A rear wheel active steering control method, system and control device thereof
A technology of rear wheel active steering and control method, which is applied in the direction of automatic steering control components, steering mechanisms, steering rods, etc., and can solve the problem of unreasonable setting of steady-state yaw rate control targets, difficulty in yaw rate tracking, and blunt steering response of vehicles To achieve a reasonable yaw rate control target, improve vehicle stability at high speeds, and suppress overshooting
Active Publication Date: 2022-07-26
GUANGZHOU AUTOMOBILE GROUP CO LTD
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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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[0062] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures denote elements that have the same or similar functions. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.
[0063] In addition, in order to better illustrate the present invention, numerous specific details are given in the following specific embodiments. It will be understood by those skilled in the art that the present invention may be practiced without certain specific details. In some instances, means well known to those skilled in the art have not been described in detail in order not to obscure the subject matter of the present invention.
[0064] An embodiment of the present invention provides a rear wheel active steering control method, Figure 4 For the flow chart of th...
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The present invention relates to a rear wheel active steering control method, system, and control device. The method includes: acquiring current vehicle speed and front wheel rotation angle, and estimating the current vehicle speed, front wheel rotation angle and a preset first vehicle model according to the current vehicle speed, front wheel rotation angle and preset first vehicle model. The actual vehicle yaw rate, and the target yaw rate is estimated according to the current vehicle speed, the front wheel angle and the preset second vehicle model; the difference between the actual vehicle yaw rate and the target yaw rate is used as the input, the The target yaw rate is the control target to perform PI control and output the rear wheel rotation angle; according to the rear wheel rotation angle, a control command for controlling the drive mechanism to drive the rear wheel of the vehicle to rotate according to the rear wheel rotation angle is generated. The present invention improves the active steering control mode of the rear wheels of the vehicle to improve the high-speed driving stability of the vehicle.
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 thereof. Background technique [0002] The control of the 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] see 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 also be the same. However, the algorithm ignores the diversity of the driver's steering input, the steering wheel ramp input and the steering wheel step input, the response of the vehicle under the same vehicle speed and steering wheel angle is not the same. When the driver turns to the slope ...
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IPC IPC(8): B62D6/00B60W40/112B62D101/00B62D137/00
CPCB62D6/001B60W40/112B60W2520/12B60W2520/06B60W2720/00
Inventor 罗照湘王祥徐帆
Owner GUANGZHOU AUTOMOBILE GROUP CO LTD