CN101817366A - Steering method of four-wheel motor vehicle - Google Patents
Steering method of four-wheel motor vehicle Download PDFInfo
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- CN101817366A CN101817366A CN200910046656A CN200910046656A CN101817366A CN 101817366 A CN101817366 A CN 101817366A CN 200910046656 A CN200910046656 A CN 200910046656A CN 200910046656 A CN200910046656 A CN 200910046656A CN 101817366 A CN101817366 A CN 101817366A
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Abstract
The invention discloses a steering method of four-wheel motor vehicle, which is used for respectively controlling the deflecting direction of a pair of front wheels and a pair of rear wheels, and respectively driving four wheels to move forwards or backwards. The method can realize different steering modes aiming at different environments, and especially can reach minimum turning radius in the case of small steering space, thus greatly improving the steering maneuverability of the motor vehicle.
Description
Technical field
The present invention relates to power actuated vehicle, relate in particular to the power actuated vehicle chassis technology, relate in particular to the forward method of four-wheel motor vehicles.
Background technology
Four-wheel steering system (Four-Wheel Steering-4WS) is the important component part of automobile active chassis technology.Steering response was slow when traditional two-wheel steering (2 ws) automobile had low speed, turn to dumb, shortcoming such as directional balance difference during high speed.The nineties in last century, adopt the simple mechanical type 4WS system of a kind of front and rear wheel phase reversal deflection on some military-designed vehicles of the U.S. and the engineering truck, to adapt to abominable road conditions, maneuvering performance when improving automobile low speed and turning to, because the performance in the Gulf War has started the tide that vehicle with high maneuverability is developed.
Along with the development of modern road traffic system and advanced automotive technology, the Active Performance technology of automobile comes into one's own day by day.But domestic research for vehicle with high maneuverability also is in blank.
The factor that influences vehicle mobility is a lot, and the factor that comprises has: the problems such as turning efficiency of automobile general design oad, power operated influence, automotive suspension structure and automobile.Especially the turning efficiency of automobile is directly determining the maneuvering performance of vehicle.
Existing wheel steering system mostly is a back-wheel drive, front-wheel steering.Therefore, the steering range of vehicle has been subjected to very big restriction.Need turn to certain region.Sometimes, because the region is too little, vehicle can not disposablely take a turn for the better, and changes after can only stepping back again.
Comparatively common in the market have two kinds of forward methods, is respectively conventional steering method and electrical steering method.The former is used for low-grade car more, and the latter is then more popular, is used for middle and high shelves car.
The conventional steering method is also referred to as mechanical steering.Its steering gear ratio is fixed, and the motor turning response characteristic is changed with variations such as the speed of a motor vehicle, lateral accelerations, and chaufeur must carry out certain operation compensation at the variation of motor turning characteristic amplitude and phase place in advance, thereby Control of Automobile is travelled by its wish.The manipulation burden that this has just in a disguised form increased chaufeur is travelled motor turning and is had very big hidden danger.That is to say, if chaufeur pre-before control, the car problem such as slow that is easy to occur turning causes unnecessary trouble.
The electrical steering method makes chaufeur feel easier, more convenient, safer when turning to by a series of calculating and compensation.
But, no matter mechanical steering or electrical steering all are subjected to the circumscribed restriction of this body construction of back-wheel drive front-wheel steering.
Summary of the invention
Technical matters to be solved by this invention provides a kind of forward method of four-wheel motor vehicles, this forward method can make that turning to of power actuated vehicle is more flexible, and the turn radius that can make power actuated vehicle to greatest extent reaches minimum, thereby greatly improved the manoevreability that turns to of power actuated vehicle.
In order to solve the problems of the technologies described above, the present invention adopts following technical scheme:
A kind of forward method of four-wheel motor vehicles is characterized in that: control the deflecting direction of a pair of front vehicle wheel and a pair of rear wheel respectively, and respectively four wheels are advanced respectively or retreat driving.
In first embodiment of the present invention, control a pair of front vehicle wheel to a direction deflection, the not deflection of a pair of rear wheel imposes identical propulsive effort to four wheels.
In second embodiment of the present invention, control a pair of front vehicle wheel to a direction deflection, the deflection round about of a pair of rear wheel drives four wheels and travels forward.
When a pair of front vehicle wheel turned left, the propulsive effort that drives left back wheel was less than right rear wheel, and when a pair of front vehicle wheel was turned right, the propulsive effort that drives left back wheel was greater than right rear wheel.
In the 3rd embodiment of the present invention, control a pair of front vehicle wheel deflection, the deflection round about of a pair of rear wheel; When a pair of front vehicle wheel turns left, drive that right rear wheel is rotated forward and left back wheel rotates backward, when a pair of front vehicle wheel is turned right, drive that left back wheel rotates forward and right rear wheel rotates backward.
In the 4th embodiment of the present invention, control a pair of front vehicle wheel to a direction deflection, a pair of rear wheel with equidirectional deflection.
Described a pair of front vehicle wheel and a pair of rear wheel turn to 90 ° simultaneously, drive four wheels simultaneously forward or backward.
Described a pair of front vehicle wheel and a pair of rear wheel be simultaneously to equidirectional deflection, and drive four wheels simultaneously forward or backward.
Adopt technique scheme, the forward method of four-wheel motor vehicles of the present invention has at varying environment realizes the different characteristics that turn to pattern, especially turning to the narrow and small situation in space, can reach minimizing of turn radius, this has greatly improved the manoevreability that turns to of power actuated vehicle.
Description of drawings
The present invention is described in detail below in conjunction with the drawings and specific embodiments
Fig. 1 is the steering principle scheme drawing;
Fig. 2 is first kind of steering mode scheme drawing;
Fig. 3 is second kind of steering mode scheme drawing;
Fig. 4 is the third steering mode scheme drawing;
Fig. 5 is the 4th a kind of steering mode scheme drawing;
Fig. 6 is the 5th a kind of steering mode scheme drawing.
The specific embodiment
For the ease of understanding, the steering principle to four-wheel motor vehicles is illustrated earlier:
To the additional resistance of running car with avoid tire to cross quick-wearing, steering system should be able to guarantee that when motor turning, wheel is all done pure rolling when reducing Vehicular turn.Obviously, this only could realize when the axis of all wheels all intersects at a point.As shown in Figure 1, this intersection point is a turning center, (O point among the figure).Turning center O is called turn radius to the distance of outer steered wheel and ground contact point.
During Vehicular turn, should keep following relationship between the corner of inside and outside steered wheel:
ctgα-ctgβ＝M?/L
For α is an outer steering angle, β is interior deflection angle in the formula, and L is a wheelbase, and M is a wheelspan.
If vehicle will turn to minimum turning radius, should meet following relationship:
Rmin＝L/sinα
R is a turn radius in the formula, and L is a wheelbase, and α is an outer steering angle.
So, during motor turning, must determine meticulously to turn to trapezoidal geometric parameter in the steering hardware.All motor turnings are trapezoidal in fact all can only to be designed in certain wheel angle of inclination scope, makes the relation of both sides wheel angle of inclination approach ideal relationship substantially but up to now.
From second formula, we as can be seen, L can not also can not be 180 for 0, so scope used during Vehicular turn can not make the range size of vehicle itself, thereby must have sufficient space to turn to when making Vehicular turn.And narrow space, some regions, the space requirement in the time of then can not satisfying Vehicular turn causes vehicle can't finish the work that turns to.
And the minimum turning radius of vehicle is the key factor that influences its manoevreability.Minimum turning radius is meant that vehicle track of foreign steamer and ground contact point before wheel flutter is under the condition of hard-over when turning with low speed constitutes the radius of circumference.Minimum turning radius is more little, and the sensivity of the environment that vehicle passed through is more little.
In order to realize above-mentioned target, the present invention adopts following method:
Control the deflecting direction of a pair of front vehicle wheel and a pair of rear wheel respectively, and respectively four wheels are advanced respectively or retreat driving.
Particularly, according to different situations, adopt following different steering mode
Embodiment 1
This embodiment can realize the steering mode of existing vehicle.
A pair of front vehicle wheel drives, and realizes in the travel condition turning to.The direction of operating dish, vehicle moves forwards or backwards, and gives four wheels with identical propulsive effort.Control a pair of front vehicle wheel and turn to certain angle, and turning to of a pair of rear wheel is motionless, and propulsive effort forward only is provided, as shown in Figure 2.
When low speed driving or steering wheel angle are big, front and rear wheel realizes that phase reversal turns to, the deflecting direction that is a pair of rear wheel is opposite with the deflecting direction of a pair of front vehicle wheel, and deflection angle increases and increase within the specific limits (the trailing wheel steering locking angle is generally about 90 degree) with steering wheel angle.Manipulation portability when this steering mode can improve vehicle low speed reduces the turn radius of vehicle, improves the maneuverability of automobile.Being convenient to vehicle turns around to turn, keeps away to hinder and travel, pass in and out the garage.
As shown in Figure 3, realize in the travel condition turning to.Control vehicle travels forward.When turning to beginning, the driving direction difference of rear wheel.Control a pair of front vehicle wheel and turn an angle, a pair of rear wheel rotates equal angular round about.When a pair of front vehicle wheel turned left, the propulsive effort of left back wheel was less than the right rear wheel that is in the outer ring, and when a pair of front vehicle wheel was turned right, the propulsive effort of left back wheel was greater than the right rear wheel that is in the outer ring.
Embodiment 3
Realize in the travel condition turning to.Travel forward, at this moment control vehicle travels forward, and direction is identical.When turning to beginning, the driving direction difference of a pair of rear wheel.Control a pair of front vehicle wheel and turn an angle, and a pair of rear wheel rotates equal angular (being that phase reversal turns to) in the opposite direction.When a pair of front vehicle wheel turned left, right rear wheel was rotated forward and left back wheel rotates backward, and when a pair of front vehicle wheel was turned right, left back wheel rotated forward and right rear wheel rotates backward, as shown in Figure 4.
Can find out clearly that from the contrast of Fig. 3 and Fig. 4 the turn radius of Fig. 4 is less than Fig. 3.
The track of foreign steamer and ground contact point constitutes the radius of circumference before during turning, and promptly turn radius is more little, and vehicle is also more little to the sensivity of the environment that passes through.
Embodiment 4
Middle and high speed travel or steering wheel angle hour, front and rear wheel realizes that same-phase turns to, and controls a pair of front vehicle wheel and turns an angle, a pair of rear wheel also rotates equal angular.Be the deflecting direction of rear wheel and the deflecting direction identical (the trailing wheel hard-over is generally about 90 degree) of front vehicle wheel.So just make the yaw velocity of automobile body reduce greatly, can reduce the tendency that dynamic lateral deviation takes place auto body, guarantee vehicle when high-speed passing, turnover express highway, approach viaduct and overpass, adjustment state when being in understeering.
As shown in Figure 5, control a pair of front vehicle wheel and a pair of rear wheel and turn to 90 ° simultaneously, drive four wheels simultaneously forward or backward.So just can realize that 90 ° turn to and move laterally between two cars of front and back in halted state.
Shown in 6, control a pair of front vehicle wheel and a pair of rear wheel simultaneously to equidirectional deflection, and drive four wheels simultaneously forward or backward for another example.Can realize arbitrarily angled oblique course like this.
Can find by foregoing detailed description, the forward method of four-wheel motor vehicles of the present invention has at varying environment realizes the different characteristics that turn to pattern, especially turning to the narrow and small situation in space, can reach minimizing of turn radius, this has greatly improved the manoevreability that turns to of power actuated vehicle.
But, those of ordinary skill in the art will be appreciated that, above embodiment is used for illustrating the present invention, and be not to be used as limitation of the invention, as long as in connotation scope of the present invention, all will drop on claim scope of the present invention to variation, the modification of the above embodiment.
Claims (8)
1. the forward method of a four-wheel motor vehicles is characterized in that: control the deflecting direction of a pair of front vehicle wheel and a pair of rear wheel respectively, and respectively four wheels are advanced respectively or retreat driving.
2. the forward method of four-wheel motor vehicles according to claim 1, it is characterized in that: control a pair of front vehicle wheel to a direction deflection, the not deflection of a pair of rear wheel imposes identical propulsive effort to four wheels.
3. the forward method of four-wheel motor vehicles according to claim 1, it is characterized in that: control a pair of front vehicle wheel to a direction deflection, the deflection round about of a pair of rear wheel drives four wheels and travels forward.
4. the forward method of four-wheel motor vehicles according to claim 3, it is characterized in that: when a pair of front vehicle wheel turns left, the propulsive effort that drives left back wheel is less than right rear wheel, and when a pair of front vehicle wheel was turned right, the propulsive effort that drives left back wheel was greater than right rear wheel.
5. the forward method of four-wheel motor vehicles according to claim 1 is characterized in that: control a pair of front vehicle wheel deflection, the deflection round about of a pair of rear wheel; When a pair of front vehicle wheel turns left, drive that right rear wheel is rotated forward and left back wheel rotates backward, when a pair of front vehicle wheel is turned right, drive that left back wheel rotates forward and right rear wheel rotates backward.
6. the forward method of four-wheel motor vehicles according to claim 1 is characterized in that: control a pair of front vehicle wheel to a direction deflection, a pair of rear wheel with equidirectional deflection.
The forward method of four-wheel motor vehicles according to claim 6, it is characterized in that: described a pair of front vehicle wheel and a pair of rear wheel turn to 90 ° simultaneously, drive four wheels simultaneously forward or backward.
8. the forward method of four-wheel motor vehicles according to claim 1 is characterized in that: described a pair of front vehicle wheel and a pair of rear wheel be simultaneously to equidirectional deflection, and drive four wheels simultaneously forward or backward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910046656A CN101817366A (en) | 2009-02-26 | 2009-02-26 | Steering method of four-wheel motor vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN200910046656A CN101817366A (en) | 2009-02-26 | 2009-02-26 | Steering method of four-wheel motor vehicle |
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| CN101817366A true CN101817366A (en) | 2010-09-01 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105372078A (en) * | 2015-11-27 | 2016-03-02 | 首都师范大学 | Roller tractor turning control method and device |
| CN105806357A (en) * | 2016-03-28 | 2016-07-27 | 朱海燕 | Welcab based on navigation path optimization and navigation method thereof |
| CN106980127A (en) * | 2016-01-25 | 2017-07-25 | 上海安悦四维信息技术有限公司 | Navigation system, method of work based on the Big Dipper and the vehicle for installing the navigation system |
| CN107458463A (en) * | 2016-06-03 | 2017-12-12 | 比亚迪股份有限公司 | The steering of vehicle and with the vehicle steering vehicle |
| US10227069B2 (en) | 2015-07-10 | 2019-03-12 | Byd Company Limited | Method and system for controlling vehicle with four-wheel drive and vehicle |
| CN111897322A (en) * | 2020-06-23 | 2020-11-06 | 北京旷视机器人技术有限公司 | Method and product for adjusting orientation of transport vehicle |
-
2009
- 2009-02-26 CN CN200910046656A patent/CN101817366A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10227069B2 (en) | 2015-07-10 | 2019-03-12 | Byd Company Limited | Method and system for controlling vehicle with four-wheel drive and vehicle |
| CN105372078A (en) * | 2015-11-27 | 2016-03-02 | 首都师范大学 | Roller tractor turning control method and device |
| CN105372078B (en) * | 2015-11-27 | 2018-04-13 | 首都师范大学 | The Servo Control method and device of wheeled tractor |
| CN106980127A (en) * | 2016-01-25 | 2017-07-25 | 上海安悦四维信息技术有限公司 | Navigation system, method of work based on the Big Dipper and the vehicle for installing the navigation system |
| CN106980127B (en) * | 2016-01-25 | 2019-05-14 | 上海安吉四维信息技术有限公司 | Navigation system, working method based on Beidou and the vehicle for installing the navigation system |
| CN105806357A (en) * | 2016-03-28 | 2016-07-27 | 朱海燕 | Welcab based on navigation path optimization and navigation method thereof |
| CN107458463A (en) * | 2016-06-03 | 2017-12-12 | 比亚迪股份有限公司 | The steering of vehicle and with the vehicle steering vehicle |
| CN107458463B (en) * | 2016-06-03 | 2019-10-11 | 比亚迪股份有限公司 | The vehicle of the steering system of vehicle and the steering system with the vehicle |
| CN111897322A (en) * | 2020-06-23 | 2020-11-06 | 北京旷视机器人技术有限公司 | Method and product for adjusting orientation of transport vehicle |
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Application publication date: 20100901 |