58 results about "Steering ratio" patented technology

The invention discloses an electric vehicle stability control method based on steady-state lateral acceleration gain. The method comprises a steady-state yaw reference model, a steady-state lateral acceleration gain model, a feedback control module, a feedforward control module, a rear wheel differential yaw moment distribution module and a vehicle module. The steady-state yaw reference model and the steady-state lateral acceleration gain model are respectively used for calculating an expected yaw velocity and an ideal steering transmission ratio yaw velocity; the vehicle module is used for outputting actual state quantities of the vehicle, including longitudinal vehicle speed, yaw velocity and steering wheel angle; the feedback control module and the feed-forward control module determine feedback yawing moment and feed-forward yawing moment respectively, the feedback yawing moment and the feed-forward yawing moment are added to determine total yawing moment, and the rear wheel differential yawing moment distribution module distributes the total yawing moment according to steady-state characteristic categories of a vehicle and transmits the total yawing moment to the vehicle module for control. Therefore, the lateral stability and the maneuvering performance of the automobile are improved.

A vehicle employs a method of towing a trailer. A speedometer measures a current velocity of the vehicle. A hitch length sensor obtains a current trailer length of the trailer. A steering angle sensor measures a steering wheel angle of a steering wheel of the vehicle. A processor determines a velocity difference between the current velocity of the vehicle and a nominal velocity of the vehicle, determines a length difference between the current trailer length and a nominal trailer length, calculates a dynamic steering ratio based on the length difference and the velocity difference, determines a road wheel angle for the vehicle from the steering wheel angle and the dynamic steering ratio, and controls a road wheel actuator to obtain the road wheel angle to steer the vehicle.

Methods and systems are provided for automatic closed-loop control of a drilling trajectory during directional drilling that automatically adjusts at least one parameter during directional drilling to automatically control drilling direction when drilling a whipstock that transitions the wellbore from a vertical portion to a curvilinear or tangential portion. In an embodiment, closed-loop control may be configured to automatically adjust a steering ratio (SR) parameter that controls the time the steering tool will spend on holding a desired magnetic tool face.

The invention discloses a vehicle steering control method and system, a controller and a vehicle, and belongs to the technical field of vehicle control. The method comprises the following steps: acquiring target data, wherein the target data comprises at least one of a comfort state, a physical feature, a physiological feature and a driving style feature of a target user; and generating a target steering ratio corresponding to the target data, and controlling a steering unit to operate according to the target steering ratio. According to the vehicle steering control method provided by the invention, the purpose of performing steering ratio adjustment adaptive to different driving scenes for different drivers is achieved.

A method for electric vehicle stability control based on steady-state lateral acceleration gain is disclosed. This method includes a steady-state yaw reference model, a steady-state lateral acceleration gain model, a feedback control module, a feedforward control module, a rear-wheel differential yaw moment distribution module, and a vehicle module. The steady-state yaw reference model and the steady-state lateral acceleration gain model are used to calculate the desired yaw rate and the ideal steering ratio yaw rate, respectively. The vehicle module outputs the actual state quantities of the vehicle, including longitudinal vehicle speed, yaw rate, and steering wheel angle. The feedback control module and the feedforward control module determine the feedback yaw moment and the feedforward yaw moment, respectively, and their sum determines the total yaw moment. The rear-wheel differential yaw moment distribution module distributes the total yaw moment according to the vehicle's steady-state characteristic category and transmits it to the vehicle module for control, thereby improving the vehicle's lateral stability and handling performance.

A controller for controlling the operation of a motor vehicle includes an electronic control unit that ascertains a target trajectory for a turning maneuver of the motor vehicle, ascertains the curve of the radius and / or the curvature of the curve of the target trajectory based on the target trajectory, and controls the steering of the motor vehicle based on the ascertained curve of the radius and / or the curvature of the curve. The steering is controlled via a continuous control of the steering ratio and / or the setting of a fixed value for the steering ratio.

The vehicle is steered by appropriately utilizing information from two control devices. [Solution] The steering device 100 includes a first operating device 110 that outputs first operation information indicating a first amount of operation by the driver, a second operating device 120 that outputs second operation information indicating a second amount of operation by the driver, and a control device 130 that outputs steering information for steering the steering wheels 200. The control device 130 includes an information acquisition unit 131 that acquires the first operation information and the second operation information, a steering ratio derivation unit 132 that derives first steering angle information indicating the steering angle of the steering wheels 200 based on the first operation information and second steering angle information indicating the steering angle of the steering wheels 200 based on the second operation information, and a steering information derivation unit 133 that derives steering information based on the first steering angle information and the second steering angle information. The maximum value of the first steering angle information is greater than the maximum value of the second steering angle information.

Modular kinematic steering device, for installation on at least a first module and module of a system of modular vehicles, each module including at least two axes, for each axis, a kinematic steering mechanism adapted to move wheels connected to the axis, a rudder for controlling the kinematic steering mechanism, arranged transversely relative to the axes, the rudder constrainable to the mechanism to transmit rudder motion to the wheels by the mechanism, the rudder defining a variable steering ratio relative to each axis, a mechanism locking device, to make one of the axes a fulcrum rotation of the rudder rigidly connecting the mechanism with the rudder, wherein the first module includes a first rudder having first and second distal ends and the second module includes a second rudder having first and second distal ends, and the distal ends countered and / or counter-shaped to be rigidly connected to each other.

A computer-implemented method, when executed by data processing hardware, causes the data processing hardware to perform operations including calibrating a transient steering algorithm using a reference steering ratio, and receiving a first set of vehicle data at the transient steering algorithm. The vehicle data includes one or more of vehicle speed, steering angle, lateral acceleration, yaw rate, and steering wheel torque. The operations include manipulating the reference steering ratio based on a steering angle gradient, determining a phasing gain based on a proportional transient variable and lateral and longitudinal accelerations via the transient steering algorithm, generating a first steering ratio, different from the reference steering ratio, in response to the first set of vehicle data via the transient steering algorithm, and adjusting steering control at the vehicle's steering system based on the first steering ratio.

This application primarily relates to the field of vehicle motion control technology, specifically to a control method and system for steering a guided vehicle. This application provides a control method for steering a guided vehicle, comprising: acquiring the desired steering angle, desired angular acceleration, and actual steering angle of the guided vehicle; determining a steering angle deviation based on the desired steering angle and the actual steering angle; determining a PID feedback control quantity and a threshold feedforward compensation quantity for the dead zone of the steering proportional valve based on the steering angle deviation; determining an angular acceleration feedforward compensation quantity based on the desired angular acceleration; superimposing the PID feedback control quantity, the threshold feedforward compensation quantity, and the angular acceleration feedforward compensation quantity to obtain a final control quantity; and driving the steering actuator of the guided vehicle to achieve steering based on the magnitude and direction of the final control quantity, thereby improving the dynamic response speed and achieving smooth and rapid full-range control.

The embodiment of the invention provides a vehicle steering adjustment method, system and device based on the fatigue degree and a vehicle, and belongs to the technical field of vehicle control. The method comprises the following steps: acquiring fatigue detection data of a driver, and determining a fatigue level according to the fatigue detection data; the vehicle speed and the steering wheel turning angle of the vehicle are obtained, and the expected steering transmission ratio and the expected hand power are determined according to the vehicle speed and the steering wheel turning angle; determining a first adjustment coefficient and a second adjustment coefficient according to the fatigue level, calculating a target steering transmission ratio according to the expected steering transmission ratio and the first adjustment coefficient, and calculating target hand power according to the expected hand power and the second adjustment coefficient; and according to the target steering transmission ratio and the target hand power, steering transmission ratio setting and steering hand power setting of the vehicle are adjusted. The embodiment of the invention aims to reduce the driving fatigue and improve the steering accuracy of the driver in the fatigue state.

This invention provides a control method, apparatus, and device, comprising: acquiring steering ratio handle data, wheel angle data, speed data, and IMU data of a vehicle; calculating a first steering angle based on the steering ratio handle data; calculating a second steering angle of the vehicle based on the wheel angle data, speed data, and IMU data; calculating a control signal for the vehicle based on the first and second steering angles; and controlling the vehicle to perform corresponding actions based on the control signal. This achieves multi-variable coupling and improves the coordination between wheels.

The application discloses a port heavy-load IGV hydraulic braking and steering distributed cooperative control method and belongs to the technical field of vehicle subsystem joint control. The cooperative control method is based on a port heavy-load IGV hydraulic braking and steering control system, which comprises the following target functions: a slope function algorithm is used for speed planning, the movement of each axle is divided into three stages of acceleration, uniform speed and deceleration, the maximum movement time is taken as the synchronization time by assuming that the acceleration and deceleration are of the same size: the maximum speed of each axle is adjusted: the dynamic equation of each axle is: a PID controller or a feedforward control strategy is used to design i the control input of the axle. The application compensates the inertia and damping characteristics of the system through the feedforward link, simultaneously corrects the tracking error in real time by using the PID feedback link, accurately drives the valve opening of the steering proportional valve, thereby adjusts and controls the hydraulic oil flow and direction flowing to the steering oil cylinder, so that the expected steering dynamic characteristics are achieved.

The application relates to a kind of drive-by-wire steering vehicle control method, system and medium, it relates to vehicle control technical field, the method includes obtaining steering wheel angle, vehicle speed and gear information;According to the gear information, it is judged whether the vehicle is in reverse gear state;When the vehicle is in reverse gear state and vehicle speed is lower than preset threshold value, steering ratio is adjusted to negative steering ratio;According to the negative steering ratio and the steering wheel angle, front wheel target angle is calculated;And control steering actuator is steered according to the front wheel target angle, so that the steering direction of steering wheel and the actual steering direction of vehicle body are kept consistent.The application can significantly reduce the operation difficulty of driver by realizing the consistency mapping of the steering direction of steering wheel and the actual steering direction of vehicle body in reverse gear state, improves the intuitiveness and accuracy of reversing operation.

The invention relates to a steering gear (10) for a motor vehicle steering system, comprising a rack (14) having a first toothing (16) and a pinion (18) having a second toothing (20) that engages with the first toothing (16), such that by rotating the pinion (18) the rack (14) can be displaced along a sliding axis (24), wherein the first toothing (16) has different successive tooth profiles (Z1, Z2) in the circumferential direction of the rack (14) extending around the sliding axis (24), wherein the rack (14) is rotatable relative to the pinion (18) about the sliding axis (24), whereby the second toothing (20) can be brought into engagement with the respective tooth profile (Z1, Z2) and a steering ratio of the steering gear (10) can be varied.

A vehicle uses a method for towing a trailer. A speedometer measures the vehicle's current speed. A trailer hitch length sensor receives the trailer's current length. A steering angle sensor measures the steering wheel angle of the vehicle's steering wheel. A processor determines the speed difference between the vehicle's current speed and a rated speed, determines the length difference between the current trailer length and a rated trailer length, calculates a dynamic steering ratio based on the length difference and the speed difference, determines a road wheel angle for the vehicle from the steering wheel angle and the dynamic steering ratio, and controls a road wheel actuator to achieve this road wheel angle for steering the vehicle.

The present application provides a steer-by-wire control method, apparatus, and system, and a vehicle. The method can be applied to the field of vehicles, and comprises: acquiring a first steering ratio and a first predicted steering angle, the first steering ratio being used for indicating a correspondence between a steering angle of a steering wheel and a steering angle of a wheel, and the first predicted steering angle being an angle estimated on the basis of a steering intent of a driver; determining first angle information on the basis of the first steering ratio and the first predicted steering angle; acquiring second angle information, the second angle information being used for indicating a steering angle of the wheel provided by an intelligent driving function; determining third angle information on the basis of the first angle information and the second angle information, the third angle information being used for indicating a steering angle of the wheel to be executed by a wheel actuator; and sending the third angle information to the wheel actuator. By means of the method, a rapid response of a wheel to an intelligent driving instruction can be ensured, thereby improving the driving safety of a vehicle during steering.

The utility model discloses a four-wheel independent suspension boosting bicycle, and relates to the technical field of bicycles. Comprising a frame, and a wheel assembly is arranged on the frame. According to the utility model, the frame is integrally arranged by adopting a tenon-and-mortise structure welding technology, so that the frame is stable and durable and adapts to high-stress conditions; through the design of a four-wheel independent suspension and the matching of a shock-proof device, efficient buffering is realized, the adaptability to multiple road conditions is improved, and comfort and stability of riding are ensured; by additionally arranging the differential mechanism and combining the universal telescopic coupler and the six-axis linkage system, the turning performance is remarkably improved, slipping is avoided, and the control flexibility is improved; by using the middle torque motor, the heat dissipation performance of the whole vehicle is improved; the steering ratio is adjusted by adjusting the shifting piece, and pavement vibration is softly fed back; seven-gear speed change is controlled through the speed change assembly, and the requirements of various terrains and riding speed are flexibly met; through the arrangement of the brake system, the brake handle and the piston calipers are used in a matched mode, and strong and stable brake force is achieved.

The invention discloses a four-wheel electric vehicle steering stability control method and system based on fuzzy reasoning, and relates to the technical field of automobile engineering.The method comprises the steps that a two-degree-of-freedom dynamic model of four-wheel electric vehicle steering is established; the front wheel turning angle of the four-wheel electric vehicle is obtained in real time, the rear wheel turning angle is calculated according to the steering ratio, and then the actual value of the yaw velocity is calculated through a two-degree-of-freedom kinetic model; the error and the error change rate of the actual value and the target value of the yaw velocity are obtained, the error and the error change rate are input into a fuzzy compensation controller, the front and rear wheel rotation angle compensation amount is calculated according to a preset fuzzy rule base and a membership function, and the compensated front and rear wheel rotation angle is obtained; and controlling a servo steering motor to output a PWM (Pulse-Width Modulation) signal through PID (Proportion Integration Differentiation) closed-loop control of a steering angle ring, a rotating speed ring and a current ring in sequence based on the compensated front and rear wheel steering angles, and driving wheels to complete steering adjustment. The steering control stability and safety of the four-wheel electric vehicle can be effectively improved.

A difference in a longitudinal force indicating a difference between the longitudinal force acting on left and right wheels is obtained. A correction amount of the longitudinal force acting on each wheel is calculated based on the difference in the longitudinal force, and each wheel is independently controlled. When the difference in the longitudinal force is obtained, a speed increasing ratio of a front wheel steering angle for changing an overall steering ratio is calculated based on a preset control map and an input parameter including a vehicle speed and a lateral acceleration or the vehicle speed and steering wheel angle. A yaw moment to be generated around a weighted center of the vehicle is calculated based on the speed increasing ratio and a steering wheel angle of the vehicle as the input parameter. The difference in the longitudinal force is then calculated based on this yaw moment.

Systems and methods are provided for maintaining a steering wheel position during autonomous vehicle steering. The systems include a road wheel actuator configured to turn wheels of the vehicle and thereby adjust a road wheel angle, a steering wheel actuator configured to rotate a steering wheel of the vehicle and thereby adjust a steering wheel angle, and a controller configured to, by one or more processors: maintain the steering wheel in a stationary position while the vehicle is operating in an autonomous mode wherein steering is controlled by the vehicle, determine to switch from the autonomous mode to a manual mode wherein steering is controlled by a driver with the steering wheel, and perform a synchronization process configured to synchronize the steering wheel angle and the road wheel angle in accordance with a predetermined steering ratio by using the road wheel actuator and / or the steering wheel actuator.

A control method and device and a vehicle, the method comprising: acquiring a first deviation of the vehicle, the first deviation being a deviation between a current preset steering ratio of the vehicle and a first ratio, the first ratio being a ratio between a current steering wheel rotation angle of the vehicle and a current wheel rotation angle of the vehicle; when the wheel rotation angle corresponding to the first deviation exceeds a safety angle threshold value, multiple preset steering ratios of the vehicle are updated, and the multiple preset steering ratios comprise the current preset steering ratio; and according to the updated multiple preset steering ratios, the wheel rotation angle of the vehicle is controlled to be aligned with the steering wheel rotation angle. Therefore, the sudden steering change of the wheels caused by forced alignment according to the original preset steering ratio when the up and down rotation of the vehicle is not aligned can be avoided, and the possibility of safety accidents is reduced.

Systems and procedures are provided for maintaining a steering wheel position during autonomous vehicle steering.The systems feature a road wheel actuator configured to rotate the vehicle's wheels and thereby set a road wheel angle, a steering wheel actuator configured to rotate the vehicle's steering wheel and thereby set a steering wheel angle, and a controller configured to: hold the steering wheel in a stationary position while the vehicle is operating in autonomous mode, with steering controlled by the vehicle; determine the switch from autonomous mode to manual mode, with steering controlled by a driver using the steering wheel; and perform a synchronization process configured to synchronize the steering wheel angle and the road wheel angle according to a predetermined steering ratio by using the road wheel actuator and / or the steering wheel actuator.

A method for reversing a semi-autonomous follower vehicle (140), comprising: determining the speed of a lead vehicle (100) located in front of the reversing follower vehicle (140) and not attached to it, by a processor of the follower vehicle (140); estimating a path (150) of the lead vehicle (100) by the processor of the follower vehicle (140); determining a path (160) for the follower vehicle (140) based on the path (150) of the lead vehicle (100) by the processor of the follower vehicle (140); controlling the longitudinal movement of the follower vehicle (140) based on the speed of the lead vehicle (100) and the lateral movement of the follower vehicle (140) based on the path (160) for the follower vehicle (140) by the processor of the follower vehicle (140); and determining a wheelbase LL of the lead vehicle (100) and a steering angle SWAL of the follower vehicle (100). lead vehicle (100) by the processor of the following vehicle (140),wherein the determination of the speed of the lead vehicle (100), the wheelbase LL of the lead vehicle (100), and the steering wheel angle SWAL of the lead vehicle (100) is carried out via car-to-car communication (C2C communication) originating from the lead vehicle (100), wherein estimating the path (150) of the lead vehicle (100) comprises determining a turning radius R as follows: R = LLSW AL * SGR, where SGR corresponds to a steering ratio that is a conversion factor between the steering wheel angle SWAL and a wheel angle, wherein estimating the path (150) of the lead vehicle (100) comprises generating a trajectory in an xy-coordinate system as follows: R² = x² + (y − R)², and the method comprises determining a position of the follower vehicle (140) in the xy-coordinate system using the processor of the follower vehicle (140) as follows includes: xf=Lf2+d∗sin(α+ΔYaw)undyf=d∗cos(α+ΔYaw), where d is a distance between the lead vehicle (100) and the follow vehicle (140),α is an azimuth angle between the lead vehicle (100) and the follow vehicle (140), Lfein is the wheelbase of the follow vehicle (140), and Δ Yaw is a difference between a yaw movement of the lead vehicle (100) and a yaw movement of the follow vehicle (140).

An information presentation device is configured to be provided in a vehicle including a steering device that steers a wheel and has a variable steering gear ratio. The information presentation device includes: an amount-of-steering-operation detector configured to detect an amount of a steering operation by a driver; a steering gear ratio detector 10 configured to detect the steering gear ratio; a vibration waveform generator configured to generate a vibration waveform; a vibrator configured to cause vibration of one or both of the air around an occupant and a member in contact with the occupant, using the vibration waveform; and a gain adjuster configured to increase an output gain of the vibration waveform in accordance with an increase in an absolute value of a differential value of a value obtained by multiplying the amount of the steering operation by a reciprocal of the steering gear ratio.

The disclosure relates to a method for operating a steering system of a vehicle, in particular a motor vehicle. The steering system is designed as a steer-by-wire steering system and includes an operating unit, which has at least one steering handle and at least one feedback actuator that interacts with the steering handle, and at least one wheel steering angle control element, which is operatively connected to the operating unit, for changing the steering angle of at least one vehicle wheel. An operation of the feedback actuator is monitored using a monitoring function, and in at least one operating state in which a disturbance and / or a failure of the feedback actuator is ascertained using the monitoring function, a steering characteristic of the steering system is modified. A steering ratio between the operating unit and the wheel steering angle control element is modified in order to change the steering characteristic.

A method and apparatus for controlling steering of a rear wheel, a vehicle, and a storage medium are provided. The method for controlling the steering of the rear wheel includes: determining, in response to a fault occurring in a front-wheel steering-by-wire system of a vehicle, a steering control quantity of a steering wheel in the vehicle; determining a target steering control quantity for the rear wheel in the vehicle based on the steering control quantity, a target steering ratio between the steering wheel and a front wheel, and a yaw direction value; and controlling the steering of the rear wheel based on the target steering control quantity.

This application relates to the field of steering ratio fluctuation calculation and evaluation technology, specifically, to a method for calculating and evaluating automotive steering ratio fluctuation, comprising the following: constructing an ADAMS improved steering system model, which includes upper fork modeling, lower fork modeling, and column adjustment modeling; specifically, a dual revolute joint modeling method is adopted, namely a first revolute joint and a second revolute joint; obtaining a front suspension model and simulation boundary conditions; assembling the front suspension model and the steering system model; and simulating the process to obtain the instantaneous steering ratio fluctuation curve; performing a multi-dimensional evaluation based on the instantaneous steering ratio fluctuation curve; and determining whether to adjust the phase angle based on the multi-dimensional evaluation results to simulate the actual structure of the steering intermediate shaft universal joint, thereby avoiding discrepancies between simulation results and reality.

A modular motion steering device is provided, which can be mounted on at least a first module and a second module of a modular vehicle system, each module comprising at least two axles, characterized in that for each axle, a motion steering mechanism is comprised which is adapted to move a wheel connected to the axle, a tiller is provided for controlling the motion steering mechanism arranged transversely with respect to the axle, the tiller can be constrained to the mechanism to allow transmission of motion from the tiller through the mechanism to the wheel, the tiller defines a variable steering ratio with respect to each axle, a locking device of the mechanism is adapted to make one of the axles a fulcrum rotation of the tiller, the mechanism is rigidly connected to the tiller, and wherein the first module comprises at least a first tiller having a first and a second distal end and wherein the second module comprises at least a second tiller having a first and a second distal end, and wherein the distal ends are complementary and / or shape-complementary in order to be rigidly connected to each other.

The invention discloses a distributed cooperative control method for hydraulic braking and steering of a port heavy load IGV, and belongs to the technical field of vehicle subsystem combined control. The cooperative control method is based on a port heavy load IGV hydraulic brake steering control system. The cooperative control method comprises the steps that the following objective functions are defined; performing speed planning by adopting a ramp function algorithm, dividing the motion of each axis into three stages of acceleration, constant speed and deceleration, assuming that the acceleration and the deceleration are the same, and taking the maximum motion time as the synchronization time; adjusting the maximum speed of each shaft; the kinetic equation of each shaft is shown in the specification; a PID controller or a feedforward control strategy is adopted, and control input of the i axis is designed. The inertia and damping characteristics of the system are compensated through the feed-forward link, tracking errors are corrected in real time through the PID feedback link, the opening degree of a valve port of the steering proportional valve is accurately driven, and therefore the flow and the direction of hydraulic oil flowing to the steering oil cylinder are regulated and controlled, and the expected steering dynamic characteristics are achieved.