Coordinated control method and coordinated control device for electronic differential and active differential steering

Abstract

The invention discloses a coordinated control method and a coordinated control device for electronic differential speed and active differential steering. The coordinated control method comprises the following steps of: calculating an ideal yaw angular velocity omega d according to a steering wheel rotation angle delta f input by a driver; Calculating a moment Mb according to the yaw angular velocity omega d; Judging whether the direction of the output rated torque KsMz of the active differential steering controller is the same as the direction of the torque Mb when the active differential steering controller is in the auxiliary driving mode, and detecting the actual yaw angular speed omega r of the vehicle if the direction of the output rated torque KsMz is the same as the direction of thetorque Mb; Otherwise, it is judged whether[Omega] r ( [Omega] D); If yes, the electronic differential controller and the active differential steering controller control simultaneously, otherwise, theelectronic differential controller stops the control. The invention can reasonably and effectively coordinate the working relationship between the two controllers, and solves the problem that the driver and the control system interfere with each other when the lane departure auxiliary control system of the traditional automobile is designed based on the steering.

Description

technical field [0001] The invention relates to the technical field of auxiliary driving control of a hub motor driven vehicle, in particular to a coordinated control method and a coordinated control device for an electronic differential and active differential steering of a hub motor driven vehicle. Background technique [0002] Lane departure assistance system (Lane departure assistance system, LDAS) is an important part of intelligent driving technology. Lane departure assistance control system is an important content of assisted driving. Its research includes lane departure assistance based on the steering system as the bottom layer. This method exists Certain limitations: [0003] (1) The driver's steering input interferes with the auxiliary control system, and the steering force output by the auxiliary control system will also cause some discomfort to the driver; [0004] (2) The man-machine controls the steering at the same time. If the coordination between the two i...

AI Technical Summary

Problems solved by technology

[0003] (1) The driver's steering input interferes with the auxiliary control system, and the steering force output by the auxiliary control system will also cause some discomfort to the driver;

[0004] (2) The man-machine controls the steering at the same time. If the coordination between the two is inconsistent or conflicts, it will increase the driver's manipulation burden and affect the driving safety of the vehicle.

Since the active torque distribution of the four-wheel motors is carried out on the premise of meeting the total longitudinal force requirements, it can also effectively solve the problem of affecting the vehicle speed when the lane departure assist control system is designed based on differential braking in traditional vehicles.

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