The invention relates to a vehicle transverse and longitudinal control method which comprises the following steps that an EPS is detected in the vehicle steering process, when it is detected that the EPS breaks down, the EPS is cut off, meanwhile, an ESP is started to conduct vehicle transverse and longitudinal control, the ESP adopts differential braking of left and right wheels, and the longitudinal force of the wheels is changed by applying different braking force to the left and right wheels to achieve vehicle steering. The braking force of the front and rear wheels is controlled, and meanwhile the longitudinal speed of the vehicle is controlled. An alternative scheme of a redundant steering system is provided, the influence of steering system failure on driving of the automatic driving automobile is reduced, the ESP is innovatively used for replacing the EPS, meanwhile, transverse and longitudinal control over the automobile is achieved, other systems are not additionally arranged, cost is reduced, meanwhile, the internal space of the automobile is saved, and the reliability of the automobile is improved. And the aim of lightweight design of the self-driving automobile is fulfilled.
本发明涉及一种车辆横纵向控制方法,包括以下步骤,在汽车转向过程中对EPS进行检测,当检测到EPS存在故障时,切断EPS,同时启动ESP进行车辆横纵向控制,ESP采用左右轮差速制动,通过对左右车轮施加不同的制动力来改变车轮的纵向力实现车辆转向,控制前后车轮的制动力同时实现对车辆的纵向速度的控制。本发明提供了冗余转向系统的替代方案,降低了因转向系统失效对自动驾驶汽车行驶的影响,创新性地利用ESP代替EPS,同时实现车辆的横向与纵向控制,未增加其他系统,降低了成本,同时节省了车辆内部的空间,满足自动驾驶汽车的轻量化设计的目标。
Vehicle transverse and longitudinal control method
一种车辆横纵向控制方法
2024-05-24
Patent
Electronic Resource
Chinese
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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