Vehicle Steering Control for Zero-Radius Automatic U-Turns
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Solution Overview
Problem
Existing vehicle steering systems have a large steering radius, leading to unstable vehicle speed control and poor user experience in complex road scenarios, especially during automatic U-turns, due to inflexible steering adjustments.
Innovation Solution
A vehicle steering control method and apparatus that utilizes a vehicle controller and motor controller to perform real-time data collection and closed-loop control, enabling zero-turning-radius steering through self-closed loop control and self-fault monitoring, with features like automatic U-turn activation and obstacle avoidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of stationary object
If a preset angle is set to the wheels for steering to reduce the steering radius, then the steering radius is reduced, but the vehicle speed control becomes unstable and user experience deteriorates due to frequent operations and inability to make flexible changes in complex road scenarios
Solution Approach 1:
The patent implements dynamic steering angle adjustment through a motor controller that receives real-time steering instructions from a vehicle controller. The system dynamically modifies steering angles based on actual driving conditions, road scenarios, and vehicle state, replacing the static preset angle approach. This enables flexible adaptation to complex road environments while maintaining stable vehicle speed control through continuous feedback and adjustment.
2Measurement precision
If real-time closed-loop control is implemented with multiple controllers and sensors to achieve precise steering control, then steering precision and flexibility are improved, but the device complexity increases
Solution Approach 1:
The patent implements a closed-loop control system where the motor controller receives steering instructions from the vehicle controller, executes steering actions, and the system continuously monitors the actual steering state. The feedback mechanism allows real-time comparison between target and actual steering angles, enabling precise control through iterative adjustment. This feedback-based approach achieves high steering precision while managing system complexity through structured control architecture.
3Adaptability or versatility
If frequent steering angle adjustments are made to adapt to complex road scenarios, then the adaptability is improved, but the operation frequency increases leading to unstable vehicle speed control
Solution Approach 1:
The patent implements continuous steering control through the motor controller, which receives ongoing steering instructions from the vehicle controller based on real-time road scenario detection. Instead of discrete, frequent adjustments, the system maintains continuous adaptation to changing conditions, smoothly adjusting steering angles as needed. This continuous control approach provides both high adaptability to complex scenarios and stable vehicle speed control by eliminating abrupt, frequent operations.
Data Source
AI summary
A vehicle steering control method and apparatus, a vehicle, and a storage medium. When an automatic U-turn mode is activated, a vehicle controller acquires an auxiliary parameter according to a pre-activation signal input by a user, generates a target direction, a rotation angle, a feed-forward torque and a target wheel speed, and then sends a steering instruction to a motor controller. The motor controller responds to the feed-forward torque, obtains a response signal, and sends the response signal to the vehicle controller. The vehicle controller acquires swing angle sensor information and lateral longitudinal acceleration information according to the response signal, and then calculates a wheel rotation angle and sends it to the motor controller. The motor controller performs self-closed loop control according to the target direction, the target wheel speed, the wheel rotation angle, the rotation angle and the auxiliary parameters to control the vehicle to complete steering.