CN101618733A - Front wheel and rear wheel drive steering control system of automobile - Google Patents
Front wheel and rear wheel drive steering control system of automobile Download PDFInfo
- Publication number
- CN101618733A CN101618733A CN200910055961A CN200910055961A CN101618733A CN 101618733 A CN101618733 A CN 101618733A CN 200910055961 A CN200910055961 A CN 200910055961A CN 200910055961 A CN200910055961 A CN 200910055961A CN 101618733 A CN101618733 A CN 101618733A
- Authority
- CN
- China
- Prior art keywords
- steering
- wheel
- control unit
- motor servo
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
Abstract
The invention relates to a front wheel and rear wheel drive steering control system of an automobile in the technical field of automobile engineering. Steering wheel steering angle sensors are respectively connected with a drive turning electronic control unit; one end of each steering wheel steering angle sensor is connected with a steering wheel, and the other end of each steering wheel steering angle sensor is connected with a front wheel steering motor servo control unit; the front wheel steering motor servo control unit is respectively connected with a front wheel steering angle displacement sensor and a front wheel steering execution mechanism; a rear wheel steering motor servo control unit is respectively connected with a rear wheel steering angle displacement sensor and a rear wheel steering execution mechanism; the front wheel steering execution mechanism is connected with a front wheel, and the rear wheel steering execution mechanism is connected with a rear wheel. The invention combines front wheel drive steering and rear wheel drive steering, improves the lateral dynamic performance of the automobile, the driving characteristics of a driver and the operating stability of the automobile, changes a steering angle of the front wheel and the rear wheel in real time according to the drive working condition and a running parameter of the automobile and ensures that the automobile response follows the output response of a reference automobile model.
Description
Technical field
What the present invention relates to is the control system in a kind of AE field, specifically is a kind of front wheel and rear wheel drive steering control system of automobile.
Background technology
The motor turning control system is mainly used to the sideway movement of Control of Automobile.In recent years, active front steering system comprises Active Front Steering System (AFS) and trailing wheel active front steering system (ARS), is applied on real vehicle.Active Front Steering System provides the front wheel steering angle of a correction according to vehicle driving-cycle, can provide better handling for chaufeur.(be also referred to as four-wheel steering, 4WS) control rear-axle steering angle changes the trailing wheel side force to the trailing wheel active steering, makes trailing wheel participate in the control of vehicle sideway movement directly.But, be that front-wheel active steering or trailing wheel active steering all can only provide a control input: front-wheel correction deflection angle or rear-axle steering angle.Yaw velocity and side slip angle are two significant variables in the automobile side angle dynam.In order to improve the vehicle dynamics performance, need control yaw velocity and side slip angle simultaneously.From the angle of control theory, control these two variablees simultaneously then needs two independently control inputs at least.For the automobile of equipment electronic stability program (ESP) or direct yaw moment control (DYC), come the control vehicle motion by influencing left and right wheels longitudinal force (braking force or propulsive effort), can improve vehicle active safety.Though braking force or propulsive effort can be used as another control input except that deflection angle, because ESP, DYC can not directly control wheel lateral force, in most of the cases, ESP, DYC can not control effectively to the automobile side angle motion.And, influence the chaufeur driver comfort because braking can cause car retardation.
Find by prior art documents, publication number is: the Chinese patent application of CN1986319A, a kind of automobile active steering control system and method are disclosed, this technology readme: the control system of automobile active steering, comprise: the fixed drive ratio control unit, have fixing transmitting ratio, be used for the wheel turning angle that the corner according to bearing circle is fixed; Car speed sensor is used for the running velocity of senses vehicle; The variable-speed ratio control unit, being used for obtaining Vehicle Speed according to described car speed sensor sensing provides variable-speed ratio, and obtains wheel turning angle according to this variable-speed ratio and fixing wheel turning angle.But, owing to have only an independently control input, yaw velocity and the side slip angle in the Control of Automobile side direction dynam simultaneously.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of front wheel and rear wheel drive steering control system of automobile is proposed, active front steering swivel system and active rear steer system are combined, two independently control input formation front and back wheel active front steering systems are provided, according to vehicle running state, it can ACTIVE CONTROL front and back wheel deflection angle, optimizes yaw velocity γ and side slip angle β response simultaneously, improves the automobile side angle dynamic performance.
The present invention is achieved by the following technical solutions, the present invention includes: the active steering electronic control unit, the wheel steering angle transducer, car speed sensor, yaw-rate sensor, the lateral acceleration sensor, front-wheel steering motor servo control unit, rear-axle steering motor servo control unit, the front-wheel steering actuating unit, the rear-axle steering actuating unit, front-wheel, trailing wheel, the front-wheel steering angular-motion transducer, the rear-axle steering angular-motion transducer, bearing circle, the wheel steering angle transducer connects the active steering electronic control unit respectively, wheel steering angle transducer one end is connected with bearing circle, the wheel steering angle transducer other end is connected with front-wheel steering motor servo control unit, front-wheel steering motor servo control unit is connected with the front-wheel steering actuating unit with the front-wheel steering angular-motion transducer respectively, rear-axle steering motor servo control unit is connected with the rear-axle steering actuating unit with the rear-axle steering angular-motion transducer respectively, the front-wheel steering actuating unit connects front-wheel, and the rear-axle steering actuating unit connects trailing wheel.
Described active steering electronic control unit receives and analyzes and handle from wheel steering angle signal, vehicle speed signal, yaw velocity signal and the lateral acceleration signal of wheel steering angle transducer, car speed sensor, yaw-rate sensor and lateral acceleration sensor, and the output control signal sends to front-wheel steering motor servo control unit, rear-axle steering motor servo control unit.
Described front-wheel steering motor servo control unit, rear-axle steering motor servo control unit are realized the active steering of front and rear wheel according to the control signal that receives and front-wheel steering angular displacement signal and rear-axle steering angular displacement signal control front-wheel steering actuating unit and rear-axle steering actuating unit.
Described active steering electronic control unit is provided with a model following control module, the model following control module comprises: feedforward controller and feedback controller, the model following control module adopts feed forward control+feedback control structure, wherein, with reference to Vehicular yaw cireular frequency and the side slip angle of auto model according to wheel steering angle signal and vehicle speed signal calculation expectation; Yaw velocity and the satisfied output response of side slip angle response that feedforward controller produces the front and rear wheel deflection angle with reference to auto model; Feedback controller makes the yaw velocity of reality of vehicle and side slip angle and with reference to the error minimum between the auto model, suppresses system parameter variations and external disturbance.
Described feedforward controller and feedback controller are according to vehicle operational factors such as turning angle of steering wheel, the speed of a motor vehicle, yaw velocity and lateral accelerations, produce feedforward and feedback control signal respectively, after the addition summation, obtain final front-wheel correction deflection angle and rear-axle steering angle signal, and this signal is input to preceding steer motor servo control unit and rear steering motor servo control unit respectively.
The present invention is in the vehicle ' process, when the chaufeur steering wheel rotation or be subjected to side direction air-dry disturb and enter both sides ground friction coefficient different to open circuit surface the time, the active steering electronic control unit is according to the signal input of wheel steering angle transducer, car speed sensor, yaw-rate sensor and lateral acceleration sensor, analyze and judge the motoring condition of current vehicle, according to reference auto model design feedforward controller, calculate the feed forward control input; Draw the yaw velocity and the side slip angle of current vehicle simultaneously according to yaw velocity signal, vehicle speed signal and lateral acceleration signal, and with its with compare with reference to the expectation value of auto model, calculate the error between currency and the expectation value, and, calculate the controlled reset input according to this error design of feedback controller.Feed forward control input and the comprehensive back of controlled reset input produce final control input.Forward and backward steer motor servo control unit is controlled according to the incoming signal of this control input and front and rear wheel steering angular displacement sensor and is turned to actuating unit, realizes the active steering of forward and backward wheel.
Owing to adopted such scheme, the good effect that the present invention had is:
1. front-wheel active steering and trailing wheel active steering are combined, two independently control inputs are provided, can control and optimize the yaw velocity γ and the side slip angle β response of vehicle simultaneously, improve the side direction dynamic performance of vehicle.
2. improve the chaufeur driving performance, strengthen vehicle handling and stability.According to vehicle driving-cycle and operational factor, front wheel and rear wheel drive steering control system real time altering front and rear wheel deflection angle guarantees that the output that vehicle response is followed with reference to auto model responds.
3. adopt the steer motor servocontrol, can realize the accuracy control of front and rear wheel deflection angle, improve the speed of response of system.
Description of drawings
Fig. 1 is the front and back wheel active front steering system scheme drawing of the embodiment of the invention;
Fig. 2 is the active steering control system structured flowchart of the embodiment of the invention.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: active steering electronic control unit 1, wheel steering angle transducer 2, car speed sensor 3, yaw-rate sensor 4, lateral acceleration sensor 5, front-wheel steering motor servo control unit 6, rear-axle steering motor servo control unit 7, bearing circle 14.The active steering electronic control unit is provided with a model following control module, and the model following control module adopts feed forward control+feedback control structure.Active steering electronic control unit 1 is closure dish steering angle sensor 2, car speed sensor 3, yaw-rate sensor 4, lateral acceleration sensor 5, front-wheel steering motor servo control unit 6 and rear-axle steering motor servo control unit 7 respectively.Wheel steering angle transducer 2 one ends link to each other with bearing circle 14, and wheel steering angle transducer 2 other ends link to each other with front-wheel steering motor servo control unit 6.
Front-wheel steering angular-motion transducer 12 is connected front-wheel steering motor servo control unit 6 respectively with front-wheel steering actuating unit 8, and front-wheel steering actuating unit 8 connects front-wheel 10; Rear-axle steering angular-motion transducer 13 is connected rear-axle steering motor servo control unit 7 respectively with rear-axle steering actuating unit 9, and rear-axle steering actuating unit 9 connects trailing wheel 11.
During pilot control bearing circle 14, wheel steering angle transducer 2 detects the bearing circle steering angle sigma in real time
SwThe incoming signal of 1 pair of various sensor of active steering electronic control unit is analyzed and is handled, output control signal (front-wheel correction deflection angle Δ δ
fWith rear-axle steering angle δ
r); Front-wheel steering motor servo control unit 6, rear-axle steering motor servo control unit 7 are accepted the control signal of active steering electronic control unit 1 output and the steering angular displacement signal of front-wheel steering angular-motion transducer 12 and rear-axle steering angular-motion transducer 13, control front-wheel steering actuating unit 8 and rear-axle steering actuating unit 9, the active steering of realization front-wheel 10 and trailing wheel 11.
As shown in Figure 2, front wheel and rear wheel drive steering control system adopts feed forward control+feedback control structure based on the model following control theory.With reference to auto model according to turning angle of steering wheel δ
SwYaw velocity γ with speed of a motor vehicle u calculation expectation
dWith side slip angle β
dThe side slip angle estimator is according to speed of a motor vehicle u, yaw velocity γ and lateral acceleration a
yCome the side slip angle β of estimating vehicle reality.Feedforward controller is according to output RESPONSE CALCULATION feed forward control input (the Δ δ of reference model
Ff, δ
Rf); Feedback controller with the yaw velocity γ of the reality of vehicle and side slip angle β and with reference to the error between the auto model as input, based on the theory of optimal control or robust control theory, calculate controlled reset input (Δ δ
Fb, δ
Rb), make the tracking error minimum.According to turning angle of steering wheel δ
Sw, speed of a motor vehicle u, yaw velocity γ and lateral acceleration a
yDeng the vehicle operational factor, the feedback control signal addition summation back that feed-forward control signals that feedforward controller produces and feedback controller produce produces final control signal (front-wheel correction deflection angle Δ δ
fWith rear-axle steering angle δ
r) be input to front-wheel steering motor servo control unit 6 and rear-axle steering motor servo control unit 7.
Present embodiment combines front-wheel active steering and trailing wheel active steering, provides two independently control inputs: front-wheel correction deflection angle Δ δ
fWith rear-axle steering angle δ
r, the yaw velocity γ and the side slip angle β of control vehicle make the response of its track reference auto model simultaneously.Final front wheel steering angle input δ
fBy chaufeur turning angle of steering wheel δ
SwWith front-wheel correction deflection angle Δ δ
fBe formed by stacking.Rear-axle steering angle δ
rRear-axle steering angle signal by the output of active steering electronic control unit is realized by rear-axle steering motor servo control unit and rear-axle steering actuating unit.When vehicle be subjected to crosswind disturb or travel both sides ground friction coefficient different to open circuit surface on the time, this system can implement front and back wheel to, make vehicle keep riding stability.Especially when sailing open circuit surface is up, front wheel and rear wheel drive steering control system reduces external disturbance to can more directly and intervening vehicle dynamics characteristics constantly, improves the driving comfort and the safety of vehicle.
Claims (5)
1, a kind of front wheel and rear wheel drive steering control system of automobile, comprise: comprising: the active steering electronic control unit, the wheel steering angle transducer, car speed sensor, yaw-rate sensor, the lateral acceleration sensor, front-wheel steering motor servo control unit, rear-axle steering motor servo control unit, front-wheel, trailing wheel and bearing circle, it is characterized in that, also comprise: the front-wheel steering angular-motion transducer, the rear-axle steering angular-motion transducer, front-wheel steering actuating unit and rear-axle steering actuating unit, the wheel steering angle transducer connects the active steering electronic control unit respectively, wheel steering angle transducer one end is connected with bearing circle, the wheel steering angle transducer other end is connected with front-wheel steering motor servo control unit, front-wheel steering motor servo control unit is connected with the front-wheel steering actuating unit with the front-wheel steering angular-motion transducer respectively, rear-axle steering motor servo control unit is connected with the rear-axle steering actuating unit with the rear-axle steering angular-motion transducer respectively, the front-wheel steering actuating unit connects front-wheel, and the rear-axle steering actuating unit connects trailing wheel.
2, front wheel and rear wheel drive steering control system of automobile according to claim 1, it is characterized in that, described active steering electronic control unit receives and analyzes and handle from wheel steering angle signal, vehicle speed signal, yaw velocity signal and the lateral acceleration signal of wheel steering angle transducer, car speed sensor, yaw-rate sensor and lateral acceleration sensor, and the output control signal sends to front-wheel steering motor servo control unit, rear-axle steering motor servo control unit.
3, front wheel and rear wheel drive steering control system of automobile according to claim 1, it is characterized in that, described front-wheel steering motor servo control unit, rear-axle steering motor servo control unit are realized the active steering of front and rear wheel according to the control signal that receives and preceding steering angular displacement signal and back steering angular displacement signal control front-wheel steering actuating unit and rear-axle steering actuating unit.
4, front wheel and rear wheel drive steering control system of automobile according to claim 1, it is characterized in that, described active steering electronic control unit is provided with a model following control module, the model following control module comprises: feedforward controller and feedback controller, the model following control module adopts feed forward control+feedback control structure, wherein, with reference to Vehicular yaw cireular frequency and the side slip angle of auto model according to wheel steering angle signal and vehicle speed signal calculation expectation; Yaw velocity and the satisfied output response of side slip angle response that feedforward controller produces the front and rear wheel deflection angle with reference to auto model; Feedback controller makes the yaw velocity of reality of vehicle and side slip angle and with reference to the error minimum between the auto model, suppresses system parameter variations and external disturbance.
5, front wheel and rear wheel drive steering control system of automobile according to claim 4, it is characterized in that, described feedforward controller and feedback controller are according to vehicle operational factors such as turning angle of steering wheel, the speed of a motor vehicle, yaw velocity and lateral accelerations, produce feedforward and feedback control signal respectively, after the addition summation, obtain final front-wheel correction deflection angle and rear-axle steering angle signal, and this signal is input to preceding steer motor servo control unit and rear steering motor servo control unit respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100559611A CN101618733B (en) | 2009-08-06 | 2009-08-06 | Front wheel and rear wheel drive steering control system of automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100559611A CN101618733B (en) | 2009-08-06 | 2009-08-06 | Front wheel and rear wheel drive steering control system of automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101618733A true CN101618733A (en) | 2010-01-06 |
| CN101618733B CN101618733B (en) | 2011-05-04 |
Family
ID=41512178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100559611A Expired - Fee Related CN101618733B (en) | 2009-08-06 | 2009-08-06 | Front wheel and rear wheel drive steering control system of automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101618733B (en) |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102303490A (en) * | 2011-06-28 | 2012-01-04 | 广西工学院 | Automobile tire burst prevention controller on basis of electrical power steering |
| CN102582617A (en) * | 2011-06-29 | 2012-07-18 | 北京理工大学 | Vehicular stability control system based on variable structure theory |
| CN102730059A (en) * | 2011-04-13 | 2012-10-17 | 福特全球技术公司 | Method for generating control function of feedforward control steering system of motor-driven vehicle |
| CN102837737A (en) * | 2011-06-20 | 2012-12-26 | 株式会社捷太格特 | Rear wheel steering system |
| CN103640622A (en) * | 2013-11-13 | 2014-03-19 | 南京航空航天大学 | Automobile direction intelligent control method and control system based on driver model |
| CN104843060A (en) * | 2015-05-29 | 2015-08-19 | 郑州机械研究所 | Rear-wheel tracking and steering control method based on rectangular coordinates and polar coordinates and automobile |
| CN105241678A (en) * | 2015-11-15 | 2016-01-13 | 北京工业大学 | Fast control prototype realization method of active rear wheel steering |
| CN105936273A (en) * | 2016-05-31 | 2016-09-14 | 上海理工大学 | Vehicle active torque inter-wheel and inter-axis distribution method |
| CN106080753A (en) * | 2016-06-14 | 2016-11-09 | 宁波工程学院 | A kind of Electric Motor Wheel steering control system merging active steering, power-assisted steering and direct yaw moment control function and control method thereof |
| CN106184363A (en) * | 2016-07-20 | 2016-12-07 | 广西科技大学 | The control method of four-wheel independent steering vehicle |
| CN106218715A (en) * | 2016-07-20 | 2016-12-14 | 广西科技大学 | A kind of control method of four-wheel independent steering vehicle |
| CN106527139A (en) * | 2016-11-29 | 2017-03-22 | 桂林航天工业学院 | Robust controller design method for vehicle yawing motion under limited communication condition |
| CN106672072A (en) * | 2016-09-14 | 2017-05-17 | 辽宁工业大学 | Control method for steer-by-wire automobile active front-wheel steering control system |
| CN107031715A (en) * | 2016-01-22 | 2017-08-11 | 福特全球技术公司 | The backup mode of active roll control system |
| CN107200020A (en) * | 2017-05-11 | 2017-09-26 | 江苏大学 | It is a kind of based on mix theory pilotless automobile self-steering control system and method |
| CN107351913A (en) * | 2017-07-17 | 2017-11-17 | 聊城中通轻型客车有限公司 | A kind of trailing wheel active steering apparatus |
| CN107972725A (en) * | 2017-12-26 | 2018-05-01 | 衡阳合力工业车辆有限公司 | A kind of steering control system and four-wheel automobile |
| CN107972733A (en) * | 2017-12-22 | 2018-05-01 | 长春天火汽车制造有限公司 | A kind of allterrain vehicle back-wheel Follow-up steering mechanism |
| CN109353332A (en) * | 2018-11-14 | 2019-02-19 | 南京航空航天大学 | A kind of active rear steer system and whole vehicle stability cooperative control device |
| CN109895845A (en) * | 2017-12-08 | 2019-06-18 | Trw汽车股份有限公司 | The method of the all-wheel control system and operation all-wheel control system of motor vehicles |
| CN110758378A (en) * | 2019-10-21 | 2020-02-07 | 江苏理工学院 | Unmanned automobile crosswind-resistant control system and control method based on L1 adaptive control |
| CN111731379A (en) * | 2019-03-25 | 2020-10-02 | 沃尔沃汽车公司 | Steer-by-wire system and method for providing tire force buildup compensation |
| CN112141206A (en) * | 2020-09-28 | 2020-12-29 | 长城汽车股份有限公司 | Control method of steering system, steering system and vehicle |
| CN113002616A (en) * | 2021-03-05 | 2021-06-22 | 清华大学 | Multi-mode steering system and method applied to automatic driving |
| CN114007927A (en) * | 2019-06-27 | 2022-02-01 | Zf腓特烈斯哈芬股份公司 | Method and device for stabilizing a tractor-trailer combination and control device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL1018627C2 (en) * | 2001-07-25 | 2003-01-28 | Skf Ab | Control unit for control via wire. |
| JP2003285749A (en) * | 2002-01-25 | 2003-10-07 | Kayaba Ind Co Ltd | Power steering device |
| US6943512B2 (en) * | 2002-02-04 | 2005-09-13 | Nsk Ltd. | Control apparatus for electric power steering system |
| CN1227130C (en) * | 2002-08-14 | 2005-11-16 | 同济大学新能源汽车工程中心 | Four wheel electronic differential speed steering control system |
| JP3960266B2 (en) * | 2003-05-28 | 2007-08-15 | トヨタ自動車株式会社 | Steering control device for vehicle |
| US7007763B2 (en) * | 2003-09-19 | 2006-03-07 | Borgwarner Inc. | Control system for interactive driveline and vehicle control |
| CN2823083Y (en) * | 2005-08-19 | 2006-10-04 | 比亚迪股份有限公司 | Line transmission steering control device for automobile |
| JP4314489B2 (en) * | 2005-09-16 | 2009-08-19 | トヨタ自動車株式会社 | Vehicle steering device |
| CN100381323C (en) * | 2005-10-14 | 2008-04-16 | 上海燃料电池汽车动力系统有限公司 | Electric booster turning system of fusing active turning function |
-
2009
- 2009-08-06 CN CN2009100559611A patent/CN101618733B/en not_active Expired - Fee Related
Cited By (38)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102730059A (en) * | 2011-04-13 | 2012-10-17 | 福特全球技术公司 | Method for generating control function of feedforward control steering system of motor-driven vehicle |
| CN102837737A (en) * | 2011-06-20 | 2012-12-26 | 株式会社捷太格特 | Rear wheel steering system |
| CN102837737B (en) * | 2011-06-20 | 2016-05-04 | 株式会社捷太格特 | Rear-axle steering manipulation device |
| CN102303490B (en) * | 2011-06-28 | 2013-04-24 | 广西工学院 | Automobile tire burst prevention controller on basis of electrical power steering |
| CN102303490A (en) * | 2011-06-28 | 2012-01-04 | 广西工学院 | Automobile tire burst prevention controller on basis of electrical power steering |
| CN102582617A (en) * | 2011-06-29 | 2012-07-18 | 北京理工大学 | Vehicular stability control system based on variable structure theory |
| CN103640622A (en) * | 2013-11-13 | 2014-03-19 | 南京航空航天大学 | Automobile direction intelligent control method and control system based on driver model |
| CN103640622B (en) * | 2013-11-13 | 2016-01-20 | 南京航空航天大学 | A kind of automobile steering intelligent control method based on pilot model and control system |
| CN104843060A (en) * | 2015-05-29 | 2015-08-19 | 郑州机械研究所 | Rear-wheel tracking and steering control method based on rectangular coordinates and polar coordinates and automobile |
| CN105241678A (en) * | 2015-11-15 | 2016-01-13 | 北京工业大学 | Fast control prototype realization method of active rear wheel steering |
| CN107031715B (en) * | 2016-01-22 | 2021-06-08 | 福特全球技术公司 | Backup mode for active roll control system |
| CN107031715A (en) * | 2016-01-22 | 2017-08-11 | 福特全球技术公司 | The backup mode of active roll control system |
| CN105936273A (en) * | 2016-05-31 | 2016-09-14 | 上海理工大学 | Vehicle active torque inter-wheel and inter-axis distribution method |
| CN105936273B (en) * | 2016-05-31 | 2018-05-22 | 上海理工大学 | Between automobile-used active torque wheel, between centers distribution method |
| CN106080753A (en) * | 2016-06-14 | 2016-11-09 | 宁波工程学院 | A kind of Electric Motor Wheel steering control system merging active steering, power-assisted steering and direct yaw moment control function and control method thereof |
| CN106080753B (en) * | 2016-06-14 | 2018-04-06 | 宁波工程学院 | A kind of Electric Motor Wheel steering control system and its control method for merging active steering, power-assisted steering and direct yaw moment control function |
| CN106218715A (en) * | 2016-07-20 | 2016-12-14 | 广西科技大学 | A kind of control method of four-wheel independent steering vehicle |
| CN106184363A (en) * | 2016-07-20 | 2016-12-07 | 广西科技大学 | The control method of four-wheel independent steering vehicle |
| CN106218715B (en) * | 2016-07-20 | 2018-06-08 | 广西科技大学 | A kind of control method of four-wheel independent steering vehicle |
| CN106672072A (en) * | 2016-09-14 | 2017-05-17 | 辽宁工业大学 | Control method for steer-by-wire automobile active front-wheel steering control system |
| CN106527139B (en) * | 2016-11-29 | 2019-07-26 | 桂林航天工业学院 | Communicate the vehicle yaw motion robust Controller Design method under limited situation |
| CN106527139A (en) * | 2016-11-29 | 2017-03-22 | 桂林航天工业学院 | Robust controller design method for vehicle yawing motion under limited communication condition |
| CN107200020B (en) * | 2017-05-11 | 2019-05-31 | 江苏大学 | It is a kind of based on mixing theoretical pilotless automobile self-steering control system and method |
| CN107200020A (en) * | 2017-05-11 | 2017-09-26 | 江苏大学 | It is a kind of based on mix theory pilotless automobile self-steering control system and method |
| CN107351913A (en) * | 2017-07-17 | 2017-11-17 | 聊城中通轻型客车有限公司 | A kind of trailing wheel active steering apparatus |
| CN107351913B (en) * | 2017-07-17 | 2023-09-05 | 中通客车股份有限公司 | Active steering device for rear wheel |
| CN109895845A (en) * | 2017-12-08 | 2019-06-18 | Trw汽车股份有限公司 | The method of the all-wheel control system and operation all-wheel control system of motor vehicles |
| CN107972733A (en) * | 2017-12-22 | 2018-05-01 | 长春天火汽车制造有限公司 | A kind of allterrain vehicle back-wheel Follow-up steering mechanism |
| CN107972725A (en) * | 2017-12-26 | 2018-05-01 | 衡阳合力工业车辆有限公司 | A kind of steering control system and four-wheel automobile |
| CN109353332A (en) * | 2018-11-14 | 2019-02-19 | 南京航空航天大学 | A kind of active rear steer system and whole vehicle stability cooperative control device |
| CN111731379A (en) * | 2019-03-25 | 2020-10-02 | 沃尔沃汽车公司 | Steer-by-wire system and method for providing tire force buildup compensation |
| CN111731379B (en) * | 2019-03-25 | 2023-08-04 | 沃尔沃汽车公司 | Steer-by-wire system and method for providing tire force accumulation compensation |
| CN114007927A (en) * | 2019-06-27 | 2022-02-01 | Zf腓特烈斯哈芬股份公司 | Method and device for stabilizing a tractor-trailer combination and control device |
| CN114007927B (en) * | 2019-06-27 | 2023-09-26 | Zf腓特烈斯哈芬股份公司 | Method and apparatus for stabilizing a tractor-trailer combination and controller |
| CN110758378B (en) * | 2019-10-21 | 2021-02-09 | 江苏理工学院 | Crosswind-resistant control method for unmanned automobile |
| CN110758378A (en) * | 2019-10-21 | 2020-02-07 | 江苏理工学院 | Unmanned automobile crosswind-resistant control system and control method based on L1 adaptive control |
| CN112141206A (en) * | 2020-09-28 | 2020-12-29 | 长城汽车股份有限公司 | Control method of steering system, steering system and vehicle |
| CN113002616A (en) * | 2021-03-05 | 2021-06-22 | 清华大学 | Multi-mode steering system and method applied to automatic driving |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101618733B (en) | 2011-05-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101618733B (en) | Front wheel and rear wheel drive steering control system of automobile | |
| JP4556775B2 (en) | Vehicle steering system | |
| US8544592B2 (en) | Steering apparatus for vehicle | |
| US6909957B2 (en) | Method for controlling yaw and transversal dynamics in a road vehicle | |
| CN110466602B (en) | Time-sharing four-wheel steering system of electric automobile driven by hub motor and control method thereof | |
| CN101537853B (en) | Automobile four-wheel active steering control system | |
| EP1577194B1 (en) | Steering apparatus for vehicle and method for controlling the same | |
| US8781684B2 (en) | Steering and control systems for a three-wheeled vehicle | |
| CN109641620B (en) | Vehicle and method for steering a vehicle | |
| US8788147B2 (en) | Method for determining a toothed rack force for a steering device in a vehicle | |
| US7740102B2 (en) | Steering control device for vehicle | |
| CN110077418B (en) | Differential auxiliary steering and shared control system modeling method considering driver characteristics | |
| US8200392B2 (en) | Vehicular steering control device | |
| CN103978971A (en) | Methods of controlling four-wheel steered vehicles | |
| CN104395167A (en) | Parking assistance device and parking assistance device control method | |
| KR101305124B1 (en) | Vehicle dynamic performance improvement apparatus and method for the same | |
| CN108163044A (en) | The steering redundancy of four motorized wheels electric vehicle and integrated control system and method | |
| JP2008239115A (en) | Vehicle operation controller | |
| JP4613668B2 (en) | Vehicle behavior control apparatus and vehicle behavior control method | |
| CN112572605B (en) | Distributed driving vehicle and steering control method and device thereof | |
| CN116080757A (en) | Vehicle stability control method and system | |
| JP2011161957A (en) | Central controller | |
| Suzuki et al. | An overview on vehicle lateral dynamics and yaw stability control systems | |
| JP2021524417A (en) | Gradual detection of the appearance of torque steer | |
| JP2006123611A (en) | Steering device for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent for invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Bin Inventor after: Yu Fan Inventor after: Li Congcong Inventor before: Li Bin Inventor before: Yu Fan Inventor before: Li Cong |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: LI BIN YU FAN LI CONG TO: LI BIN YU FAN LI CONGCONG |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110504 Termination date: 20130806 |