汽车稳定性控制系统性能试验与数据处理方法

Performance Test and Data Processing Method for Vehicle Electronic Stability Control System

对美国汽车稳定性控制系统(ESC)性能试验法规FMVSS 126确定的ESC功能、过度转向特性和横向响应能力的客观测试和评价方法进行了系统分析。构建了先进的汽车道路试验系统,阐述了试验系统核心设备转向机器人的性能要求和结构,进行了系统的道路试验。采用小波降噪方法对试验数据进行了滤波处理,小波滤波无相位延时,且信号的局部特征都得到很好的保留,相比法规推荐的频域滤波方法,此方法更为精确。对DGPS方法和加速度方法处理得到的横向位移数据进行了对比,两种方法在转向开始后2 s内测试结果接近,误差小于5%,法规推荐采用加速度方法测量转向开始后1.07 s时车身横向位移是可行的。对3组具有区别意义的试验结果进行了分析,结果表明法规基于横摆角速度信息对汽车稳定性程度进行评价是可行的,但汽车接近失稳和失稳时的稳定性需要依据横摆角速度和质心侧偏角信息共同表征。

According to FMVSS 126,the definition of ESC,the objective performance test and evaluation methods for over-steer characteristic and lateral responding ability were analyzed respectively.The advanced vehicle road way test system was developed,in which the key steer robot device was comprehensively introduced for its performance requirement and operating principle,then the systematical road way tests were conducted.The wavelet filtering method was employed to reduce the noise included in the initial sensor signal.Compared with the frequency-domain filter method suggested by FMVSS 126,the wavelet filtering was more precise for its zero phrase delay and good reservation of signal＇s local specificity.Vehicle lateral displacement was obtained respectively from differential GPS method and acceleration method.During 2 s after the beginning of steering,the results were almost identical and the error was less than 5%.So the acceleration method suggested by FMVSS 126 was feasible to test the lateral displacement at 1.07 s after the beginning of steering.Finally,the results of three group tests showed that it was feasible to evaluate the vehicle stability with yaw rate information when vehicle did not lose its stability,but when vehicle was approaching instability or the stability was lost,the vehicle slip angle information should be added to evaluate the vehicle stability.