Supercharge Your Innovation With Domain-Expert AI Agents!

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
View PDF5 Cites 0 Cited by
  • 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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control method for four-wheel independent steering vehicle
  • Control method for four-wheel independent steering vehicle
  • Control method for four-wheel independent steering vehicle

Examples

Experimental program
Comparison scheme
Effect test

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...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

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

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
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
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com