Vehicle stability control method and device
AssigneeHuawei Technologies Co., Ltd.
InventorsDonghao Liu, Yongsheng Zhang, Wei Zhang
Life of this patent
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Abstract
A vehicle stability control method and a vehicle stability control device are provided. The method may be applied to an intelligent automobile field such as intelligent driving or autonomous driving, and is used to control lateral stability of a front axis and rear axis distributed driven vehicle. In this method, a yawing movement of the vehicle is considered, and an additional yawing moment for maintaining lateral stability of the vehicle is provided by compensating for front-axis and rear-axis slip ratios, to control lateral stability of the vehicle and therefore improve stability of the vehicle during driving.
Claims20
A vehicle stability control method, applied to a vehicle stability control device, the method comprising:
- in response to a vehicle being in an unstable state, obtaining a required yawing moment, a front-axis actual slip ratio, a rear-axis actual slip ratio, a front-axis initial torque, and a rear-axis initial torque of the vehicle at a current time point;
- determining a correspondence between a yawing moment of the vehicle and a front-axis slip ratio and a rear-axis slip ratio of the vehicle;
- determining a front-axis target slip ratio and a rear-axis target slip ratio based on the required yawing moment and the determined correspondence between the yawing moment of the vehicle and the front-axis slip ratio and the rear-axis slip ratio of the vehicle;
- determining a front-axis target torque based on the front-axis initial torque and a difference between the front-axis target slip ratio and the front-axis actual slip ratio;
- determining a rear-axis target torque based on the rear-axis initial torque and a difference between the rear-axis target slip ratio and the rear-axis actual slip ratio;
- and
- controlling stability of the vehicle based on the front-axis target torque and the rear-axis target torque.
A vehicle stability control device comprising:
- a processor;
- and
- a memory coupled to the processor and having processor-executable instructions stored thereon, which upon execution by the processor cause the vehicle stability control device to implement operations including:
- upon the vehicle being in an unstable state, obtain a required yawing moment, a front-axis actual slip ratio, a rear-axis actual slip ratio, a front-axis initial torque, and a rear-axis initial torque of the vehicle at a current time point;
- determine a correspondence between a yawing moment of the vehicle and a front-axis slip ratio and a rear-axis slip ratio of the vehicle, and determine a front-axis target slip ratio and a rear-axis target slip ratio based on the required yawing moment and the determined correspondence between the yawing moment and the front-axis slip ratio and the rear-axis slip ratio;
- determine a front-axis target torque based on the front-axis initial torque and a difference between the front-axis target slip ratio and the front-axis actual slip ratio, and determine a rear-axis target torque based on the rear-axis initial torque and a difference between the rear-axis target slip ratio and the rear-axis actual slip ratio;
- and
- control stability of the vehicle based on the front-axis target torque and the rear-axis target torque.
Dependencies are inferred from the claim text.