Vehicle rear wheel control method, control system and vehicle

Abstract

The invention provides a method for controlling rear wheels of a vehicle, a control system and a vehicle, and relates to the field of vehicle chassis. The present invention first obtains the lateral acceleration of the vehicle, the actual steering angle of the rear wheels of the vehicle and the actual distance from the vehicle to the target lane line in real time when the vehicle starts to turn or changes lanes, and then searches the preset storage module corresponding to the lateral acceleration. The threshold distance between the vehicle and the target lane line, and then when the actual distance is greater than the threshold distance and is a preset multiple of the threshold distance, calculate the rear wheel rotation positive of the vehicle according to the current actual steering angle of the rear wheels of the vehicle, the current lateral acceleration, and the current actual distance. The maximum speed allowed; then control the rear wheels of the vehicle to return to the center according to the maximum speed; finally, when the rear wheels of the vehicle return to the front and the current actual distance is equal to the threshold distance, the ADAS system is activated. The present invention controls the rear wheels of the vehicle to actively return to alignment before the ADAS system is activated, so that the track of the vehicle can be adjusted more accurately.

Description

technical field [0001] The invention relates to the field of vehicle chassis, in particular to a control method, a control system and a vehicle for rear wheels of a vehicle. Background technique [0002] In the development process of the ADAS system, according to the theoretical model, when the rear wheels are in the middle position (0 degrees) and only the front wheels are steering wheels, the steering center of the vehicle is the extension line of the vertical line of the rear wheels and the vertical line of the front wheels The intersection point, that is, the vehicle steering center is always on the extension line of the rear wheel. When the steering angle of the rear wheels is in the same direction or in the opposite direction relative to that of the front wheels, the steering center of the vehicle will change. In the same direction, the steering center will change below the vertical line of the rear wheels, thereby increasing the turning radius (r) of the vehicle. In...

AI Technical Summary

Problems solved by technology

[0009] The purpose of the first aspect of the present invention is to provide a method for controlling the rear wheels of a vehicle, which solves the technical problem in the prior art that has a great influence on the ADAS system during the steering process

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