针对ASR系统防误触的复杂路面识别算法

Complicated Road Surface Identification Algorithm with Prevention of ASR False Activation

因不平路面动载荷而产生明显波动的轮速会导致车轮滑移率的跳变,进而会频繁触发以滑移率为控制目标的驱动防滑控制系统(ASR),因此,须对不平路面进行识别并优化控制。针对沟坎路面,本文提出以滑移率和整车侧倾角变化为观测量,采用门限逻辑法实现路面识别。对于连续不平路面,结合穿越计次法与能量法进行路面不平状况判别,以滑移率与路面附着系数所包围的封闭面积作为特征值进行路面条件判定,根据识别结果,采用ASR阈值调整控制,减小车轮悬空导致的打滑现象及主动制动不均产生的非理想横摆。结果表明,所提算法能够快速准确识别不平路面特性,ASR主动制动时长缩短18.8%,减少了在不平路面行驶的动力损失。

The significant fluctuation of wheel speed affected by the dynamic load of uneven road surface(URS)can lead to jumps in wheel slip rate,which will frequently trigger the Acceleration Slip Regulation(ASR)with the slip rate as the control target. Therefore,it is necessary to identify uneven road surface and subsequently optimize the control strategy. For uneven road with bumps,an identification algorithm employing threshold logic method with the variation of slip rate and lateral camber angle as the judgement index. For continuous uneven road,an identification method integrates traversal counting method and energy method is adopted to determine the road condition and take the area enclosed by slip rate and road surface adhesion coefficient as the characteristic value to judge the adhesion condition of the road surface. Furthermore,ASR threshold adjustment control is used to mitigate the slip phenomenon caused by wheel suspension and the non-ideal yaw resulted from the active braking imbalance. The results indicate that the algorithm can identify the condition of URS rapidly and precisely with an 18.8% reduction of the active braking duration,minimizing the power loss when driving on URS.