Method and device for controlling four-wheel steering of a vehicle
A four-wheel steering and control method technology, applied in the field of vehicle steering control, can solve problems such as difficult to improve vehicle turning stability and safety, achieve the effect of improving stability and safety, and avoiding understeer or oversteer
Active Publication Date: 2022-03-11
SHENZHEN MINIEYE INNOVATION TECH CO LTD
View PDF0 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
However, the current steering control method cannot effectively avoid understeer or oversteer when the vehicle is turning, and it is difficult to improve the stability and safety of the vehicle when turning.
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0050] The technical solution in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0051] It should be noted that the numbering of the steps in the text is only for the convenience of explanation of the specific embodiments, and does not serve as a function of limiting the execution order of the steps. The method provided in this embodiment may be executed by a relevant terminal device, and the description below takes a controller as an execution subject as an example.
[0052] Such as figure 1 As shown, the first embodiment provides a method for controlling four-wheel stee...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a vehicle four-wheel steering control method and device. The vehicle four-wheel steering control method includes: when the vehicle is in the automatic driving mode and the vehicle's driving speed is greater than a first preset threshold, acquiring the first driving parameter of the current vehicle on the planned trajectory; calculating according to the first driving parameter The first actual understeer degree of the vehicle, and according to the first actual understeer degree and the preset first ideal understeer degree, determine the first rear wheel slip angle compensation amount; according to the first rear wheel side slip angle compensation amount Compensate the front wheel slip angle and rear wheel slip angle of the vehicle to obtain the first front wheel compensation angle and the first rear wheel compensation angle, and control the vehicle to steer at the first front wheel compensation angle and the first rear wheel compensation angle drive. The invention can accurately compensate the side slip angle of the wheel in real time, effectively avoid understeering or oversteering, and improve the turning stability and safety of the vehicle.
Description
technical field [0001] The invention relates to the technical field of vehicle steering control, in particular to a vehicle four-wheel steering control method and device. Background technique [0002] In the actual scene, when the vehicle is turning at a certain speed, it will be subjected to a lateral force. Because the wheels are elastic, they will deform and make the vehicle deviate from the planned trajectory. This phenomenon is called the sideways phenomenon of the wheel. , the side-steering phenomenon is likely to cause understeer or oversteer of the vehicle. Moreover, for different vehicle loads, different road surface adhesion, different driving forms, the same steering wheel angle input, the yaw angle and heading angle displayed by the vehicle are not the same, and it is easy to cause understeer or oversteer of the vehicle. There is a large deviation between the actual driving trajectory of the vehicle and the planned trajectory, which makes it difficult to improve...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): B60W30/045B60W60/00
CPCB60W30/045B60W60/001
Inventor 杜江浩刘国清杨广王启程俞吉徐希楠
Owner SHENZHEN MINIEYE INNOVATION TECH CO LTD