The invention discloses an ESC vehicle driving dynamic control method based on a rear wheel steering system, and belongs to the field of vehicle dynamic control, and the method comprises the following steps: S1, determining the steering transmission ratio of a vehicle; s2, determining generalized characteristic vehicle speeds of the vehicle under various working conditions; s3, a rear wheel steering angle is imported to determine the yaw velocity of a reference vehicle; s4, whether the ESC system is activated or not is determined based on the difference value between the reference vehicle yaw velocity and the actual vehicle yaw velocity, and when the ESC system is activated, the step S5 is executed; and S5, calculating a control quantity by taking the difference value as a return quantity of closed-loop control. By the adoption of the ESC vehicle running dynamic control method based on the rear wheel steering system, the rear wheel steering angle is introduced into the two-degree-of-freedom model, the calculation accuracy of the ESC reference yaw velocity is improved, and the problem that due to the fact that the two-degree-of-freedom model does not consider the influence of the rear wheel yaw angle on the vehicle dynamic characteristics, ESC misoperation or no operation is caused is solved.
本发明公开了基于后轮转向系统的ESC车辆行驶动态控制方法,属于车辆动态控制领域,包括以下步骤:S1、确定车辆的转向传动比;S2、确定车辆在多种工况下的广义特征车速;S3、导入后轮转向角确定参考车辆横摆角速度;S4、基于参考车辆横摆角速度与实际车辆横摆角速度之间的差值,确定ESC系统是否激活,且当ESC系统激活时,执行步骤S5;S5、以差值作为闭环控制的返回量,计算出控制量。采用上述基于后轮转向系统的ESC车辆行驶动态控制方法,将后轮转向角度引入二自由度模型,提高ESC参考横摆角速度的计算准确度,避免由于二自由度模型未考虑后轮摆角对车辆动力学特性的影响所导致的ESC误动作或不动作的问题。
ESC vehicle driving dynamic control method based on rear wheel steering system
基于后轮转向系统的ESC车辆行驶动态控制方法
2025-03-21
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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