Four wheel independent steering electric car steering control method and system

A four-wheel independent steering and steering control technology, applied to automatic steering control components, steering mechanisms, steering rods, etc., can solve the lack of stable and economical steering strategies for electric vehicles, reduce design costs, and lack of stable and economical steering Strategy and other issues, to achieve the effect of reducing design cost, avoiding the limitation of mechanical structure, and improving steering stability

Inactive Publication Date: 2015-04-01
SHENZHEN POLYTECHNIC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is to provide a four-wheel independent steering electric vehicle steering control method for the lack of a stable and economical steering strategy for electric vehicles with four-wheel independent drive and four-wheel independent steering existing in the prior art And system, so that the vehicle has high steering sensitivity at low speed and good steering stability at high speed
[0007] It solves the technical problem that the electric vehicle with four-wheel independent drive and four-wheel independent ste

Method used

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  • Four wheel independent steering electric car steering control method and system
  • Four wheel independent steering electric car steering control method and system
  • Four wheel independent steering electric car steering control method and system

Examples

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Example Embodiment

[0067] Example one

[0068] The embodiment of the present invention provides a four-wheel independent steering electric vehicle steering control method; wherein the four-wheel independent steering electric vehicle is provided with four independent power drive motors and four independent steering drive motors, that is, each wheel is set separately There are two drive motors, one is used as a power drive and the other is used as a steering drive. This wheel drive design makes the angle of rotation of the car larger, and each wheel can turn 180 degrees (including forward and reverse) 90 degrees each), and can even move laterally, as shown in Figure 1; specifically, Figure 1A Indicates that the car turns in place, Figure 1B Indicates that the car is traveling horizontally, Figure 1C It means that the car is turning in the same direction (if the original driving direction is right, the turning direction is still right), Figure 1D Indicates that the car is turning in different direc...

Example Embodiment

[0149] Example two

[0150] Based on the same inventive concept, please refer to Figure 13 , The embodiment of the present invention also provides a four-wheel independent steering electric vehicle steering control system, including:

[0151] The steering wheel angle and vehicle speed acquiring unit 1301 is used to acquire the steering wheel angle and vehicle speed of the electric vehicle when the four-wheel independent steering electric vehicle is in a working state and needs to be turned; wherein the vehicle speed is a variable speed;

[0152] The transmission ratio obtaining unit 1302 is configured to obtain the variable transmission ratio between the steering wheel and the rear wheel angle of the electric vehicle at different vehicle speeds based on the vehicle speed and the vehicle speed transmission ratio mathematical model;

[0153] The front wheel angle obtaining unit 1303 is configured to obtain the front wheel angle of the electric vehicle based on the steering wheel angle; ...

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Abstract

The invention discloses a four wheel independent steering electric car steering control method and a four wheel independent steering electric car steering control system, and solves the technical problem that a four wheel independent driving and four wheel independent steering electric car is lack of a stable and affordable steering strategy in the prior art. The four wheel independent steering electric car steering control method includes: when an electric car needs to swerve, obtaining a steering wheel turning angle and car speed of the electric car; based on a car speed and car speed transmission ratio mathematic model, obtaining a variable transmission ratio between the steering wheel angle and a rear wheel turning angle of the electric car at different car speeds; obtaining a front wheel turning angle of the electric car based on the steering wheel turning angle; obtaining a car ideal condition of the electric car based on a variable transmission ratio car ideal model, the car speed and the front wheel turning angle; simultaneously, obtaining a car virtual condition of the electric car based on a four wheel steering electric car linear two freedom model, the car speed and the front wheel turning angle; obtaining the rear wheel turning angle of the electric car based on the car ideal condition and the car virtual condition of the electric car, and controlling the electric car to swerve based on the front wheel turning angle and the rear wheel turning angle of the electric car.

Description

technical field [0001] The invention relates to the technical field of electric vehicle steering control, in particular to a steering control method and system for a four-wheel independent steering electric vehicle. Background technique [0002] The car steering system is used to change or maintain the driving direction of the car. Its function is to control the driving direction of the car according to the driver's wishes. The car steering system is very important to the driving safety of the car. Four-wheel steering (4WS, 4Wheel Steering) system has been widely used and developed because it can effectively improve the handling stability of automobiles. [0003] In the early days, 4WS cars used fixed transmission ratio front wheel steering (FWS, Front Wheel Steering) to steer, that is, the driver controls the steering of the front wheels of the car through the steering wheel, and the rear wheels follow the steering of the front wheels. The transmission ratio is a fixed tra...

Claims

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Application Information

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IPC IPC(8): B62D6/00B62D15/00B60W30/045B62D113/00B62D101/00B62D137/00
CPCB62D6/00B60W30/045B60W2510/20B60W2520/10B60W2710/20B62D15/00
Inventor 邱浩董铸荣周琳梁松峰张亚琛李占玉李世勇
Owner SHENZHEN POLYTECHNIC
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