A control method, device and vehicle for three-axis bus steering

Abstract

The present invention provides a control method, device and vehicle for three-axle bus steering. The control method for three-axle bus steering includes: obtaining steering data of the vehicle, where the steering data includes the rotation angle of the steering wheel and the angular acceleration β of the rotation of the steering wheel; judging and obtaining the driving state information of the vehicle according to the steering data; performing weighted processing on the rotation angle of the steering wheel according to the driving state information, and obtaining the rear-wheel steering data Anow; and driving the rear wheels to adjust the steering angle according to the rear-wheel steering data Anow. The present invention can effectively improve the problems of large pressure on the rear wheels and inconvenient steering during the steering process of existing three-axle buses.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly relates to a control method and device for the steering of a three-axle bus and an automobile. Background Art

[0002] With the continuous improvement of the performance and driving speed of automobiles, the steering stability and safety of automobiles have always been hot issues in vehicle dynamics research, especially the stability and safety issues during high-speed steering.

[0003] For a three-axle bus, its front wheels are usually used as the front wheels, and the angle of the front wheels is used to adjust the direction of the bus. Among them, the rear wheels of the bus are usually not adjustable, resulting in a large pressure on the rear wheels of the bus during the steering process. At the same time, the overall turning radius of the bus is large, making it inconvenient for the bus to perform steering operations. Summary of the Invention

[0004] In view of the above disadvantages of the prior art, the purpose of the present invention is to provide a control method and device for the steering of a three-axle bus and an automobile, so as to improve the problems of large pressure on the rear wheels and inconvenient steering during the steering process of the existing three-axle bus.

[0005] To achieve the above object and other related objects, the present invention provides a control method for the steering of a three-axle bus, which includes:

[0006] Obtain the steering data of the vehicle, where the steering data includes the rotation angle of the steering wheel and the angular acceleration β of the rotation of the steering wheel;

[0007] Based on the steering data, judge and obtain the driving state information of the vehicle;

[0008] Based on the driving state information, perform weighted processing on the rotation angle of the steering wheel and obtain the rear-wheel steering data Anow;

[0009] Based on the rear-wheel steering data Anow, drive the rear wheels to adjust the steering angle.

[0010] In one aspect of the present invention, in judging and obtaining the driving state information of the vehicle based on the steering data, the driving state information of the vehicle includes direction correction and vehicle steering, which includes:

[0011] If > the first preset value, then the driving state information of the vehicle is vehicle steering;

[0012] If < the first preset value, then judge the steering state of the vehicle, and the steering state includes rapid steering and slow steering;

[0013] If the steering state is a sharp turn, it is determined that the driving state of the vehicle is vehicle steering;

[0014] If the steering state of the vehicle is a slow turn, it is determined that the driving state of the vehicle is direction correction.

[0015] In one embodiment of the present invention, the first preset value is 10°.

[0016] In one embodiment of the present invention, in determining the steering state of the vehicle, it includes: if β > the second preset value, the steering state is a sharp turn; if β < the second preset value, the steering state is a slow turn.

[0017] In one embodiment of the present invention, the second preset value is 15·1 / s 2 。

[0018] In one embodiment of the present invention, based on the driving state information, the rotation angle of the steering wheel is weighted and the rear-wheel steering data Anow is obtained, which includes: Let wherein, if the driving state information of the vehicle is direction correction, let a = 0; if the driving state information of the vehicle is vehicle steering, let a be a non-zero constant.

[0019] In one embodiment of the present invention, if the driving state information of the vehicle is vehicle steering, a is between 1 / 200 and 1 / 90.

[0020] In one embodiment of the present invention, if the driving state information of the vehicle is vehicle steering, let a be 1 / 120.

[0021] The present invention also provides a control device for the steering of a three-axle passenger vehicle, which is characterized by including:

[0022] An acquisition module, which is used to acquire the steering data of the vehicle, wherein the steering data includes the rotation angle of the steering wheel and the rotational angular acceleration β of the steering wheel rotation;

[0023] A judgment module, which is used to judge and acquire the driving state information of the vehicle according to the steering data;

[0024] A processing module, which is used to weight the rotation angle of the steering wheel according to the driving state information and acquire the rear-wheel steering data Anow;

[0025] A driving module, which is used to drive the rear wheels to adjust the steering angle according to the rear-wheel steering data Anow.

[0026] The present invention also provides an automobile, which, when turning, executes the control method for the steering of a three-axle passenger vehicle as described above.

[0027] In summary, the present invention discloses a control method, a control device and an automobile for the steering of a three-axle passenger vehicle, which can effectively improve the problems of large pressure on the rear wheels and inconvenient steering during the turning process of the existing three-axle passenger vehicle. Among them, by establishing the angular relationship between the front wheels and the rear wheels during the rotation process, the front wheels and the rear wheels rotate synchronously during the turning process of the vehicle. Thereby, the pressure on the tires located on the rear axle is greatly reduced, and the turning radius of the whole vehicle is decreased, and the overall controllability of the vehicle is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 It is a schematic diagram of the three-bridge structure of an automobile according to an embodiment of the present invention;

[0030] Figure 2 It is a schematic flowchart of a control method for the steering of a three-axle passenger vehicle according to an embodiment of the present invention;

[0031] Figure 3 It is a schematic diagram of modules of a control device for the steering of a three-axle passenger vehicle according to an embodiment of the present invention.

[0032] DESCRIPTION OF REFERENCE NUMERALS

[0033] 100, front axle; 200, middle axle; 300, rear axle;

[0034] 110, acquisition module; 120, judgment module; 130, processing module; 140, driving module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] The following uses specific specific examples to illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0036] Please refer to Figures 1 to 3. It should be noted that the structures, proportions, sizes, etc. shown in the accompanying drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention. Therefore, they do not have any technical substance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present invention.

[0037] Please refer to Figure 1 . The present invention provides an automobile, which is an electric bus, and the electric bus adopts a three-axle structure. Among them, for the electric bus, its three-axle structure includes a front axle 100, a middle axle 200, and a rear axle 300, and the front axle 100, the middle axle 200, and the rear axle 300 are respectively connected with tires. Specifically, for the front axle 100, the front wheels it usually connects can be rotated to achieve the direction control of the bus. It should be noted that for the electric bus, the front wheels are steered by a steering gear, and at the same time, the steering gear can also be used to measure the rotation angle of the steering shaft of the steering wheel to obtain the rotation angle of the steering wheel of the electric bus. Among them, for the middle axle 200, it usually connects with multi-layer tires. For the rear axle 300, it usually connects with single-layer tires. When the bus is turning, the tires on the rear axle 300 bear relatively large pressure and are prone to blowout. Therefore, in one embodiment, the tires on the rear axle 300 are allowed to rotate at a certain angle to relieve the pressure on the tires.

[0038] Please refer to Figure 2 As shown, based on the above-mentioned automobile, the present invention also provides a control method for the steering of a three-axle bus to improve the problems of large pressure on the rear wheels and inconvenient steering during the steering process of the existing three-axle bus.

[0039] Among them, the control method for the steering of the three-axle bus may include the following steps:

[0040] First, execute step S10 to obtain the steering data of the vehicle, where the steering data includes the rotation angle of the steering wheel and the angular acceleration β of the rotation angle of the steering wheel.

[0041] During the steering process of the vehicle, the direction control of the vehicle is usually achieved by rotating the steering wheel and obtaining the rotation angle of the front wheels. Therefore, an angular velocity sensor can be connected to the steering shaft of the steering wheel to measure the angular acceleration of the rotation of the steering wheel. At the same time, the rotation angle of the steering wheel can be obtained through the steering gear connected to the steering wheel. However, this is not limited to this. For the rotation angle of the steering wheel As for the specific method for obtaining the rotational angular acceleration β of the steering wheel, it can be determined according to actual requirements.

[0042] Then, perform step S20. Based on the steering data, determine and obtain the driving state information of the vehicle.

[0043] In step S20, the driving state of the vehicle can include two states: direction correction and vehicle steering. Among them, direction correction means that during the driving process of the vehicle, a slight adjustment is made to the overall driving direction of the vehicle. Therefore, when the vehicle is in the direction correction state, the tires on the rear axle do not need to rotate. Vehicle steering means that during the driving process of the vehicle, the direction of the vehicle is adjusted.

[0044] Specifically, during the process of determining and obtaining the driving state information of the vehicle, if > the first preset value, the driving state information of the vehicle is vehicle steering. Among them, the first preset value is a threshold preset in advance, and the first preset value can be defined as 10°. It should be noted that if < the first preset value, it is necessary to judge the steering state of the vehicle. The steering state of the vehicle can include rapid steering and slow steering. It can be understood that rapid steering means that the vehicle makes a rapid direction rotation in a short time, for example, the vehicle direction adjustment made in an emergency. Under the condition of rapid steering, the angular acceleration of the steering wheel during rotation is relatively large. Therefore, the steering state of the vehicle can be obtained by judging the angular acceleration of the steering wheel during rotation.

[0045] Among them, during the judgment of the steering state of the vehicle, if β > the second preset value, the steering state is rapid steering; if β < the second preset value, the steering state is slow steering. In one embodiment, the second preset value is 15·1 / s 2 . However, it is not limited thereto and can be determined according to actual requirements.

[0046] It should be noted that if the steering state is rapid steering, it is determined that the driving state of the vehicle is vehicle steering. If the steering state of the vehicle is slow steering, it is determined that the driving state of the vehicle is direction correction.

[0047] Furthermore, perform step S30. Based on the driving state information, perform weighted processing on the rotation angle of the steering wheel and obtain the rear-wheel steering data Anow.

[0048] In step S30, based on the steering data of the front wheels, the rotation angle of the tires located on the rear axle is determined. Among them, it can be set that Among them, if the driving state information of the vehicle is direction correction, let a = 0. Therefore, for the tires on the rear axle, there is no need to adjust the direction. If the driving state information of the vehicle is vehicle steering, let a be a non-zero constant, where a is between 1 / 200 and 1 / 90. For example, in one embodiment, a can be allowed to be 1 / 120. Therefore, when the steering wheel rotates 720°, the angle that the tires on the rear axle need to rotate is 6°. By finely adjusting the angles of the tires at the rear axle position, the pressure on the tires can be effectively reduced, and the turning radius of the entire vehicle can be decreased.

[0049] Finally, execute step S40, and drive the rear wheels to adjust the steering angle according to the rear-wheel steering data Anow.

[0050] In summary, by establishing the angular relationship between the front wheels and the rear wheels during the rotation process, the front wheels and the rear wheels rotate synchronously during the steering process of the vehicle. Furthermore, the pressure on the tires on the rear axle is greatly reduced, and the turning radius of the entire vehicle is decreased, improving the overall handling performance of the vehicle.

[0051] Please refer to Figure 3 As shown, based on the above-mentioned vehicle, the present invention further provides a control device for the steering of a three-axle passenger vehicle, and the control device for the steering of the three-axle passenger vehicle corresponds to the control method for the steering of the three-axle passenger vehicle in the above embodiment. The control device for the steering of the three-axle passenger vehicle may include an acquisition module 110, a judgment module 120, a processing module 130, and a driving module 140. Among them, the module referred to in the present invention refers to a series of computer program segments that can be executed by a processor and can complete fixed functions, and are stored in a memory.

[0052] Specifically, the acquisition module 110 is used to acquire the steering data of the vehicle, where the steering data includes the rotation angle of the steering wheel and the angular acceleration β of the rotation of the steering wheel. The judgment module 120 is used to judge and acquire the driving state information of the vehicle according to the steering data. The processing module 130 is used to perform weighted processing on the rotation angle of the steering wheel and acquire the rear-wheel steering data Anow. And the driving module 140 is used to drive the rear wheels to adjust the steering angle according to the rear-wheel steering data Anow.

[0053] In summary, the present invention discloses a control method, device and vehicle for the steering of a three-axle bus, which can effectively improve the problems of large pressure on the rear wheels and inconvenient steering during the steering process of the existing three-axle bus. Among them, by establishing the angular relationship between the front wheels and the rear wheels during the rotation process, the front wheels and the rear wheels rotate synchronously during the steering process of the vehicle. Furthermore, the pressure on the tires located on the rear axle is greatly reduced, and the turning radius of the vehicle as a whole is decreased, improving the overall controllability of the vehicle.

[0054] Therefore, the present invention effectively overcomes some practical problems in the prior art and thus has high utilization value and practical significance.

[0055] The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present invention should still be covered by the claims of the present invention.

[0056] At the same time, when the embodiments give numerical ranges, it should be understood that unless otherwise specified in the present invention, any of the two endpoints of each numerical range and any value between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present invention, based on the understanding of those skilled in the art of the prior art and the description of the present invention, can also use any methods, devices and materials similar to or equivalent to those described in the embodiments of the present invention to implement the present invention.

Claims

1. A control method for the steering of a three-axle passenger vehicle, characterized in that, it includes: Obtain the steering data of the vehicle, where the steering data includes the rotation angle of the steering wheel and the angular acceleration β of the rotation of the steering wheel; Judging and obtaining the driving state information of the vehicle according to the steering data; According to the driving state information, the steering angle of the steering wheel is weighted, and the rear-wheel steering data Anow is obtained; Driving the rear wheels to adjust the steering angle according to the rear-wheel steering data Anow; In judging and obtaining the driving state information of the vehicle according to the steering data, the driving state information of the vehicle includes direction correction and vehicle steering, and it includes: If is greater than a first preset value, the driving state information of the vehicle is vehicle steering; If is less than the first preset value, then determine the steering state of the vehicle, where the steering state includes rapid steering and slow steering; In judging the steering state of the vehicle, it includes: If β > the second preset value, the steering state is rapid steering; If β < the second preset value, the steering state is slow steering; If the steering state is rapid steering, it is determined that the driving state of the vehicle is vehicle steering; If the steering state of the vehicle is slow steering, it is determined that the driving state of the vehicle is direction correction; Based on the driving state information, the steering angle of the steering wheel is weighted, and rear-wheel steering data Anow is obtained, which includes: Let wherein, if the driving state information of the vehicle is direction correction, then let a = 0, and if the driving state information of the vehicle is vehicle steering, then let a be a non-zero constant.

2. The control method for the steering of a three-axle passenger vehicle according to claim 1, characterized in that, The first preset value is 10°.

3. The control method for the steering of a three-axle passenger vehicle according to claim 1, characterized in that, The second preset value is 15●1 / s2.

4. The control method for the steering of a three-axle passenger vehicle according to claim 1, characterized in that, If the driving state information of the vehicle is vehicle steering, then a is between 1 / 200 and 1 / 90.

5. The control method for the steering of a three-axle passenger vehicle according to claim 1, characterized in that, If the driving state information of the vehicle is vehicle steering, then let a be 1 / 120.

6. A control device for the steering of a three-axle passenger vehicle, which executes the control method for the steering of a three-axle passenger vehicle according to any one of claims 1 to 5, characterized in that, it includes: An acquisition module (110) for acquiring steering data of a vehicle, wherein the steering data includes the rotation angle of the steering wheel and the angular acceleration β of the rotation of the steering wheel; A judgment module (120), which is used to judge and obtain the driving state information of the vehicle according to the steering data; A processing module (130) for performing weighted processing on the rotation angle of the steering wheel according to the driving state information and obtaining the rear-wheel steering data Anow; A driving module (140), which is used to drive the rear wheels to adjust the steering angle according to the rear-wheel steering data Anow.

7. A vehicle, characterized in that, When the vehicle is steering, it executes the control method for the steering of a three-axle passenger vehicle according to any one of claims 1 to 5.

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