Steering control method for a four-wheel independently steered vehicle

Abstract

The invention provides a steering control method for four-wheeled independent steering vehicle. The steering control method comprises the following steps: solving an instant steering center of the vehicle in real time through positions of wheels and a steering angle signal under a vehicle coordinate system, obtaining kinetic errors of the vehicle according to the instant steering center; then, combining kinematic errors of the vehicle, controlling the steering angles of wheels, thereby completing steering of vehicles. According to the steering control method for the four-wheel independent steering vehicle provided by the invention, a main controller is used for controlling the wheel steering angles by combining the kinetic errors with the kinematic errors of the vehicle, so that the vehicle steering precision is further improved; meanwhile, through the kinematic errors, the wheels which are relatively moved independently in mechanical configuration are virtually connected, so that other wheels cooperatively move when one wheel is externally affected to have steering angle mutation in a steering process, the vehicle steering stability is guaranteed, and the robustness of the system is improved.

Description

technical field [0001] The invention belongs to the field of vehicle control, and in particular relates to a steering control method for a four-wheel independently steering vehicle. Background technique [0002] The steering of each wheel of a four-wheel independent steering (4WIS) vehicle can be independently controlled, and all wheels can turn around the same instantaneous center of rotation ICR (instantaneous center of rotation) when turning, and can ensure that the vehicle's steady-state center of mass side slip angle remains at Zero, able to complete a variety of sports modes including spot steering. Compared with other types of vehicles, the mobility and maneuverability of vehicles have been improved, and they are more and more widely used in fields such as scientific research, rescue, intelligent transportation, multi-functional logistics vehicles, and agricultural special vehicles. [0003] In the prior art, the motion of the vehicle is usually controlled from the p...

AI Technical Summary

Problems solved by technology

The traditional wheel position control method is used to control the steering of the wheels of the four-wheel independently steered vehicle, which can ensure that each wheel can better track its own trajectory. If its trajectory cannot be tracked in real time, the dynamic requirements of the vehicle cannot be guaranteed in real time.

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