The invention relates to the technical field of automobile control, in particular to a vehicle stability control method based on wheel radius self-learning. If the activation condition is met, the vehicle speed and the motor operation information in the period are collected to determine a wheel radius learning value in the period; a current period vehicle speed learning value is determined according to the current period vehicle speed and the previous period vehicle speed; a motor rotating speed learning value of the period is calculated according to the vehicle speed learning value of the period and the wheel radius learning value of the period; a motor impact angle speed and a motor impact angle difference in unit time are calculated according to the motor rotation speed learning value in the current period and the motor rotation speed in the current period; and whether the motor in the period is in a motor impact zone is determined according to the motor impact angular velocity and the motor impact angle difference in unit time, and the motor output torque is adjusted to reduce the impact on the motor output shaft if the motor is in the motor impact zone. According to the control method, impact on the output shaft is avoided, and the stability of the vehicle is improved.

    本发明涉及汽车控制技术领域,具体地指一种基于车轮半径自学习的车辆稳定性控制方法。满足激活条件,则采集本周期车速和电机运转信息以确定本周期的车轮半径学习值;依据本周期车速和上一周期车速确定本周期车速学习值;通过本周期车速学习值和本周期的车轮半径学习值计算得到本周期的电机转速学习值;根据本周期电机转速学习值和本周期电机转速计算电机冲击角速度和单位时间内的电机冲击角度差;根据电机冲击角速度和单位时间内的电机冲击角度差确定本周期的电机是否处于电机冲击带,若处于电机冲击带则调节电机输出扭矩降低对电机输出轴的冲击。本发明的控制方法避免了对输出轴的冲击,提高了车辆的稳定性。


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    Title :

    Vehicle stability control method based on wheel radius self-learning


    Additional title:

    一种基于车轮半径自学习的车辆稳定性控制方法


    Contributors:
    QIN LONG (author) / ZHANG FANWU (author) / WANG KAI (author) / WU ZEMIN (author)

    Publication date :

    2021-04-27


    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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