104 results about "Steering ratio" patented technology

The invention discloses a time-space state enhanced XGBoost-LSTM-based vehicle position prediction and abnormity early warning method, system and device, and a medium. The method comprises the steps of obtaining a road section traffic flow sequence, constructing an EM clustering model, classifying traffic flow sequence samples in the EM clustering model, and constructing a time state matrix; determining a physical static adjacency matrix, a dynamic steering ratio adjacency matrix and a road section flow dynamic similarity matrix between the road sections, and constructing a spatial state matrix after weighted fusion; an XGBoost-LSTM model is constructed, and model training is carried out; and inputting the constructed time state matrix and space state matrix into the trained XGBoost-LSTM model, and carrying out real-time vehicle position prediction and abnormity early warning. According to the method, the vehicle position prediction precision can be improved, the data acquisition threshold is reduced, the use scene of the prediction method is expanded, and meanwhile, a new dynamic evaluation standard is provided for abnormal event early warning.

Electro-Hydraulic Steering System and Method An electro-hydraulic steering system (1) includes a steering wheel (2) for setting a steering demand and a hydraulic steering actuator (11) for turning the steered wheel in response to the steering demand. An electrically controlled hydraulic valve (26) is arranged to supply pressurised fluid to the hydraulic steering actuator to turn the steered wheel according to a variable steering ratio. An electronic control unit (21) receives an angular position of the steering wheel and an angular position of the steered wheel. The control unit is operative to determine an angular misalignment between the steering wheel and the steered wheel and carry out a realignment procedure. The realignment procedure comprises calculating a compensation angle based on the angular misalignment and controlling the steering ratio based on the compensation angle by controlling the hydraulic valve to adjust the supply of pressurised fluid to the hydraulic steering actuator.

Methods and apparatus are provided for performing an assisted driving trailer reversing operation including a user interface configured to generate an initiation signal in response to a user input, a processor configured to generate a control signal in response to the initiation signal indicative of an inverse steering ratio, a steering angle sensor to detect a steering direction and a steering angle from a center steering position, a steering controller configured to receive the steering angle and the steering direction from the steering angle sensor, to invert the steering angle to generate an inverted steering angle such that the inverted steering angle has a same angular magnitude as the steering angle and an opposite direction than the steering direction, and a vehicle control system for controlling a movement of a vehicle in response to the inverted steering angle.

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 variable transmission ratio control method for a steer-by-wire system. The variable transmission ratio control method comprises the following steps that 1, data signals of the actual steering control state of a whole vehicle in the running process of the vehicle are collected in real time; step 2, determining a current basic transmission ratio according to a preset rule and calculating a transmission ratio gain according to the vehicle speed, thereby calculating a reference transmission ratio; 3, determining a transmission ratio change gradient gain according to a rack speed or a steering wheel angular speed, and determining a transmission ratio according to a preset formula; and 4, determining the current constant-speed maximum turning rack position according to the vehicle speed and a preset rule, judging whether the current steering control of the vehicle is in a safe area or not according to the maximum turning rack position, and further determining whether the change of the transmission ratio is limited or not. The invention further discloses a variable transmission ratio control system of the steer-by-wire system.

The invention provides a steer-by-wire system based on a combined controller architecture. The steer-by-wire system comprises a master controller, a slave controller, a fault-tolerant control switching logic module and a variable transmission ratio control module, the fault-tolerant control switching logic module is used for switching to a degradation mode when the master controller breaks down or a motor winding of the master controller breaks down, and triggering emergency braking of the vehicle when the master controller and the slave controller both break down; in a normal mode, the master controller and the slave controller respectively control steer-by-wire and road feeling simulation of a vehicle, and the variable transmission ratio control module performs segmentation according to the vehicle speed and adopts different transmission ratios to realize a-section transmission ratio adjustment; and in the degradation mode, the master controller stops working, the slave controller controls steer-by-wire and road feeling simulation of the vehicle, the variable transmission ratio control module performs segmentation according to the vehicle speed and adopts different algorithms to realize b-section transmission ratio adjustment, and b is smaller than a.

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 steering control method and apparatus, an electronic device, and a computer readable storage medium, relating to the technical field of automobiles. The steering control method comprises: during steering of a vehicle, acquiring a steering wheel angle and left and right front wheel steering angles; on the basis of the steering wheel angle and the left and right front wheel steering angles, determining whether a steering system of the vehicle is normal or not; and if the steering system is abnormal, performing braking on front wheels corresponding to the steering wheel angle, so as to enable an absolute value of a ratio of the steering wheel angle to an equivalent steering angle of the vehicle to be a target steering ratio. On the basis of the control method, the steering angle of the vehicle can reach the angle required by a driver, thereby achieving normal steering of the vehicle.

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.

The invention discloses a variable transmission ratio parameter optimization method for a steer-by-wire control system, which comprises the following steps of: designing a variable transmission ratio controller based on fuzzy control, taking a vehicle speed and a steering wheel angle as input variables, taking a transmission ratio as an output variable, performing fuzzification processing on the input and output variables by adopting a Gaussian membership function, and designing a fuzzy rule; carrying out defuzzification by adopting a gravity center method, and converting fuzzy output into a specific transmission ratio numerical value; parameters of the fuzzy controller serve as optimization objects, the parameters of the fuzzy controller are optimized through a simulated annealing algorithm, an initial solution is an initial value of the parameters of the fuzzy controller, steering response, stability and driving comfort of a vehicle are comprehensively considered, an energy function is designed, the performance of the fuzzy controller is evaluated, and the optimal parameters are searched through iteration. And minimizing the energy function to obtain the optimal parameter of the fuzzy controller. The method does not depend on vehicle model precision and expert experience, does not need manual parameter adjustment, has interpretability, and accords with the steering expectation of a driver.

The invention relates to the technical field of steering control, and discloses a steering control method and system, related equipment and a vehicle, and the method comprises the steps: obtaining the distance between a target vehicle and a surrounding obstacle when the vehicle speed of the target vehicle is smaller than or equal to a preset threshold value; steering operation acting on a steering wheel of the target vehicle is responded, a basic steering transmission ratio corresponding to the steering operation is adjusted according to the distance, and a target steering transmission ratio is obtained; the target steering transmission ratio is not reduced along with reduction of the distance, at least a first target steering transmission ratio corresponding to a first threshold value is larger than a second target steering transmission ratio corresponding to a second threshold value, and the first threshold value is smaller than the second threshold value; and steering control is conducted on the target vehicle according to the target steering transmission ratio. According to the method, the more accurate target steering transmission ratio can be obtained along with the reduction of the distance between the target vehicle and the surrounding obstacles at the low speed, and the steering adjustment precision of the vehicle is improved.

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 calculation method for a compensation angle of a vehicle steering wheel, a vehicle and a computer device, the method comprising: obtaining a steady state front wheel rotation angle of the vehicle according to a state space model based on road errors; according to the steady-state front wheel steering angle and the steering wheel steering ratio of the vehicle, the theoretical steering wheel steering angle of the vehicle is obtained; obtaining a deviation value of the steering wheel angle according to the theoretical steering wheel angle and an actually measured steering wheel angle of a vehicle body; and obtaining the steering wheel compensation angle of the current period according to the deviation value of the steering wheel angle and the steering wheel compensation angle of the previous period. According to the method, compensation calculation of the steering wheel angle is more accurate, so that the accuracy of automobile transverse control calculation can be improved, and the riding experience of passengers is improved.

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.

The present invention provides a method and system for formulating a traffic management plan for mixed driving, which relates to the technical field of traffic management plan formulation, including obtaining operating data information of manually driven vehicles and intelligent networked vehicles, intersection turning ratio data and road section parameter information, and constructing a basic graph model of mixed traffic flow for calculating the average speed of mixed traffic flow. Based on the model, combined with the average speed, turning ratio and road section parameters of the traffic flow, a feedback queuing model of the vehicle is further constructed. The feedback queuing model is used to calculate the system status data of the transportation system where the vehicle is operating, the fuel consumption data of fuel vehicles, the energy consumption data of electric vehicles and the vehicle delay time information. Finally, based on the various types of information obtained, a complete traffic management plan is formulated. The present invention can improve the efficiency of traffic flow management, and effectively reduce traffic congestion, energy consumption and delay time.

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.

According to the wall-climbing coating robot, the wall-climbing coating robot comprises a chassis, a position adjusting component, a spraying assembly, an adsorption component and a steering component, the chassis is simple in structure, the self weight of the robot can be reduced, and therefore the safety and stability of wall attachment of the robot are improved; the position adjusting component is arranged on the frame and drives the spraying assembly to move in a certain area, so that the spraying precision is improved; the adsorption part is arranged on the frame to ensure that the robot is safely and stably adsorbed on the wall surface of a ship; the steering component is arranged on the frame and controls the angle of the frame, so that the angles of the driving wheel assembly and the driven wheel assembly are adjusted, the steering flexibility of the robot is greatly improved, the robot has good self-adaptability for curved surfaces with height difference, the spraying efficiency of the robot is greatly improved, and the service life of tires is greatly prolonged. The problems that in the prior art, the control precision is low, steering is difficult, the maintenance cost is high, and the self-adaptability of the curved surface is poor are effectively solved.

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.