CN107336707A - Control method, system and the vehicle of vehicle - Google Patents
Control method, system and the vehicle of vehicle Download PDFInfo
- Publication number
- CN107336707A CN107336707A CN201610291801.7A CN201610291801A CN107336707A CN 107336707 A CN107336707 A CN 107336707A CN 201610291801 A CN201610291801 A CN 201610291801A CN 107336707 A CN107336707 A CN 107336707A
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- blowing out
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000007664 blowing Methods 0.000 claims abstract description 42
- 230000006641 stabilisation Effects 0.000 claims abstract description 27
- 238000011105 stabilization Methods 0.000 claims abstract description 10
- 230000004888 barrier function Effects 0.000 claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 7
- 230000008450 motivation Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
- 239000000523 sample Substances 0.000 description 3
- 208000035126 Facies Diseases 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/04—Control of vehicle driving stability related to roll-over prevention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/20—Tyre data
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention provides a kind of control method of vehicle, system and vehicle, control method includes：When vehicle is blown out, start electric boosting steering system, engine control module and body electronics systems stabilisation to be automatically controlled to vehicle；Electric boosting steering system is controlled such that vehicle is maintained on the predicted travel track before blowing out to steering wheel angle according to the predicted travel track before blowing out；Engine control module is limited the output torque of engine according to default safe torque threshold value；Body electronics systems stabilisation is allocated to control vehicle stabilization to brake according to target tire of blowing out to the brake force for being applied to each wheel.The method of the present invention can automatically control vehicle after generation of blowing out and keep rational driving trace, and stable deceleration, the safety and reliability of vehicle when lifting is blown out.
Description
Technical field
The present invention relates to automobile technical field, the more particularly to a kind of control method of vehicle, system and vehicle.
Background technology
Blow out it is usually because a certain local mechanical strength of tire is seriously undermined, tire pressure disequilibrium and explosion suddenly it is tight
Anxious failure.After vehicle is blown out in the process of running at high speed, violent sideslip, whipping, or even tipping thing may occur for automobile
Therefore so not only jeopardize the safety of blow out vehicle and personnel, and more seriously high speed car is too late because hiding, very
More car collisions may be caused, trigger major traffic accidents.Therefore when vehicle is blown out, how to lift vehicle safety is
Urgent problem to be solved.
The content of the invention
In view of this, the present invention is directed to propose a kind of control method of vehicle, this method can automatically control vehicle after generation of blowing out
Rational driving trace, and stable deceleration are kept, the safety and reliability of vehicle when lifting is blown out.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of control method of vehicle, comprises the following steps：When vehicle is blown out, start electric boosting steering system, hair
Motivation control module and body electronics systems stabilisation to vehicle to automatically control；The electric boosting steering system is according to blowing out
Preceding predicted travel track is controlled such that vehicle is maintained on the predicted travel track before blowing out to steering wheel angle；The hair
Motivation control module is limited the output torque of engine according to default safe torque threshold value；The body electronics systems stabilisation
The brake force for being applied to each wheel is allocated to control vehicle stabilization to brake according to target tire of blowing out.
Further, steering wheel angle is controlled according to the predicted travel track before blowing out in the electric boosting steering system
So that during vehicle is maintained on the predicted travel track before blowing out, in addition to：Judge to whether there is on predicted travel track
Barrier；If there is the barrier, then the electric boosting steering system enters according to safe corner to the steering wheel angle
Row adjustment is so that vehicle avoids the barrier.
Further, after electric boosting steering system startup, in addition to：Judge whether the velocity of rotation of steering wheel is less than peace
Whether the rotational angle of full velocity of rotation and the steering wheel is less than safe corner；If the velocity of rotation of the steering wheel is less than
The rotational angle of safe velocity of rotation and the steering wheel is less than safe corner, then exits the electric boosting steering system to vehicle
Automatically control.
Further, it is described when vehicle is blown out, in addition to：Start the reminding module of vehicle, to pass through the prompting mould
Block carries out early warning to driver and other vehicles.
Relative to prior art, the control method of vehicle of the present invention has the advantage that：
The control method of vehicle of the present invention, when vehicle is blown out, vehicle driving trace is automatically controlled, dropped
It is low to wait probability of happening to lose control of one's vehicle caused by human factor, and reduce engine output torque, driver can be avoided because nervous and
Mis-accelerator pressing causes a serious accident, and carries out reasonable distribution to the brake force of each wheel, so as to make vehicle stabilization brake, enters
One step avoids to lose control of one's vehicle, and then effectively lifts the safety and reliability of vehicle when blowing out, and vehicle can be made to realize safety stop.
It is another object of the present invention to propose a kind of control system of vehicle, the system can automatically control car after generation of blowing out
Rational driving trace, and stable deceleration are kept, the safety and reliability of vehicle when lifting is blown out.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of control system of vehicle, including：System for detecting tire pressure, for monitoring whether vehicle blows out；Electric boosted turn
To system, it is pre- before blowing out that the predicted travel track before being blown out for basis is controlled such that vehicle maintains to steering wheel angle
Count on driving trace；Engine control module, for being limited according to default safe torque threshold value the output torque of engine；
Body electronics systems stabilisation, for being allocated the brake force for being applied to each wheel to control vehicle according to target tire of blowing out
Stable brake；Emergency processing module, for when vehicle is blown out, starting the electric boosting steering system, engine control
Molding block and body electronics systems stabilisation to vehicle to automatically control.
Further, the electric boosting steering system is additionally operable to judge on predicted travel track with the presence or absence of barrier and judged
The steering wheel angle is adjusted according to safe corner so that vehicle avoids the barrier when barrier be present.
Further, the electric boosting steering system is additionally operable to judge whether the velocity of rotation of steering wheel is less than safe velocity of rotation
And whether the rotational angle of the steering wheel is less than safe corner, and it is less than safety in the velocity of rotation for judging the steering wheel and turns
The rotational angle of dynamic speed and the steering wheel exits when being less than safe corner and vehicle is automatically controlled.
Further, in addition to：Reminding module, for carrying out early warning to driver and other vehicles when vehicle is blown out.
Further, the reminding module includes risk indicating lamp, buzzer and display screen.
The control system of described vehicle and the control method of above-mentioned vehicle are same relative to Dominant Facies possessed by prior art,
This is repeated no more.
It is another object of the present invention to propose a kind of vehicle, the vehicle can automatically control vehicle after generation of blowing out and keep reasonable
Driving trace, and stable deceleration, the safety and reliability of vehicle when lifting is blown out.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
A kind of vehicle, the control system for the vehicle being provided with as described in above-mentioned embodiment.
The control system of described vehicle and above-mentioned vehicle is same relative to Dominant Facies possessed by prior art, no longer superfluous herein
State.
Brief description of the drawings
The accompanying drawing for forming the part of the present invention is used for providing a further understanding of the present invention, illustrative examples of the invention and
It illustrates to be used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 be the embodiment of the present invention described in vehicle control method in engine system schematic diagram；
Fig. 2 is the fundamental diagram of the control method of the vehicle described in the embodiment of the present invention；
Fig. 3 is the execution unit schematic diagram of the control method of the vehicle described in the embodiment of the present invention；
Fig. 4 is the structured flowchart of the control system of the vehicle described in the embodiment of the present invention.
Description of reference numerals：
The control system 400 of vehicle, system for detecting tire pressure 410, electric boosting steering system 420, engine control module 430,
Body electronics systems stabilisation 440, emergency processing module 450.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the present invention can be mutually combined.
Describe the present invention in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 is the flow chart of the control method of vehicle according to an embodiment of the invention.
As shown in figure 1, the control method of vehicle according to an embodiment of the invention, comprises the following steps：
S101：When vehicle is blown out, start electric boosting steering system, engine control module and body electronics stability series
Unite to be automatically controlled to vehicle.
As shown in Figures 2 and 3, tire pressure monitoring system (Tire Pressure Monitoring System, TPMS) can be passed through
Whether monitoring vehicle blows out.Specifically, as shown in figure 3, tire pressure monitoring system TPMS is according to pressure sensor and temperature
Sensor monitoring tire pressure and temperature, when monitor to blow out failure after, can be sent an instruction to by CAN emergent
Processing module is blown out tire with determining target, emergency processing module backward electric boosting steering system (Electronic by analysis
Power Steering, EPS), engine control module Engine Control Module, ECM) and body electronics systems stabilisation
(Electronic Stability Program, ESP, abbreviation ESP control system) sends work order, so that electric boosted turn
Enter automatic control state to system, engine control module and body electronics systems stabilisation.
S102：Electric boosting steering system is controlled such that vehicle is tieed up to steering wheel angle according to the predicted travel track before blowing out
Hold on the predicted travel track before blowing out.
Specifically, with reference to shown in Fig. 2 and Fig. 3, electric boosting steering system (Electronic Power Steering, EPS) root
Torque sensor and engine speed sensor according to steering wheel angle sensor and steering drive axle etc. may determine that steering wheel
Corner and wheel direction, in moment of blowing out, wheel can quickly produce a rotational angle, so as to drive steering wheel quick rotation,
Steering wheel quick rotation exceeds the rotational angle of vehicle safe driving, and electric boosting steering system EPS is (i.e.：EPS) will
By EPS executing agencies high torque control direction disk and steering wheel angle is adapted to the angle before blowing out, vehicle is kept pre-
Travelled on meter driving trace, i.e., EPS executing agencies control adjustment angle according to rotary angle transmitter, and complete by steering assist motor
Angled regulation.So as to reduce or even avoid running out the way or even turn on one's side, lifting, which is blown out, occurs the security of rear vehicle.Need
It is noted that predicted travel track can be according to front direction disk corner and the wheel direction determination of blowing out.Vehicle safe driving turns
Dynamic angle can be calculated by speed, current driving direction and road ahead information summary.
In order to further lift vehicle safety of the vehicle in the case of blowing out, electric boosting steering system EPS according to
Predicted travel track before blowing out is controlled such that vehicle is maintained on the predicted travel track before blowing out to steering wheel angle
During, in addition to：Judge to whether there is barrier on predicted travel track；It is if there is the barrier, then described electronic
Servo steering system is adjusted so that vehicle avoids the barrier according to safe corner to the steering wheel angle.
Wherein, as shown in figure 3, barrier can have been monitored whether by radar and camera, and by data module send to
In CAN, so, it just may determine that and whether there is barrier on vehicle heading, such as：If detections of radar arrives
There are other barriers in front, and electric boosting steering system EPS can increase steering angle as needed to be hidden.Need
Bright, the rotational angle of above-mentioned vehicle safe driving is not to be exceeded in increase steering angle.And then it is quick-fried further to deduct a percentage
The security of vehicle in the case of tire.
Further, after electric boosting steering system startup, in addition to：Judge whether the velocity of rotation of steering wheel is less than peace
Whether the rotational angle of full velocity of rotation and steering wheel is less than safe corner；Rotated if the velocity of rotation of steering wheel is less than safety
The rotational angle of speed and steering wheel is less than safe corner, then exits electric boosting steering system and vehicle is automatically controlled.Specifically
Ground says that vehicle is blown out, and EPS, which will automatically control vehicle and return on predicted travel track, in time of driver's reaction travels,
If torque sensor detects afterwards is less than safety less than the speed of the safe velocity of rotation of steering wheel and the rotational angle of steering wheel
During corner, EPS can then be judged as that driver wants autonomous control vehicle, exit EPS and automatically control, that is to say, that if side
Do not have quickly rotation and angle yet excessive without rotation to disk, then it is assumed that vehicle can be in the control scope of driver
Interior, not out of control, driver wants autonomous control vehicle, now will move out automatically controlling for EPS, then have driver autonomous
Control vehicle.The angle calculation that steering wheel velocity of rotation can be rotated by EPS according to steering wheel in the unit interval, steering wheel turn safely
Dynamic speed can demarcate to obtain, and safe corner can also be demarcated to obtain.
After vehicle, which exits EPS, to be automatically controlled, if driver is unable to accurate judgement road conditions because frightened and operates steering wheel,
Radar probe and camera will detect that whether there are other vehicle approachings by vehicle periphery this blows out vehicle or whether the vehicle of blowing out is sailed
Certain nearly barrier, radar probe and camera will be sent to the traffic information detected EPS, and EPS calculates steering wheel and needed
The direction to be rotated and angle, if the direction of the direction of the power for the rotary angle transmitter that EPS is detected and angle and the power calculated
When having larger difference with angle, EPS will increase moment of torsion obstruction or increase the application of external force, and have danger by auditory tone cues driver
Danger, so as to aid in driver to avert danger.
S103：Engine control module is limited the output torque of engine according to default safe torque threshold value.
Engine control module (Engine Control Module, ECM, i.e.,：ECM modules) control the output of engine to turn round
Square, so as to prevent driver after vehicle is blown out mis-accelerator pressing and accelerate vehicle, lifted vehicle security and can
By property.
It is understood that default safe torque threshold value can be obtained by testing demarcation in advance, or rule of thumb set, lead to
Chang Buhui is very big, to avoid speed too fast.
S104：Body electronics systems stabilisation according to target blow out tire the brake force for being applied to each wheel is allocated with control
Vehicle stabilization brakes.
Specifically, after vehicle is blown out, triggering body electronics systems stabilisation (Electronic Stability Program, ESP,
I.e.：ESP control systems), to control vehicle stabilization to brake and slow down.Such as：Receive yaw-rate sensor, laterally add
The signal of velocity sensor, brake-pressure sensor and speed probe etc., it is then each to being applied to according to target tire of blowing out
The brake force of wheel is reasonably distributed, and by anti-blocking brake system (Antilock Brake System, ABS) or is led
Gravitation control system (Traction Control System, TCS) fluid pressure governor is to hydraulic pump, motor, wheel cylinder magnetic valve etc.
Be controlled, to reach the control of the brake force to each wheel, so as to ensure vehicle after blowing out also can stablize brake,
To reach the purpose of lifting vehicle safety.
In addition, when vehicle is blown out, in addition to：Start the reminding module of vehicle, with by reminding module to driver and
Other vehicles carry out early warning.Reminding module as shown in Figure 3 is controlled by reminding module controller, reminding module such as risk indicating lamp,
Display and buzzer etc., are alarmed by reminding module.Such as：Open it is double dodge alarm lamps with warning other people.Further carry
Rise the vehicle safety after blowing out.
In addition, as shown in figure 3, above-mentioned functional module can carry out distribution by the Power entry module that is connected with CAN,
So that each functional module can be with normal work.
The control method of vehicle according to embodiments of the present invention, when vehicle is blown out, vehicle driving trace is controlled automatically
System, reduce caused by human factor and to wait probability of happening to lose control of one's vehicle, and reduce engine output torque, can avoid driver because
It is nervous and mis-accelerator pressing causes a serious accident, reasonable distribution is carried out to the brake force of each wheel, so as to make vehicle stabilization stop
Car, further avoid to lose control of one's vehicle, and then effectively lift the safety and reliability of vehicle when blowing out, vehicle can be made to realize peace
Full cut-off leans on.
As shown in figure 4, embodiment of the invention discloses that a kind of control system 400 of vehicle, including：System for detecting tire pressure 410,
Electric boosting steering system 420, engine control module 430, body electronics systems stabilisation 440 and emergency processing module 450.
Wherein, system for detecting tire pressure 410 is used to monitor whether vehicle blows out；Electric boosting steering system 420 is used for basis
Predicted travel track before blowing out is controlled such that vehicle is maintained on the predicted travel track before blowing out to steering wheel angle；Hair
Motivation control module 430 is used to limit the output torque of engine according to default safe torque threshold value；Body electronics is stable
System 440 is used to be allocated to control vehicle stabilization to brake the brake force for being applied to each wheel according to target tire of blowing out；
Emergency processing module 450 is used for when vehicle is blown out, and starts the electric boosting steering system 420, engine control mould
Block 430 and body electronics systems stabilisation 440 to vehicle to automatically control.
In one embodiment of the invention, electric boosting steering system 420 is additionally operable to judge to whether there is on predicted travel track
Barrier, and the steering wheel angle is adjusted so that vehicle is avoided according to safe corner when judging to have the barrier
The barrier.
In one embodiment of the invention, electric boosting steering system 420 is additionally operable to judge whether the velocity of rotation of steering wheel is small
Whether it is less than safe corner in the rotational angle of safe velocity of rotation and steering wheel, and is less than in the velocity of rotation for judging steering wheel
The rotational angle of safe velocity of rotation and steering wheel exits when being less than safe corner and vehicle is automatically controlled.
In one embodiment of the invention, the control system 400 of vehicle, in addition to：Reminding module (is not shown) in Fig. 4,
For carrying out early warning to driver and other vehicles when vehicle is blown out.Reminding module include but is not limited to risk indicating lamp,
Buzzer and display screen, the middle control screen of display screen such as vehicle.
The control system of vehicle according to embodiments of the present invention, when vehicle is blown out, vehicle driving trace is controlled automatically
System, reduce caused by human factor and to wait probability of happening to lose control of one's vehicle, and reduce engine output torque, can avoid driver because
It is nervous and mis-accelerator pressing causes a serious accident, reasonable distribution is carried out to the brake force of each wheel, so as to make vehicle stabilization stop
Car, further avoid to lose control of one's vehicle, and then effectively lift the safety and reliability of vehicle when blowing out, vehicle can be made to realize peace
Full cut-off leans on.
It should be noted that the specific implementation of the control system of the vehicle of the embodiment of the present invention and the vehicle of the embodiment of the present invention
Control method specific implementation it is similar, specifically refer to the description of method part, in order to reduce redundancy, do not do herein superfluous
State.
Further, embodiment of the invention discloses that a kind of vehicle, the vehicle being provided with any one embodiment as described above
Control system.The vehicle can automatically control vehicle after generation of blowing out and keep rational driving trace, and stable deceleration, lifting
The safety and reliability of vehicle when blowing out.
In addition, other compositions of vehicle according to embodiments of the present invention and effect are for the ordinary skill in the art all
It is known, in order to reduce redundancy, does not repeat herein.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in the spiritual and former of the present invention
Within then, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of control method of vehicle, it is characterised in that comprise the following steps：
When vehicle is blown out, start electric boosting steering system (420), engine control module (430) and vehicle body electricity
Sub- systems stabilisation (440) to vehicle to automatically control；
The electric boosting steering system (420) is controlled such that according to the predicted travel track before blowing out to steering wheel angle
Vehicle is maintained on the predicted travel track before blowing out；
The engine control module (430) is limited the output torque of engine according to default safe torque threshold value；
The body electronics systems stabilisation (440) is allocated according to target tire of blowing out to the brake force for being applied to each wheel
To control vehicle stabilization to brake.
2. the control method of vehicle according to claim 1, it is characterised in that in the electric boosting steering system (420)
It is controlled such that vehicle maintains the predicted travel track before blowing out to steering wheel angle according to the predicted travel track before blowing out
On process in, in addition to：
Judge to whether there is barrier on predicted travel track；
If there is the barrier, then the electric boosting steering system (420) turns according to safe corner to the steering wheel
Angle is adjusted so that vehicle avoids the barrier.
3. the control method of vehicle according to claim 1, it is characterised in that in electric boosting steering system (420)
After startup, in addition to：
Judge whether the velocity of rotation of steering wheel be less than the rotational angle of safe velocity of rotation and the steering wheel less than peace
Full corner；
If the velocity of rotation of the steering wheel is less than safe velocity of rotation and the rotational angle of the steering wheel is less than safe corner,
The electric boosting steering system (420) is then exited to automatically control vehicle.
4. the control method of the vehicle according to claim any one of 1-3, it is characterised in that described when vehicle generation is quick-fried
During tire, in addition to：
Start the reminding module of vehicle, to carry out early warning to driver and other vehicles by the reminding module.
A kind of 5. control system of vehicle, it is characterised in that including：
System for detecting tire pressure (410), for monitoring whether vehicle blows out；
Electric boosting steering system (420), for being controlled such that according to the predicted travel track before blowing out to steering wheel angle
Vehicle is maintained on the predicted travel track before blowing out；
Engine control module (430), for being limited according to default safe torque threshold value the output torque of engine；
Body electronics systems stabilisation (440), for being allocated according to target tire of blowing out to the brake force for being applied to each wheel
To control vehicle stabilization to brake；
Emergency processing module (450), for when vehicle is blown out, starting the electric boosting steering system (420), hair
Motivation control module (430) and body electronics systems stabilisation (440) to vehicle to automatically control.
6. the control system of vehicle according to claim 5, it is characterised in that the electric boosting steering system (420)
Be additionally operable to judge to whether there is barrier on predicted travel track, and judge the barrier be present when according to safe corner to institute
Steering wheel angle is stated to be adjusted so that vehicle avoids the barrier.
7. the control system of vehicle according to claim 5, it is characterised in that the electric boosting steering system (420)
It is additionally operable to judge whether the velocity of rotation of steering wheel is less than safe velocity of rotation and whether the rotational angle of the steering wheel is less than
Safe corner, and be less than in the velocity of rotation for judging the steering wheel less than the rotational angle of safe velocity of rotation and the steering wheel
Exited during safe corner and vehicle is automatically controlled.
8. the control system of the vehicle according to claim any one of 5-7, it is characterised in that also include：
Reminding module, for carrying out early warning to driver and other vehicles when vehicle is blown out.
9. the control system of vehicle according to claim 8, it is characterised in that the reminding module includes dangerous indicate
Lamp, buzzer and display screen.
10. a kind of vehicle, it is characterised in that the control system (400) just like the vehicle described in claim any one of 5-9 is set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610291801.7A CN107336707A (en) | 2016-04-29 | 2016-04-29 | Control method, system and the vehicle of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610291801.7A CN107336707A (en) | 2016-04-29 | 2016-04-29 | Control method, system and the vehicle of vehicle |
Publications (1)
| Publication Number | Publication Date |
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| CN107336707A true CN107336707A (en) | 2017-11-10 |
Family
ID=60222255
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610291801.7A Pending CN107336707A (en) | 2016-04-29 | 2016-04-29 | Control method, system and the vehicle of vehicle |
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| GB2559652A (en) * | 2016-12-14 | 2018-08-15 | Ford Global Tech Llc | Tire blowout control |
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| CN115158446A (en) * | 2022-07-27 | 2022-10-11 | 北京理工大学 | Tire burst stability maintaining emergency control method and device for steering system |
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| CN110315909A (en) * | 2019-06-26 | 2019-10-11 | 奇瑞商用车（安徽）有限公司 | Commercial vehicle trouble-proof tire assembly and commercial vehicle are blown out control system |
| CN110816550A (en) * | 2019-11-19 | 2020-02-21 | 苏州智加科技有限公司 | Automatic driving control method and device, vehicle-mounted terminal and readable storage medium |
| CN111634271A (en) * | 2020-06-11 | 2020-09-08 | 长安大学 | Method and system for safely stopping unmanned vehicle by wire control braking in case of tire burst during high-speed running and vehicle |
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| CN115042856A (en) * | 2021-09-07 | 2022-09-13 | 长城汽车股份有限公司 | Motor vehicle auxiliary steering method and device, line control controller and motor vehicle |
| CN113790905A (en) * | 2021-10-13 | 2021-12-14 | 安徽光阵光电科技有限公司 | Intelligent automobile ADAS function detection device |
| CN113790905B (en) * | 2021-10-13 | 2023-08-22 | 安徽光阵光电科技有限公司 | Intelligent automobile ADAS function detection device |
| CN115158446A (en) * | 2022-07-27 | 2022-10-11 | 北京理工大学 | Tire burst stability maintaining emergency control method and device for steering system |
| CN115158446B (en) * | 2022-07-27 | 2023-03-10 | 北京理工大学 | Tire burst stability maintaining emergency control method and device for steering system |
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