针对ASR系统防误触的复杂路面识别算法

doi:10.19562/j.chinasae.qcgc.2022.05.013

Abstract

Abstract:

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.

Key words: vehicle engineering, ASR, uneven road surface, road surface identification

Xichen Li,Hong Zhang,Xiaotian Xie,Bowen Wang,Xinyu Wang. Complicated Road Surface Identification Algorithm with Prevention of ASR False Activation[J].Automotive Engineering, 2022, 44(5): 756-763.

Figures/Tables 20

路面等级	$G q (n 0) / m 3$	路面等级	$G q (n 0) / m 3$
A	$16 × 10 - 6$	E	$4096 × 10 - 6$
B	$64 × 10 - 6$	F	$16384 × 10 - 6$
C	$256 × 10 - 6$	G	$65536 × 10 - 6$
D	$1024 × 10 - 6$	H	$262144 × 10 - 6$

路面类型	$c 1$	$c 2$	$c 3$	最优滑移率 $s p$	峰值附着 $μ m$	路面特征值 $τ$	路面等级序号
冰	0.05	306.39	0.001	0.031	0.05	［0-0.14］	1
雪	0.195	94.13	0.064 6	0.060	0.19	［0.14-0.96］	2
湿鹅卵石	0.400	33.71	0.12	0.140	0.38	［0.96-4.33］	3
湿沥青	0.857	33.82	0.35	0.131	0.80	［15.82-29.91］	7
干水泥	1.197	25.17	0.54	0.160	1.08	［8.46-13.84］	5
干沥青	1.280	23.99	0.52	0.170	1.17	［4.33-8.46］	4
干鹅卵石	1.371	6.46	0.67	0.400	1.00	［8.46-15.82］	6

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侧倾角度/ （°）	路面等级
侧倾角度/ （°）	A级	B级	C级	D级
均值	0.372	0.740	1.276	2.834
最大值	0.710	1.391	3.045	8.494
最小值	0.008	0.022	0.014	0.017
标准差	0.191	0.412	0.889	2.312

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Complicated Road Surface Identification Algorithm with Prevention of ASR False Activation

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