2, acquiring the actual slip rate and the target slip rate, namely outputting the actual slip rate of the rear wheels of the vehicle in real time through an actual slip rate calculation module Presetting or dynamically adjusting the target slip rate through a target slip rate setting moduleThe following stepsThe range of the values is as follows; Step S3, triggering the drifting requirement, namely continuously monitoring operation by a module for monitoring the drifting requirement of a driver, and judging that the drifting requirement is triggered when the conditions of steering wheel turning, accelerator pedal stepping and back wheel sliding and back steering are met at the same t