Rear wheel active steering control method, system and control equipment

Abstract

The invention relates to a rear wheel active steering control method and system and control equipment, and the method comprises the steps: obtaining a current vehicle speed and a front wheel turning angle, estimating a real vehicle yaw velocity according to the current vehicle speed, the front wheel turning angle and a preset first vehicle model, and estimating a target yaw velocity according to the current vehicle speed, the front wheel steering angle and a preset second vehicle model; taking a difference value between the real vehicle yaw velocity and a target yaw velocity as an input, taking the target yaw velocity as a control target, carrying out PI control, and outputting a rear wheel rotation angle; and generating a control instruction for controlling a driving mechanism to drive the rear wheels of the vehicle to rotate according to the rear wheel rotation angle according to the rear wheel rotation angle. The active steering control mode of the rear wheels of the vehicle is improved, so that the high-speed running stability of the vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of vehicle control, in particular to a rear wheel active steering control method, system, and control device. Background technique [0002] The control of vehicle body stability by the existing rear wheel active steering can generally be attributed to two control algorithms, namely the rear wheel angle-front wheel angle map control algorithm and the yaw rate feedback control algorithm. [0003] refer to figure 1 , according to the control principle of the rear wheel angle-steering wheel angle map control algorithm, as long as the vehicle speed and the steering wheel angle are the same, the rear wheel angle must be the same. However, the algorithm ignores the diversity of the driver's steering input. The response of the vehicle under the same vehicle speed and steering wheel angle is different for the steering wheel slope input and the steering wheel step input. When the driver turns to a slope input, the a...

AI Technical Summary

Problems solved by technology

Depend on image 3 It can be seen that the algorithm with the steady-state yaw gain as the control target can effectively suppress the overshoot of the yaw rate, and the vehicle response is relatively linear with the change of the steering input frequency, but there are two problems: one is that the steady-state yaw gain is too small , taking this as the control target will cause the vehicle steering response to be relatively blunt, especially when the steering wheel is turned quickly; second, as the frequency increases, the actual value of the yaw rate is too different from the target value, making it difficult to track the yaw rate

Therefore, the control target of the steady-state yaw rate is set unreasonably

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