79 results about "Steering ratio" patented technology

A system for collaborative steering in steer-by-wire (SBW) vehicles includes sensors, a rack motor altering a position of the vehicle's steerable road wheels and an emulator altering a torque and position of a vehicle hand wheel. A collaborative steering system application (CSSA) obtains, static and dynamic information about the vehicle and the vehicle's environment, and generates a rack torque and / or angle command to the rack motor and an emulator torque and / or angle command to the emulator. The CSSA adjusts between ADAS and manual steering ratios and automatically transitions control between ADAS SBW control and manual control. The CSSA smooths transitions between ADAS SBW control and manual steering control and adjusts hand wheel stiffness by altering the emulator torque command, and causes the rack motor and emulator to operate according to a kinematic model while adapting road wheel response and vehicle operator steering feel based on scenarios and features currently enabled.

The invention discloses a vehicle stability judgment method and control method combined with the steering ratio of a four-wheel steering vehicle, and belongs to the field of vehicle stability control. Specifically, a route of vehicle dynamics modeling, vehicle steady-state front and rear wheel steering ratio calculation, driving stability domain analysis, unstable-state quantized value calculation, stability analysis and stability control is adopted, so that a four-wheel steering vehicle is combined with the front and rear wheel steering ratio and dynamically cooperates with transverse and longitudinal control strategies, a coping strategy is provided for the instability situation, and the stability of the four-wheel steering vehicle is improved. And the vehicle can keep running stability in real time.

The invention relates to a steering device (19) comprising a steering gear (35) and an electric machine (39) which can be operated both as an electric motor and as a generator, the steering gear (35) having a first input shaft (36), a second input shaft (37) which is connected (39) to the electric machine, a neutral shaft (18), and a superposition stage (40) which has a first element (45), a second element (46), and a third element (47). At the superposition stage (40), a rotational movement of the first element (45) can be converted into a rotational movement of the third element (47) by superimposing a rotational movement of the second element (46), and by means of the superimposition in the steering gear (35), at least one steering ratio can be expanded to a continuously adjustable steering ratio range.In this case, the at least one steering ratio lies in terms of value between respective ends of the respective steering ratio range, wherein, during the superposition, starting from the at least one steering ratio, the widening takes place in the direction of one end of the respective steering ratio range in the generator operation of the electric machine (39) and in the direction of the other end of the respective steering ratio range in the electromotor operation of the electric machine (39).

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.

The invention discloses a vehicle control method and device, a computer storage medium and a program product. The method comprises the steps that under the condition that the current angle difference is larger than a preset angle, a vehicle is controlled to be switched to a take-over transition mode from an automatic driving mode; in the takeover transition mode, a due steering wheel angle corresponding to the current actual wheel angle is determined based on the current actual wheel angle and a due steering mapping relation, and the due steering mapping relation is used for representing a mapping relation between the actual wheel angle and the due steering wheel angle; on the basis of a difference value between the current actual steering wheel angle and a due steering wheel angle corresponding to the current actual wheel angle and a preset adjustment coefficient, the due steering ratio is adjusted, and a transition steering ratio is obtained; the wheel angle variable quantity is determined based on the current actual steering wheel angle and the transition steering ratio, and the wheels of the vehicle are controlled to rotate based on the wheel angle variable quantity, so that a driver can control the vehicle in time.

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 present invention provides a method and device for measuring the steering gear ratio of an automobile based on ESC self-learning calibration, belonging to the field of vehicle engineering technology. The method comprises: S1, after the vehicle to be tested drives to a test site, a host computer sends a self-learning instruction to the electronic stability system (ESC), and then enters S2; S2, determines whether the steering angle and inertial measurement unit (IMU) have been verified; if the verification is complete, enters S3; otherwise, the steering angle and IMU are verified; S3, determines whether the vehicle to be tested has an active steering function; if so, measures the vehicle's steering gear ratio based on the active steering function of the vehicle to be tested; otherwise, enters S4; S4, measures the vehicle's steering gear ratio by manually operating the steering wheel. The solution of the present invention has a small measurement error, is quick and convenient to implement, and can measure and process both left and right steering ratios.

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.

The invention relates to the technical field of automobile manufacturing, and discloses an EPS controller testing device which comprises a testing base station, a switching assembly is fixedly installed at the top of the testing base station, and a tester plugging device in transmission connection with the switching assembly is fixedly installed at the top of the switching assembly. A steering ratio switching assembly connected with the switching assembly is fixedly mounted at the top of the test base station, an output detection device connected with the steering ratio switching assembly is fixed at the top of the test base station, and the output end of the switching assembly is connected with a T-shaped magnetic coupling block extending into the steering ratio switching assembly; the steering ratio switching assembly comprises a rotating base fixed to the top of the testing base table, the inner side of the rotating base is rotationally connected with a rotating sleeve, and a first magnetic coupling piece is fixedly installed on the inner side of the rotating sleeve. The EPS controller testing device has the advantage that two steering ratio tests can be conveniently carried out on the EPS controller on a single device.

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.