Four-wheeled independent steering and independent drive vehicle control system based on instinct driving idea

Abstract

The invention provides a four-wheeled independent steering and independent drive vehicle control system based on an instinct driving idea and belongs to the technical field of vehicle control systems. The system comprises a whole vehicle controller composed of a whole vehicle control unit, a kinematics control unit and a dynamics control unit, a human-computer interaction interface composed of an instrument display unit and a user command unit, a secondary information processing system composed of a road surface information processing system and a vehicle information processing system, a sensor composed of a camera/laser radar, an accelerometer, a speed sensor and a steering angle sensor, a secondary controller composed of drive motor controllers of wheels, steering motor controllers of the wheels and force feedback controllers, and an executor composed of drive motors of the wheels, steering engines of the wheels and a steering wheel. The system is high in stability, high in controllability freedom degree, simple in structure and low in cost, information of the road condition and the surroundings is obtained through the sensor, a driver control command is automatically corrected, and easy driving based on the instinct is achieved.

Description

technical field [0001] The invention belongs to the technical field of vehicle control systems, and in particular relates to the design of a four-wheel independent steering independent drive vehicle control system based on an intuitive driving concept. Background technique [0002] Traditional vehicles adopt the steering mode of front-wheel steering. The direction of the two front wheels must be the same, and the direction of the two rear wheels must also be the same. It can only realize the steering operation with a small deflection angle and a large steering radius. When walking, people can turn around flexibly, change their forward direction on the spot, and can also step sideways, which allows us to have good flexibility when avoiding obstacles. Therefore, there is a difference between the traditional vehicle driving mode and the human walking mode, that is, humans cannot drive the vehicle as flexibly and intuitively as controlling their own legs. [0003] Although the ...

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Problems solved by technology

Therefore, there is a difference between the traditional vehicle driving mode and the human walking mode, that is, humans cannot drive the vehicle as flexibly and intuitively as controlling their own legs

[0003] Although the existing automobile steering system has developed from a simple purely mechanical steering system, hydraulic power steering system, and electro-hydraulic power steering system to an electric power steering system with more energy-saving and superior handling performance, the steering force of the car has been improved. The control characteristics reduce the driver's steering burden, but the mechanical transmission mode is still used, the steering transmission ratio is fixed, and the steering characteristics are poor

In recent years, some car companies have adopted the electronic steering by wire system (Steering By Wire System), which connects the steering wheel and the steering wheel through control signals, which improves the angular transmission characteristics of the car's steering, but still uses the traditional steering mode, that is, the front wheels Steering (2WS) or four-wheel steering (4WS), which wastes the advantages of the independent four-wheel steering angle of the electronic control-by-wire steering system

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