The invention discloses a rear-wheel-steering-based ESP enhanced control method for a rear-drive vehicle. The control method comprises a control process for performing left deflection obstacle avoidance and a control process for performing right deflection obstacle avoidance on a vehicle in linear driving. In the process of obstacle avoidance through the control method, the distance between the Zaxis and the center Q1 of a left rear wheel serves as a force arm Lf or the distance between the Z axis and the center Q2 of a right rear wheel serves as a force arm Lr, so that the force arm Lf or Lrkeeps the maximum value all the time in the process of torque control through the resultant force of the acting force of the rear wheels. When the same control torque is needed, the braking force resultant force applied to the rear wheels can be reduced, and particularly, the effect can be achieved under the road surface conditions with low ground adhesion coefficients, such as wet and slippery or iced road surfaces; and under the condition that the same acting force resultant force is applied to the rear wheels, larger control torque can be generated on the Z axis, and a vehicle head can quickly steer to avoid colliding with obstacles when the vehicle avoids the front obstacles.

    本发明公开一种基于后轮转向的后驱车ESP增强控制方法,包括直线行驶中的汽车如何进行左偏转避障的控制方法和右偏转避障的控制方法;利用本发明公开的控制方法进行避障的过程中,将Z轴与左后轮中心Q的距离作为力臂L或者将Z轴与右后轮中心Q的距离作为力臂L,使得力臂L或L在利用后轮的作用力合力进行力矩控制过程中始终保持最大值;在所需同等控制力矩时,有利于减小对后轮施加的制动力合力,特别有利于在湿滑或结冰的路面等地面附着系数较低的路面条件下发挥作用;在对后轮施加同等作用力合力的情况下,能够对Z轴产生更大的控制力矩,有利于汽车在躲避前方障碍物时、使车头迅速转向避免撞到障碍物。


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    Title :

    Rear-wheel-steering-based ESP enhanced control method for rear-drive vehicle


    Additional title:

    基于后轮转向的后驱车ESP增强控制方法


    Contributors:
    ZHANG YAN (author) / WANG QUNSHAN (author) / WAN CHAOYI (author)

    Publication date :

    2020-06-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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