紧急制动工况下的纵向车速估计方法  

Estimation Method of Longitudinal Vehicle Speed Under Emergency Braking Condition

作　　者：曾小华[1] 钱琦峰 宋大凤[1] 高皓铭 吴佳俊 Zeng Xiaohua;Qian Qifeng;Song Dafeng;Gao Haoming;Wu Jiajun(Jilin University,State Key Laboratory of Automotive Simulation and Control,Changchun 130000;Jilin University,Chongqing Research Institute,Chongqing 400000)

机构地区：[1]吉林大学,汽车仿真与控制国家重点实验室,长春130000 [2]吉林大学重庆研究院,重庆400000

出　　处：《汽车工程》2022年第9期1425-1436,共12页Automotive Engineering

基　　金：重庆自然科学基金(cstc2021jcyj-msxm X0934)资助。

摘　　要：针对车辆紧急制动失稳状态下4个车轮均出现较大滑移而不能从车轮转速反映纵向车速的问题,提出一种与滑移控制器相结合的纵向车速估计方法。该方法能直接影响车轮滑移控制逻辑,保证4个车轮中始终存在一个车轮处于弱制动力控制状态且保持转速稳定变化,从而在紧急制动工况下能较准确地估计出纵向车速。在高/低附着路面的直行和转向工况下仿真的结果验证了滑移控制器的制动效能和纵向车速估计算法的鲁棒性。In view of that the rotational speed of wheel can no longer reflect the longitudinal speed of vehicle due to the large slip of all four wheels in the vehicle state of emergency braking,an estimation method of vehicle longitudinal speed combined with a slip controller is proposed.The method can directly influence the control logic of wheel slip to ensure there always exist one of the four wheels staying at the state of weak braking force control and maintain the stable change of speed,and hence enabling the accurate estimation of longitudinal vehicle speed in emergency braking conditions.The results of simulations under the both straight driving and curve turning conditions on both high and low adhesive roads verify the braking efficacy of slip controller and the robustness of estimation method of vehicle longitudinal speed.

关 键 词：紧急制动 纵向车速估计 滑移控制器 

分 类 号：U463.526[机械工程—车辆工程]