22 results about "Countersteering" patented technology

The invention relates to a vehicle control method (1), comprising: detecting (17) an unstable driving state (330) of a vehicle (300) in advance at least using an actual variable (9) and a target trajectory (TSoll); wherein, during the early detection (17), it is ascertained whether the unstable driving state (330) is an understeer (332) of the vehicle (300) or an oversteer (334) of the vehicle (300); and in response to the early detection (17): defining (40) a steering angle correction (41) for the target steering angle ([delta] Soll), the steering angle correction (41) comprising a steering angle limit ([delta] lim) for the available actual steering angle ([delta] Ist) if the unstable driving state (330) is an understeer (332) of the vehicle (300); and wherein, if the unstable driving state (330) of the vehicle (300) is an oversteering (334), the steering angle correction (41) comprises a reverse steering angle (cs) directed opposite the target steering angle ([delta] Soll); and steers (47) the vehicle (300) using the steering angle correction (41). The invention also relates to a vehicle control system (200), a vehicle (300) and a computer program product.

In a broad respect, vehicles that are capable of making a low- to zero-radius turn using the independent rotation of drive wheels and by turning the non-driving steerable structure or structures (such as wheels) with a steering input device (in some embodiments, the driving wheels also may be capable of being turned). This may be accomplished using a steering system, a speed control system and an integration device (together, a control system) that are configured to work together to provide correct steering in forward and reverse, and, in some embodiments, to reduce the speed of the outboard drive wheel of the vehicle when it enters an extreme turn under constant speed input. Different systems configured for use in such vehicles are included.

The invention discloses a four-wheel steering vehicle yaw velocity calculation method and device and a vehicle. Belongs to the technical field of vehicles. The method comprises the steps that target parameters of a vehicle are obtained, and the target parameters comprise the front wheel steering angle, the rear wheel steering angle and the vehicle speed; and the yaw velocity is determined according to the target parameters of the vehicle and a yaw velocity calculation formula, and the yaw velocity calculation formula is determined according to a two-degree-of-freedom vehicle dynamics model where a front wheel steering angle and a rear wheel steering angle are introduced. According to the method, the front wheel steering angle and the rear wheel steering angle are introduced on the basis of the two-degree-of-freedom vehicle dynamics model, so that the method is more adaptive to a four-wheel steering vehicle, and the calculation precision of the yaw velocity is improved. According to the method, reverse steering and same-direction steering scenes are covered through a unified formula, the calculation process is simplified, and the efficiency is improved. According to the method, the influence of the cornering stiffness and the vehicle speed is adaptively corrected through the characteristic vehicle speed and the dynamic gain coefficient.

Counter-steering motor vehicle rear axle (1), in which, under the action of a lateral force (F) on a wheel (R) on the outside of the curve and fastened to a wheel carrier (3), a rotational movement of the wheel carrier (3) about a virtual axis (A) in the direction of a toe-in (γ) occurs, wherein the virtual axis (A), when projected onto a plane extending in the vehicle's longitudinal direction, is inclined at an angle (α) at ​​least in the direction of travel (FR), characterized in that the virtual axis (A) runs below a wheel center point (M) and has an intersection point (6) with a wheel contact plane (E), which, viewed in the direction of travel (FR), lies behind a wheel contact point (5), wherein the wheel carrier (3) is connected to an axle body (2) extending transversely to the vehicle's longitudinal direction, wherein the wheel carrier (3), in a view in the longitudinal extension of the axle body (2), is provided with at least one belt-like connection around the axle body (2) extending material thickening (30),which has at least two material weakenings (31a, 31b) transversely to its longitudinal extent, of which a front material weakening (31a) is higher than a rear material weakening (31b) when viewed in the direction of travel (FR) and measured from the wheel contact plane (E).

The invention relates to the technical field of automobiles, in particular to an electronic differential control method for a four-wheel independent drive automobile. Firstly, rear wheel steering angle coefficients of a front wheel steering angle and a rear wheel steering angle are dynamically adjusted through the longitudinal speed of a vehicle; electronic differential models of same-direction steering and reverse-direction steering are obtained based on the rear wheel steering angle coefficient, the flexibility of the vehicle is improved under the low-speed working condition, and the high-speed stability of the vehicle is improved under the high-speed working condition; according to the electronic differential model, obtaining the expected speed and the proportional synchronization coefficient of each wheel; and creating a four-wheel synchronous control algorithm, calculating a tracking error and a synchronous error of each wheel, endowing the synchronous error with different weights, and outputting final control. According to the electronic differential control method, accurate regulation and control of the vehicle steering process can be achieved, and good dynamic performance and use value are achieved.

The application discloses a vehicle control method, a controller and a vehicle, and relates to the technical field of vehicles. The vehicle control method comprises the following steps: in response to an obstacle avoidance trigger, performing obstacle avoidance trajectory planning on the vehicle; and performing reverse steering control on the front wheels and the rear wheels of the vehicle based on the planned obstacle avoidance trajectory. Thus, through independent front and rear wheel steering collaborative control, the vehicle can obtain a smaller turning radius and a faster yaw response than traditional front wheel steering in the initial stage of obstacle avoidance, the problem of yaw response lag caused by the front wheel steering architecture in the prior art is overcome, and the steering timeliness and obstacle avoidance safety in an emergency working condition are improved.

A computer system for a vehicle, the system including processing circuitry configured to: determine a steering torque applied from a steering wheel of the vehicle; control a steering assist system to apply a steering torque overlay to at least one steerable wheel of the vehicle in the same direction as the determined steering torque applied from the steering wheel; compare the applied steering torque overlay with the determined steering torque applied from the steering wheel, predict a wheel blocking event based on the comparison, and apply a counter steering torque overlay using the steering assist system, that is opposite the steering torque from the steering wheel.

The invention relates to a low-speed intelligent unmanned vehicle all-wheel steering-driving cooperative control system and method, and relates to the field of intelligent unmanned vehicle control. According to the technical scheme, the pain point that torque distribution and steering angles of a traditional four-wheel-drive unmanned vehicle are disjointed is effectively solved, the MPC is controlled through model prediction to construct the multi-target optimization model, steering precision and energy consumption are considered, tire eccentric wear and invalid energy consumption are reduced, the service life and endurance of parts are prolonged, and the operation cost is remarkably reduced. In addition, a steering strategy is dynamically adjusted based on the running speed, rear wheels reversely steer at low speed, the turning radius is greatly reduced, and the obstacle avoidance flexibility of a narrow roadway is improved. At a high speed, the rear wheels steer in the same direction to enhance the stability, optimize the emergency lane changing control precision and adapt to complex working conditions, the control period is only 10-50 ms, the response is rapid, working condition changes can be adapted in real time, the practicability is extremely high in various low-speed scenes, and the control performance of the unmanned vehicle is comprehensively optimized.

The embodiment of the invention provides a vehicle steering control method and device, a vehicle-mounted controller, a vehicle and a medium. The method comprises the following steps: acquiring vehicle actual measurement data, wherein the vehicle actual measurement data comprises a front wheel turning angle; processing the actually measured data of the vehicle based on the rear wheel steering angle control model, and determining an original rear wheel steering angle; wherein the original rear wheel steering angle corresponding to the first steering stage and the front wheel steering angle keep reverse steering smaller than a preset angle, the original rear wheel steering angle corresponding to the second steering stage and the front wheel steering angle keep steering in the same direction, and the first steering stage and the second steering stage are two stages sequentially formed in the vehicle steering process; determining a target rear wheel rotation angle based on the original rear wheel rotation angle and the calibrated rear wheel rotation angle; and controlling a rear wheel steering gear to work based on the target rear wheel steering angle. The method. According to the method, the target rear wheel steering angle corresponding to the rear wheel is controlled in real time through the rear wheel steering angle control model, the maneuverability and stability in the vehicle steering process are guaranteed, and the driving experience of a user is improved.

Method for controlling the implementation of a drift driving state of a vehicle, wherein the method comprises: Reduce, by means of a control, the front wheel distribution torque of an all-wheel drive (AWD) system when the vehicle enters a curve in a state where a drift mode is selected and the system is engaged; and Enabling, through control, the vehicle to enter a drift driving state by adding slip control torque corresponding to the lateral acceleration of the vehicle to the front wheel distribution torque when rear wheel slip is generated; characterized by Maintaining, by controlling, the vehicle's drift driving state by releasing the entire front wheel distribution torque when a counter-steering state is confirmed by a driver.

The invention relates to a method for controlling a motor vehicle comprising an EAS and an ESP implementing the method, consisting, after having detected (100) a roll angle greater than a first determined threshold, referred to as critical threshold, corresponding to the start of tilt of the vehicle, in controlling (200) the EAS to apply (300) a first steering torque to the steered wheels of the vehicle with a determined steering angle and a positive determined acceleration, in the tilting direction, and then, when the roll angle reaches a second determined threshold, lower than the first threshold, and with a determined negative angular acceleration, in applying (400) a determined counter-steering torque, in a direction opposite to the tilting direction; the successive steering and counter-steering torques making it possible to counter the tilting force of the vehicle and allowing resumption of control (500) of the vehicle by the ESP.

Steering devices and methods for a vehicle are provided, where the method includes monitoring failure of an electric steering system, calculating a target yaw rate value and a target velocity value of the vehicle based on a signals received from one or more sensors, in response to detecting the failure in the electric steering system, detecting a wheel angle of a front wheel portion, performing backup steering based on generating slip in the vehicle to move the vehicle in a direction corresponding to an intended direction, and controlling a velocity of the vehicle to drive the vehicle based on an intended velocity, wherein the performing of the backup steering includes calculating a braking torque for each of the front wheel portion and a rear wheel portion based on the velocity and an steering angle, and distributing the braking torque to the front wheel portion and the rear wheel portion.

The invention relates to a method for controlling a wired steering system for a motor vehicle (V1) comprising, on the one hand, a steering wheel (V2) electronically connected to a rack and pinion meshing with a set of wheels. The method comprises a first control law based on a nominal variable ratio (steering wheel rotation angle / wheel steering angle), designed, for a given steering wheel rotation angle (V2), to optimize wheel steering as a function of vehicle speed. The method is characterized in that it further comprises a second control law designed to allow, in the event of countersteering during oversteer, full wheel steering with a reduced steering wheel rotation angle (V2), regardless of vehicle speed (V1). (Fig. 1)

Driver assistance system for supporting the driver of a motor vehicle when leaving a predetermined lane, comprising a side space monitoring device and a lane keeping monitoring device, characterized in that the side space monitoring device is designed in such a way that it determines the degree of danger for a lane change and, in the event of a high degree of danger, irrespective of the degree of probability that the lane departure was intentional, initiates a first driver-supporting reaction at least in the form of counter-steering, which is carried out by a connection between the side space monitoring device and the lane keeping monitoring device in the sense of steering back into the predetermined lane or lane keeping.of lane keeping, characterized in that the side space monitoring device determines a degree of probability for the intentionality of the lane departure and that, in the case of a rather low degree of danger, a second driver-supporting reaction is triggered depending on the degree of probability for the intentionality of the lane departure, wherein the more the probability of the intentionality of the lane departure decreases, the more noticeable the second driver-supporting reaction is for the driver.

Driver assistance system with at least one function module by which a counter-steering torque (ML) is applied to the steering wheel of a motor vehicle (F1) depending on defined parameters (d) and depending on defined situations (S1, S2) of different levels of danger, with at least one electronic control unit and with sensors by which the control unit queries the parameters (d) and the situations (S1, S2) of different levels of danger, wherein in the electronic control unit a specific characteristic curve (K1, K2) of the counter-steering torque is specified for each defined situation (S1, S2) or all situations (S1, S2) of the same level of danger depending on at least one parameter (d) to be taken into account for all situations (S1, S2), characterized in that For situations (S1, S2) of two levels of danger, a specific characteristic course (K1, K2) is specified for each level of danger, whereby the courses (K1, K2) behave in essentially opposite directions.

In the case of a method for operating a brake system of an at least double-tracked motor vehicle (10) which comprises 2 breakable wheels (12L, 12R), which are arranged at opposite ends of an axle (14V), and a rollover protection system, which can cause braking of the wheels (12L, 12R) in order to prevent a rollover situation, automatic braking of that wheel of the axle (14V), which is loaded more greatly when cornering is brought about by way of the rollover protection system. Subsequently, a counter-steering movement is detected by way of a predefined steering angle change being exceeded in a predefined time period in the direction counter to the cornering direction, and, thereupon, a brake force is caused to be built up at the opposite wheel, which is loaded less greatly by way of the rollover protection system.

A vehicle drift control method and apparatus, and a device, a medium, a program product and a vehicle. The vehicle drift control method comprises: acquiring a steering wheel turning angle value and an accelerator pedal opening degree value of a vehicle; on the basis of the steering wheel turning angle value and the accelerator pedal opening degree value of the vehicle, determining whether the vehicle initiates drift; if it is determined that the vehicle initiates drift, performing initial-drift assistance control on the vehicle; after initial drift is completed, on the basis of the steering wheel turning angle value of the vehicle, determining whether countersteering is performed on the vehicle; and if it is determined that countersteering is performed on the vehicle, performing drift assistance control on the vehicle.

The invention relates to a large-diameter liquid rocket transportation device and a transportation method thereof, and belongs to the technical field of carrier rocket road transportation. Comprising a transportation frame, a steering assembly, a suspension assembly, a front transportation blanking cap and a rear transportation blanking cap. The transportation frame comprises a front frame body, a connecting frame and a rear frame body, and the connecting frame is higher than the front frame body and the rear frame body, so that the whole transportation frame is of an arch-shaped structure. The suspension assembly comprises a suspension swing arm, a damper, a suspension air bag and an air bag support, and height adjustment and damping buffering can be achieved. The two steering assemblies control independent steering of the conveying wheels on the front frame body and the rear frame body correspondingly, and the same-direction or reverse-direction steering strategy is achieved according to the size of a curve. The front transportation blanking cap integrates a lifting point connector and a transportation supporting shaft, and the rear transportation blanking cap is provided with an adjustable tail spraying cover to protect an engine spraying pipe. The technical problems of longitudinal slope trafficability, height limiting adaptability, turning flexibility and the like in large-diameter liquid rocket road transportation are solved.

Systems and methods of controlling a vehicle in a stable drift are provided. With the goal of enhancing the driver experience, the disclosed drift control systems provide an interactive drift driving experience for the driver of a vehicle. In some embodiments, a driver is allowed to take manual control of a vehicle after a stable drift is initiated. For safety reasons, an assisted driving system may provide corrective assistance to prevent the vehicle from entering an unstable / unsafe drift. In other embodiments, an autonomous driving system retains control of the vehicle throughout the drift. However, the driver may perform “simulated drift maneuvers” such as counter-steering, and clutch kicking in order to communicate their desire to drift more or less aggressively. Accordingly, the autonomous driving system will effectuate the driver's communicated desire in a manner that keeps the vehicle in a safe / stable drift.

A drive torque distribution system (20) for a vehicle (10), the vehicle (10) including a plurality of torque distribution motors (18), the drive torque distribution system (20) comprising: a controller (22) in electronic communication with a plurality of vehicle systems (28), the controller (22) executing instructions to: receive at least one or more calculation errors (30), one or more sensor errors (36), and a driver torque request (40), the driver torque request (40) indicating a total torque to be produced by a drive system of the vehicle (10); in response to receiving at least one of the one or more calculation errors (30) and the one or more sensor errors (36), determine that an error has occurred that affects the calculation of a primary torque request (T1), the primary torque request (T1) allocating the total torque between the torque distribution motors (18) of the vehicle (10); in response to determining that the fault affecting the calculation of the primary torque request (T1) has occurred, determine a severity level of the fault; and determine a remedial state (50) based on the severity of the fault, the remedial state (50) indicating a corresponding action to be performed by the drive torque distribution system (20); wherein the controller (22) executes instructions to classify the severity of the error into one of a plurality of error classifications (A, B, C, D, F); wherein the remedy state (50) is determined on the basis of a specific error classification (A, B, C, D, F); and wherein the drive torque distribution system (20) maintains an all-wheel drive capability of the vehicle (10) based on the severity of the fault; wherein the controller (22) executes instructions to classify the severity of the fault as a third fault classification (C) that coincides with the inability to determine the primary torque request (T1); wherein the controller (22) executes instructions to provide an estimate of the lateral acceleration (a y ) and an estimate of the longitudinal acceleration (a x) of the vehicle (10) based on sensor data from the plurality of vehicle systems (28); wherein the controller (22) executes instructions to: compare a road wheel angle rate with a threshold wheel angle rate stored in a memory of the controller (22); in response to determining that the road wheel angular rate is greater than the threshold wheel angular rate, determine that the vehicle (10) is experiencing a countersteer event; and in response to determining that the vehicle (10) is undergoing a countersteering event, the estimate of the lateral acceleration (a y ) to filter.

The invention relates to a system developed to perform the basic functions of the vehicles requiring balancing, which will provide safe driving conditions without the need for driving skills and experience, such as counter steering, at all speed values and using a minimum number of sensors, and to an operation method of this system.

The application discloses a kind of four-wheel steering vehicle yaw angular velocity calculation method, equipment, vehicle.Belongs to vehicle technical field.The method comprises: obtaining the target parameter of vehicle, wherein the target parameter includes front wheel steering angle, rear wheel steering angle and vehicle speed;According to the target parameter of the vehicle and yaw angular velocity calculation formula determines yaw angular velocity, wherein the yaw angular velocity calculation formula is determined according to the two-degree-of-freedom vehicle dynamics model of introducing front wheel steering angle and rear wheel steering angle.This application introduces front wheel steering angle and rear wheel steering angle based on two-degree-of-freedom vehicle dynamics model, makes it more suitable for four-wheel steering vehicle, improves the calculation accuracy of yaw angular velocity.This application covers reverse steering and same direction steering scene by unified formula, simplifies calculation process, improves efficiency.This application corrects the influence of cornering stiffness and vehicle speed by characteristic vehicle speed and dynamic gain coefficient self-adaption.