Ackermann Steering Trapezoidal Control Method, Device, Mechanism, System and Vehicle

Abstract

The invention provides an Ackerman steering trapezium control method, device, mechanism and system and an automobile with the system. According to the Ackerman steering trapezium control method, a first steering vehicle wheel and a second steering vehicle wheel are controlled by the Ackerman steering trapezium control mechanism to change in a preset range according to an Ackerman theoretical curve. The Ackerman steering trapezium control method comprises the following steps that torque data, rotation angle and acceleration data, position data of a first retractable steering arm and a second retractable steering arm and vehicle speed data are acquired; according to the torque data, the rotation angle and acceleration data, the position data of the first retractable steering arm and the second retractable steering arm and the vehicle speed data, the first retractable steering arm and the second retractable steering arm are controlled to conduct extension and retraction to drive the firststeering vehicle wheel and the second steering vehicle wheel to change in the preset range according to the Ackerman trapezium theoretical curve. According to the Ackerman steering trapezium controlmethod, pure rolling of the vehicle wheels can be achieved at the same time of vehicle steering, and the steering performance is improved.

Description

technical field [0001] The present invention relates to the technical field of automobile control, in particular to an Ackerman steering trapezoidal control mechanism of an active steering system, a system, a method, a device, a device, a computer-readable storage medium and an automobile having the system. Background technique [0002] With the development of electronic technology, the application of electronic products and sensor technology in steering system is becoming more and more popular. More and more auto companies have begun to develop and apply assisted driving technology and unmanned driving technology. Assisted driving technology can realize emergency braking, lane keeping, automatic car following and other functions. [0003] In order to reduce the additional resistance of the vehicle during steering, excessive tire wear, and excessive turning radius, it is necessary to carefully determine the parameters of the steering trapezoid in the steering transmission m...

AI Technical Summary

Problems solved by technology

But at present, the steering trapezoid of automobiles can only be designed within a certain range of wheel deflection angles, so that the relationship between the wheel deflection angles on both sides is generally close to the ideal relationship.

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