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Control method for four-wheel independent steering vehicle

A four-wheel independent steering and control method technology, applied to automatic steering control components, vehicle components, steering mechanisms, etc., can solve problems such as weak steering stability

Active Publication Date: 2018-10-09
北京锐涛技术开发有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a four-wheel independent steering vehicle control method, which overcomes the defect of weak control stability of the single control strategy in the prior art, and has the characteristics of good control effect and high stability

Method used

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  • Control method for four-wheel independent steering vehicle
  • Control method for four-wheel independent steering vehicle
  • Control method for four-wheel independent steering vehicle

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Embodiment 1

[0085] like figure 1 As shown, the control method of the four-wheel independent steering vehicle provided in this embodiment includes the following steps:

[0086] A. Preset ideal vehicle steering model, interference boundary estimation link, rear wheel angle sliding mode controller and yaw moment sliding mode controller;

[0087] The construction process of the ideal vehicle steering model is as follows:

[0088] The vehicle steering kinematics model is established as follows:

[0089]

[0090] In the formula: m is the mass of the vehicle; v x , v y Respectively represent the velocity components of the vehicle's center of mass velocity V on the x and y axes; respectively represent the acceleration components of the car's center of mass velocity V on the x and y axes; γ is the yaw rate of the car,

[0091] It means the yaw angular acceleration; a and b are the distances from the center of mass of the car to the front axle and the rear axle respectively, and the whe...

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Abstract

The present invention provides a control method of a four-wheel independent steering vehicle. The method comprises the following steps: A, preinstalling an ideal vehicle steering model, an interference boundary estimation link, a rear wheel turning angle sliding mode controller and a yawing moment sliding mode controller; B, measuring a front wheel turning angle, a side slip angle and a yaw velocity of the vehicle in real time by taking the straightly advancing state of the vehicle as the initial moment, and performing calculation to obtain a real-time side slip angle control error and a yaw velocity control error by combining the ideal vehicle steering model and the corresponding real-time side slip angle and the corresponding real-time yaw velocity; C, inputting the real-time side slip angle control error and the yaw velocity control error into the interference boundary estimation link, to obtain real-time interference boundary parameters; and D, performing calculation to obtain a real-time rear wheel turning angle and yawing moment by combining the real-time front wheel turning angle, the real-time interference boundary parameters and the control errors, and performing controlling over the vehicle. The method has the characteristics of good control effect and high stability.

Description

technical field [0001] The invention relates to the field of vehicle steering control, in particular to a control method for a four-wheel independently steering vehicle. Background technique [0002] The handling stability of the vehicle is an important performance related to the safe driving of the vehicle. Four-wheel steering (4WS) technology is an important component of the active chassis control system, and it is the development trend of modern vehicles to improve handling stability and active safety. The control strategy is an important research aspect of 4WS technology. By adjusting the rear wheel angle to control the side slip angle and yaw rate of the vehicle center of mass, it can effectively improve the handling stability of the vehicle at high speed and the maneuverability at low speed. So far, for the 4WS control problem of active rear wheel steering, methods such as feedforward control, yaw rate feedback control, and neural network control have been proposed. ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D6/00B62D133/00B62D137/00
CPCB62D6/00B62D6/001
Inventor 袁海英高远盛以成张银王振刚
Owner 北京锐涛技术开发有限公司
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