CN102730059B - Method for the control function of the feedforward control steering that generates motor vehicles - Google Patents
Method for the control function of the feedforward control steering that generates motor vehicles Download PDFInfo
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- CN102730059B CN102730059B CN201210104033.1A CN201210104033A CN102730059B CN 102730059 B CN102730059 B CN 102730059B CN 201210104033 A CN201210104033 A CN 201210104033A CN 102730059 B CN102730059 B CN 102730059B
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
- B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
- B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
- B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
Abstract
The present invention describes the steering angle amendment (δ of the function as two parameters by a kind of method for the control function that the feedforward control steering for motor vehicles is produced for pre-defined goal behavior, wherein control functionfc、δrc).The pre-defined goal behavior of current behavior and steady-state turn based on vehicle determines steering angle amendment (δfc、δrc), it is used as the transverse acceleration (a occurred during steady-state turny) and the function of turning radius (R) that occurs during steady-state turn.Transverse acceleration (a will be depended on by mathematical modelingy) and turning radius (R) steering angle amendment be converted to dependent on by driver using or by the steering angle (δ by usingD) and longitudinal acceleration (vx) steering angle amendment (δfc、δrc), then turn to angle amendment (δfc、δrc) form control function.
Description
Technical field
Present invention relates in general to the design of the control of the steering of motor vehicles, adjustment and operation.Specifically, this hair
It is bright to be related to a kind of feedforward (feedforward) the control steering (feedforward active steering control) for being used to generate motor vehicles
The method of control function, and it is related to a kind of control method of the feedforward control steering for motor vehicles and control system
System.
Background technology
Active Steering Technique provides the possibility for the response that motor vehicles are adjusted as the function of various driving situations.Example
Such as, if the motor vehicles in cities and towns are typically to drive at low speed by small streets, the load of driver due to turning to
It is relatively high.In this case, it is therefore desirable to which steering has good respondent behavior and high yaw response to steering angle, and
So cause a kind of motor vehicles for being more easy to response.
Another situation is travelled on a highway with low steering load, is typically occurred in high speed.In this feelings
, it is necessary to which vehicle has relatively small response under condition, i.e. need identical steering angle to have relatively small effect to wheel, this causes
The more stably respondent behavior of motor vehicles and the more comfortable driving of permission.
The technology of the technology and electrical steering (line traffic control, SbW) of active front wheel steering (AFS) passes through by motor control
Steering angle, which is superimposed upon on the steering angle of driver, to be made it possible to realize these features.
Similar feature is become by actively changing the active rear steer (ARS) of the toe-in angle (toe angle) of hind axle
For may, or therefore the respondent behavior of motor vehicles becomes sensitiveer, on condition that ARS angles and steering angle contrary sign, otherwise become
Obtain and more stablize and more comfortable, on condition that ARS angles and steering angle jack per line.
In order to realize features described above, the algorithm with Two dimensional control performance plot generally as steering angle function with
And the function of the speed of vehicle.These control characteristic figures are also referred to as feedforward figure (FFM).
Control characteristic figure is moved typically via the standard of execution, specifically the prototype experiment of the motor vehicles of such as steady-state turn
Adjust to property.For each steady state turning condition by specific steering angle and the identification of specific car speed, assess motor-driven
Whether the application engineer of the respondent behavior of vehicle checks amendment on the direction of response or the direction of stability, and on
State technical staff with this based on experiment and personal experience method find for control characteristic figure correspond to the steering angle and
The correct adjustment of the point of the car speed.
On the one hand, the program needs the availability of the prototype of motor vehicles, and on the other hand, the program expends the time very much.
As a result the experience of application engineer is also largely dependent upon, and the figure produced only has low resolution.
The content of the invention
It is used to produce control function for the feedforward active front steering system of motor vehicles it is an object of the invention to provide a kind of
Favorable method and for motor vehicles feedforward active front steering system favourable control method and favourable control system.
The purpose is achieved through the following technical solutions respectively.According to the present invention so that for pre-defined goal behavior
The method for producing the control function of the feedforward control active front steering system of motor vehicles can use.Control function description is used as two ginsengs
The steering angle amendment of several functions.In the method, based on motor vehicles current behavior and steady-state turn it is pre-defined
Goal behavior determines steering angle amendment, as the transverse acceleration occurred during steady-state turn and during steady-state turn
The function of the turning radius of generation.By mathematical modeling, by the steering angle amendment dependent on transverse acceleration and turning radius
The steering angle amendment dependent on steering angle and longitudinal velocity is converted into, angle is then turned to and corrects to form control function.Steering angle is repaiied
At least one amendment of the steering angle of front-wheel and/or at least one amendment of the steering angle of trailing wheel can be just being included herein.Number
Mathematical modeling can be obtained from the steady-state turn of auto model or motor vehicles herein by learning modeling.In the method, it is based on
Mathematical modeling and the steering angle amendment generation equation system dependent on transverse acceleration and turning radius, the solution shape of the equation system
Into control function.Control function can be provided by the explicit solution of equation system herein.Control function can be by based on equation system
The control characteristic figure of acquisition is represented.In the method, goal behavior can be obtained from another motor vehicles.
The invention also discloses a kind of control method of the feedforward control steering for motor vehicles, the control method
Use the control function obtained according to the above method.
The invention also discloses a kind of control system of the steering for motor vehicles, the control system, which has, to be used for
The control unit of the feedforward control transfer of motor vehicles, the control unit is based on the control letter obtained according to the above method
Number.
Because the current behavior in the method according to the invention based on motor vehicles and the expected behavior of motor vehicles are determined
The fact that control for steering, can not need prototype and need not be complicated test program in the case of adjust
The steering behavior of motor vehicles.In addition because the assessment for the test result that need not rule of thumb obtain, it is possible to satisfaction
The reproducible mode in ground ensures quality and the vehicle transfer of the implementation of steering independent of the experience of application engineer
To the quality of system in itself.Based on control function to the steering angle of motor vehicles and the dependence of longitudinal velocity, it may be easy to implement
The steering angle and longitudinal velocity of feedforward control active front steering system based on control function, wherein motor vehicles are in any motor vehicle
It is can use in the form of numerical value.
The expectation target behavior of vehicle can be obtained according to understeer diagram from response.Response can be from understeer figure
It is readily available in showing, result is can be with very satisfied the adaptation for completing steering.
Goal behavior can also specifically be obtained from another motor vehicles.For example, the steering behavior of motor vehicles can be with
It is adapted to the steering behavior of another motor vehicles in this way.
Control can include the active front steering system of the front axle and/or hind axle for motor vehicles.Specifically, if
Make front axle and trailing wheel axle steer on one's own initiative, then obtain various adaptation possibilities for the steering behavior of motor vehicles.
For the steering angle amendment dependent on transverse acceleration and turning radius to be converted to dependent on steering angle and longitudinal direction
The mathematical modeling of the steering angle amendment of speed can be obtained from auto model, for example, can be obtained from unidirectional model.It is optional
Ground is selected, also there is a possibility that to obtain mathematical modeling from the steady-state turn of motor vehicles, namely rule of thumb obtain.
Based on mathematical modeling and dependent on transverse acceleration and turning radius steering angle amendment conversion in this method
By producing equation system in one embodiment, the solution of wherein equation system forms control function.In this context, can be with
Control function is provided by the explicit solution of equation system, or can be by representing control based on the control characteristic figure that equation system is obtained
Function processed.
Control function is used according to the control method of the feedforward control steering for motor vehicles of the present invention, the control
Function processed is utilized to be obtained according to the method for being used to produce control function of the present invention.The control function produced in this way
Implement control method using permission in the case of low cost and in satisfactorily reproducible mode or be adapted to wanting for change
Ask.
Being included according to the control system of the active front steering system for motor vehicles of the present invention is used for before motor vehicles
The control unit of feedback control active steering apparatus.Control unit is based on the control letter obtained according to the method for producing control function
Number.Allow to implement control system in the case of low cost using the control function produced in this way and be adapted to change
Requirement.
Brief description of the drawings
Further aspect of the present invention, performance and advantage are referred to accompanying drawing in description below to exemplary embodiment
Obtain, wherein：
Fig. 1 represents the schematic diagram of motor vehicles；
Fig. 2 represents the understeer diagram of motor vehicles；
Fig. 3 represents the diagram of the control for hind axle steering；
Fig. 4 represents the control characteristic figure for front axle steering obtained with the method according to the invention；And
Fig. 5 represents the control function for front axle steering obtained with the method according to the invention.
Embodiment
Accompanying drawing is merely to illustrate the present invention and is not intended to limit the present invention.Accompanying drawing and all parts are not drawn necessarily to scale.Together
One reference refers to same or similar part.
Fig. 1 represents the schematic diagram of the motor vehicles 1 as car or truck.Vehicle 1 has front axle 2 and hind axle 3,
Front axle 2 and hind axle 3 have wheel 4.The steering 5 of front axle 2 is grasped by driver's utilization orientation disk 8 of motor vehicles 1
Make and act on front axle 2.In addition to traditional front axle steering, after hind axle 3 can also be by being present in
Steering 9 on wheel shaft 3 is turned to, therefore, the toe-in angle of hind axle 3 is adjustment.Hind axle 3 can be relative to front axle
Turn to or turned on the opposite direction relative to front axle 2 on 2 equidirectional.
Controller 6 turns to function by the active steering control of front axle 2 and/or hind axle 3 or turns to the auxiliary of function,
Wherein turn to function or turn to the steering 5,9 aided in using presence of function.In order to implement the respondent behavior of controller 6 with
And the respondent behavior of function is turned to, controller 6 utilizes Fig. 7 pairs of control function or control characteristic Fig. 7, control function or control characteristic
Produced in the expectation target behavior of motor vehicles.Then determined by the expectation target behavior and its current behavior that consider vehicle
Control function or control characteristic Fig. 7.For example, being illustrated in Fig. 4 with two variable (longitudinal velocity vxAnd steering angle sigmaD) control
Performance plot or control function, for example, being illustrated in Fig. 5 with variable (longitudinal velocity vx) amplitude ratio function.
Illustrate to produce the feedforward control steering system for motor vehicles for pre-defined goal behavior based on Fig. 2 to 5
The control function of system.Control function describes the steering angle amendment δ for front-wheel of the function as two parametersfcAnd be used for
The steering angle amendment δ of trailing wheelrc。
Fig. 2 represents the understeer diagram of the motor vehicles of the steady-state turn for 100 meters of circle, is used in this case
Active Rear axle steer.It is, of course, also possible to select the understeer of active front axle steer system to illustrate.Similarly, can be with
Will for the motor vehicles of the steady-state turn of the radius different from 100 meters at least one understeer diagram be used as it is optional, or
Person also uses the motor-driven of the steady-state turn of other radiuses in addition to being illustrated for the understeer of the steady-state turn of 100 meters of circle
At least one understeer diagram of vehicle.Understeer diagram in, be motor vehicles actual steering behavior (solid line) and
Expectation target behavior (dotted line) all draw in order to the circle along 100 meters drives and the steering angle of the front-wheel that is used by driver (FWA,
Front-wheel angle) to the transverse acceleration (a of motor vehiclesy) figure.
The steering angle FWA of front-wheel is connected to the angle of rotation of the deflecting roller used by driver by gearratio.In actual row
For in, in order to the circle along 100 meters drive and the steering angle of front-wheel that is used by driver by gearratio directly by steering wheel
Angle of rotation is defined.In goal behavior, a kind of amendment of steering experience, the amendment causes such situation：In order to along 100 meters
Circle driving, the angle of rotation that driver has to using steering wheel shown in dotted lines in Figure 2.In this example, after by active
Axle steering systems complete this amendment.
Understeer diagram is characterized in what is be highly profitable to the respondent behavior for describing the motor vehicles in stable state, and
And, the possible expectation target behavior to definition motor vehicles is also what is be highly profitable, then the expectation target row of motor vehicles
For that for example can be implemented by active front steering system.
Diagram in Fig. 2 proposes a kind of possible control of hind axle steering, and it is by relatively small moving corner
Caused by the requirement of relatively high understeer gradient.For the steering behavior of vehicle, the goal behavior, which means to work as, to be deposited
In relatively low transverse acceleration, vehicle is more prone to response, and result is that the divertical motion performed by driver is reduced.Specifically
Ground, the steering angle needed during parking manipulation therefore reduction about 20%.In addition, the goal behavior of shown vehicle means
Vehicle reaction in high transverse acceleration relatively is smaller, and result is to react smaller to divertical motion.From understeer diagram
Goal behavior or target response therefore comprising some major requirements, these requirements are by responding and the raising of stability is constituted, just
As desired by the modern control system for chassis.In order to which the amendment for reaching dashed curve and performing is based in various horizontal strokes
To acceleration ayThe Active Rear axle that is used for when (Fig. 3 top figure) and each middle circular radius R (Fig. 3 figure on the lower) turns
To correction angle ARS (as shown in Figure 3).Correction angle overview shown in the correction angle overview of trailing wheel figure top from Fig. 3 it is general
Include and Fig. 3 in correction angle overview shown in figure on the lower plus and middle obtain.
Goal behavior can also be determined for another motor vehicles.For example, it is contemplated that, will approach has active front
The steering of the motor vehicles of the understeer behavior of another existing vehicle of axle steer system and/or Active Rear axle steer system
Behavior.
, it will thus be apparent that any desired understeer diagram with expectation target behavior can be used for definition
One or more goal behaviors.
The goal behavior of (Fig. 2) is illustrated in accordance with below equation from understeer：
Herein, δDThe steering angle that is used or will be used by driver by driver is represented, R is represented in steady-state turn process
In turning radius, ayRepresent the transverse acceleration and K during turningTRepresent the object function of understeer or expect to turn
To not enough gradient.
It should be ensured that formula 1 reflects the possible non-human act of motor vehicles.Therefore, should be using following two consistent
Property rule.
Rule 1, is provided by equation below 2, provides fTIt is ayPositive monotonic increasing function.fT＞ 0,
For the vehicle, it means that, in the case where being turned with constant radius R, the increase of steering angle corresponds to
Transverse acceleration ayRaising, transverse acceleration ayRaising be for example usual for the motor vehicles of understeer.
Rule 2, is provided by equation below 3, provides fTIt is R monotonous descending function.
For the vehicle, it means that, in the case where being turned with constant transverse acceleration, relatively large bend half
Footpath causes the reduction of steering angle, and in the case of relatively small turning radius, causes steering angle to increase.
Transverse acceleration ayWith the two variable-definition two-dimensional spaces of turning radius R, domain is hereinafter referred to as required
(requirements domain), referred to as RD.
It will be described below relative to target after defined goal behavior on the basis of Fig. 2 understeer diagram
Behavior determines the control function of the feedforward control steering for motor vehicles.
Non-linear single locus model based on the motor vehicles corresponding to the empirical evaluation obtained by test stroke, will
The steering angle sigma used by driverDAnd the steering angle amendment δ at still undetermined front and rear wheel till nowfcδrcCan be by
Below equation is expressed：
Equation 4 introduces the unknown control of the activation for active front axle steer system (AFS) or steering-by-wire (SbW)
Variable δfCAnd the variable δ of the activation for Active Rear axle steer system (ARS)rC。
The steering angle sigma that is used or will be used by driver by driver replaced in equation 4 by equation 1DCause front-wheel
Correction angle (δfc) and/or trailing wheel correction angle (δrc), they are by current between (negative) steering behavior and goal behavior
Difference is provided：
Or equivalent to
δfC-δrC=ΔKin(R)-ΔK(ay, R) and (6)
Can farthest it find out from equation 6, control process is constituted by two.Section 1 Δkin(R) it is with reduction
For the purpose of motion steering angle, and it is defined as in this case positive.The sound of motor vehicles when so generally improving low speed
Should, if wherein turning behavior is run rigidity effects by the deflection of tire, the effect reduces in high transverse acceleration relatively.
Section 2 Δ K (ay, R) be by increase understeer gradient, so as to improve relatively high speed when comfortable and stability for the purpose of.Such as
Fruiting period hopes the K of goal behaviorT(ay, R) and it is more than K (a during without steering angle amendmenty, R), then in this case, Section 2
It is defined as positive.
The active steering defined in this way to active front axle steer AFS and Active Rear axle steer ARS or
The combination of active front axle steer and Active Rear axle steer is all effective.AFS and ARS difference is only that symbol is opposite.
The development that is interesting and simplifying of formula is included, and is controlled as the percentage expression deviateed from nominal value
It is true：
ΔK(ay, R) and=UGI%*K(ay, R)
Formula 7, which corresponds to, reduces given percentage (wheelbase reduction percentage, WBR%) motor vehicles 1 wheelbase etc.
Amount reduces and added given percentage, and (understeer gradient increases percentage, UGI%) understeer gradient equivalent increase
Requirement.
In this case, the steering being proposed only has two adjusting parameters, specifically WBR%And UGI%, and by following
Formula is represented：
Fig. 3 represents the typical case of the control for being used for Active Rear axle steer ARS in domain RD is required described in such as formula 8
Implementation.Top diagram represents the correction angle for being used to correct understeer gradient in Fig. 3, and it is transverse acceleration ayIt is linear
Function.The correction angle of (motion) response when diagram in Fig. 3 on the lower represents to be used to correct low speed, it is turning radius R hyperbolic
Line function.The two angles add together with and implemented.
Advantages below is had according to the formula of the control of equation 8：As long as it is very simple and in understeer diagram
Define goal behavior and be just based only upon two adjusting parameters.Another advantage is with two function description controls, in no cross-couplings
Or in the case of transverse coupling, each function only has a variable.
Now require to be forwardly directed defined in the RD of domain or coupled forward control.However, turning radius is to be difficult to measure
Or the quiescent value of estimation.Therefore, it is difficult to the control for implementing to define in this way in motor vehicles 1.
For the ease of implementing or completely allowing to implement there is provided new two-dimensional space, it is referred to as controller and implements domain
(CID) and by the steering angle sigma that will be used by driverDWith longitudinal velocity vxLimitation, wherein steering angle sigmaDBefore being numerical value centering
One of face.Therefore, the relation between RD and CIDWith the formal definition of mathematical modeling：
Good for designing typically has the motor vehicles of understeer behavior in nonlinear area, and the relation is only
It is the dijection of the set of the measurement point of understeer diagram.
Estimate when the measurement result in all vehicles or well and the typical control characteristic figure (feedforward for active steering
Figure, FFM) it is expressed as front steering angle δDWith longitudinal velocity vxFunction when, due to the steering angle sigma that will be used by driverDAnd longitudinal direction
Speed vxIt is present in CID, above-mentioned relation is particularly susceptible for implementing.
RelationEasily obtained from the model of motor vehicles or the easy data record that directly always self-test is manipulated
And carry out the simple relation of homeostasis and obtain.RelationIt can be expressed as follows：
Then by solving by with four variables (R, ay、δD、vx) three equatioies composition following system provide finally
Control characteristic figure：
Wherein R and ayEliminated by substitution method.Then, the final control characteristic figure M controlled defined in CID can be with table
Show as follows：
δfC-δrC=M (δD, vx, WBR%, UGI%) (11)
Equation 11 has two independents variable and only two adjusting parameters so that the reality of the controller defined in this way
Apply and using very simple.
Fig. 4 represents the typical control characteristic for active front axle steer system AFS calculated according to formula 10 and 11
Figure.Fig. 4 is denoted as the longitudinal velocity v of front axlexWith the steering angle sigma that is used or will be used by driver by driverDFunction
Active front axle steer system steering angle amendment overview.
The following behavior of controller and the following behavior of vehicle can be obtained from control characteristic figure.In low speed,
The saturation of the steering angle of front axle causes constant longitudinal velocity vxWhen steering angle amendment saturation.This is for being avoided active front
Axle steer system manipulation front axle is desired for entering the saturation of more depth.When relatively high speed, it can also find occur to turn
The saturation corrected to angle, its cause middle part it is less directly to transmission and outside middle part it is more directly to
Transmission.Another optional mode is steering angle sigmaDSteering angle amendment linear correlation, as later in relation to equation 13 will become
It must understand like that.For big pilot angle, exist due to the saturation of wheel stop；It is only relevant with AFS.
The explicit solution of above equation system can be obtained according to below equation by assuming front-wheel linearly to show：
K(ay, R) and=Kuay (12)
Then the explicit solution of equation system can be expressed by below equation：
Simplified control characteristic figure constitutes the magnification function F for the longitudinal velocity being multiplied with the steering angle of front-wheel by this way
(vx).Fig. 5 illustrates overview function F (vx)。
It is probably suitable directly using the implementation of the feedforward steering of equation 13 in the case of using solution is simplified
, reason is that the closed form or algebraically of function are implemented ratio and be easier to operate to the implementation of characteristic diagram form.
As active front axle steer system AFS, equation 13 can also be expressed as variable gear ratio (variable transmission
Than VGR)：
Herein, two adjusting parameters are desired character speed vchDWith expectation steering gear ratio RD.In this example, control
System easily can also be implemented and operate.
In operation, in controller 6 continuously processing controller 6 need renewal variable, such as steering angle and/
Or longitudinal velocity.In order to more accurate, such as by control characteristic figure (Fig. 4) or one-dimensional control function (Fig. 5) or with function
Initial algebra is implemented continuously to calculate steering behavior, and correspondingly sets steering 5 and steering 9.
It should also be noted that in described equation, such as equation 13, the correction angle (δ of front-wheelfc) or trailing wheel amendment
Angle (δrc) can be zero.In the first scenario, pure active rear steer system is there is, and in the latter case,
In the presence of pure active front steering system.If two are all present, then there is active rear steer and active front wheel steering
With reference to.
Claims (18)
1. a kind of control function that the feedforward control steering for motor vehicles is generated for pre-defined goal behavior
Method, it is characterised in that control function describe as two parameters function steering angle amendment (δfc、δrc), it is described to turn to
Correct (δ in anglefc、δrc) it is steering angle amendment (δ for front-wheelfc) and steering angle amendment (δ for trailing wheelrc), wherein based on car
Current behavior and the pre-defined goal behavior of steady-state turn determine steering angle amendment (δfc、δrc), as in stable state
Transverse acceleration (a occurred during turningy) and the function of turning radius (R) that occurs during steady-state turn, and
Transverse acceleration (a will be depended on by mathematical modelingy) and turning radius (R) steering angle amendment be converted to dependent on turn to
Angle (δD) and longitudinal velocity (vx) steering angle amendment (δfc、δrc), then turn to angle amendment (δfc、δrc) control function is formed, its
In：
Equation system, the equation are produced based on mathematical modeling and dependent on the steering angle amendment of transverse acceleration and turning radius
The solution of system forms control function, and the mathematical modeling is represented by following form：
<mfenced open = "{" close = "">
<mtable>
<mtr>
<mtd>
<mrow>
<mi>R</mi>
<mo>=</mo>
<mfrac>
<msubsup>
<mi>v</mi>
<mi>x</mi>
<mn>2</mn>
</msubsup>
<msub>
<mi>a</mi>
<mi>y</mi>
</msub>
</mfrac>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mrow>
<msub>
<mi>&delta;</mi>
<mi>D</mi>
</msub>
<mo>=</mo>
<mrow>
<mo>(</mo>
<mrow>
<mn>1</mn>
<mo>-</mo>
<msub>
<mi>WBR</mi>
<mi>%</mi>
</msub>
</mrow>
<mo>)</mo>
</mrow>
<mi>a</mi>
<mi>tan</mi>
<mrow>
<mo>(</mo>
<mfrac>
<mi>l</mi>
<mi>R</mi>
</mfrac>
<mo>)</mo>
</mrow>
<mo>+</mo>
<mi>K</mi>
<mrow>
<mo>(</mo>
<mrow>
<msub>
<mi>a</mi>
<mi>y</mi>
</msub>
<mo>,</mo>
<mi>R</mi>
</mrow>
<mo>)</mo>
</mrow>
<mo>+</mo>
<msub>
<mi>UGI</mi>
<mi>%</mi>
</msub>
<msub>
<mi>K</mi>
<mi>u</mi>
</msub>
<msub>
<mi>a</mi>
<mi>y</mi>
</msub>
</mrow>
</mtd>
</mtr>
</mtable>
</mfenced>
Steering angle amendment wherein dependent on the transverse acceleration and turning radius is expressed as form：
<mrow>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>f</mi>
<mi>C</mi>
</mrow>
</msub>
<mo>-</mo>
<msub>
<mi>&delta;</mi>
<mrow>
<mi>r</mi>
<mi>C</mi>
</mrow>
</msub>
<mo>=</mo>
<msub>
<mi>WBR</mi>
<mi>%</mi>
</msub>
<mi>a</mi>
<mi>r</mi>
<mi>c</mi>
<mi>t</mi>
<mi>a</mi>
<mi>n</mi>
<mo>(</mo>
<mfrac>
<mi>l</mi>
<mi>R</mi>
</mfrac>
<mo>)</mo>
<mo>-</mo>
<msub>
<mi>UGI</mi>
<mi>%</mi>
</msub>
<mi>K</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>a</mi>
<mi>y</mi>
</msub>
<mo>,</mo>
<mi>R</mi>
<mo>)</mo>
</mrow>
</mrow>
Wherein l represents the wheelbase of the vehicle, and K represents understeer gradient, KuRepresent understeer gradient K linearisation, WBR%
Represent that motor vehicles wheelbase reduces percentage and UGI%Represent understeer gradient increase percentage.
2. according to the method described in claim 1, it is characterised in that at least one of steering angle of the steering angle amendment comprising front-wheel
Correct (δfc)。
3. according to the method described in claim 1, it is characterised in that at least one of steering angle of the steering angle amendment comprising trailing wheel
Correct (δrc)。
4. method according to claim 2, it is characterised in that at least one of steering angle of the steering angle amendment comprising trailing wheel
Correct (δrc)。
5. the method according to any one of claim 1 to 4 claim, it is characterised in that obtain number from auto model
Learn modeling.
6. the method according to any one of claim 1 to 4 claim, it is characterised in that from the stable state of motor vehicles
Mathematical modeling is obtained in turning.
7. the method according to any one of claim 1 to 4 claim, it is characterised in that based on mathematical modeling and according to
Rely in transverse acceleration (ay) and the steering angle amendment of turning radius (R) produce equation system, the solution of the equation system formed
Control function.
8. method according to claim 5, it is characterised in that based on mathematical modeling and dependent on transverse acceleration (ay) and
The steering angle amendment of turning radius (R) produces equation system, and the solution of the equation system forms control function.
9. method according to claim 6, it is characterised in that based on mathematical modeling and dependent on transverse acceleration (ay) and
The steering angle amendment of turning radius (R) produces equation system, and the solution of the equation system forms control function.
10. method according to claim 7, it is characterised in that control function is provided by the explicit solution of equation system.
11. method according to claim 8, it is characterised in that control function is provided by the explicit solution of equation system.
12. method according to claim 9, it is characterised in that control function is provided by the explicit solution of equation system.
13. method according to claim 7, it is characterised in that control function is special by the control obtained based on equation system
Property figure is represented.
14. method according to claim 8, it is characterised in that control function is special by the control obtained based on equation system
Property figure is represented.
15. method according to claim 9, it is characterised in that control function is special by the control obtained based on equation system
Property figure is represented.
16. the method according to claim any one of 1-4, it is characterised in that goal behavior is obtained from another motor vehicles.
17. the control method of a kind of feedforward control steering for motor vehicles, it is characterised in that control method uses root
The control function obtained according to the method described in any one of claim 1 to 16 claim.
18. the control system of a kind of steering for motor vehicles, it is characterised in that with the feedforward for motor vehicles
The control unit (6) of transfer is controlled, control unit (6) is based on according to any one of claim 1 to 16 claim institute
The control function that the method stated is obtained.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011007263.2A DE102011007263B4 (en) | 2011-04-13 | 2011-04-13 | Method for creating a control function for a pre-coupling controlled active steering of a motor vehicle and control method and control system for a motor vehicle |
| DE102011007263.2 | 2011-04-13 |
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| CN102730059A CN102730059A (en) | 2012-10-17 |
| CN102730059B true CN102730059B (en) | 2017-08-18 |
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| CN201210104033.1A Expired - Fee Related CN102730059B (en) | 2011-04-13 | 2012-04-10 | Method for the control function of the feedforward control steering that generates motor vehicles |
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| DE (1) | DE102011007263B4 (en) |
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| JP5982034B1 (en) * | 2015-03-30 | 2016-08-31 | 富士重工業株式会社 | Vehicle driving support system |
| DE102017220875A1 (en) | 2017-11-22 | 2019-05-23 | Audi Ag | Method and steering system for steering a vehicle |
| CN110155172B (en) * | 2018-05-04 | 2021-12-17 | 腾讯大地通途（北京）科技有限公司 | Vehicle running adjusting method and device, vehicle control system and storage medium |
| CN110147041B (en) * | 2019-05-20 | 2022-07-29 | 重庆大学 | Vehicle transverse control method for estimating preview time based on gradient correction |
| CN114115063A (en) * | 2021-11-30 | 2022-03-01 | 联创汽车电子有限公司 | Vehicle steering control feedforward calibration method and system |
| CN114572306B (en) * | 2022-02-25 | 2023-06-02 | 智己汽车科技有限公司 | Method and equipment for calculating vehicle understeer gradient during same-direction steering of rear wheels |
| DE102022125521A1 (en) | 2022-10-04 | 2024-04-04 | Bayerische Motoren Werke Aktiengesellschaft | Method for controlling rear wheel steering of a vehicle |
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| DE4217634C1 (en) * | 1992-05-28 | 1993-07-08 | Daimler-Benz Aktiengesellschaft, 7000 Stuttgart, De | |
| DE10323975B4 (en) * | 2003-05-27 | 2010-07-01 | Audi Ag | Motor vehicle steering with a variable steering ratio |
| US7349778B2 (en) * | 2004-06-09 | 2008-03-25 | General Motors Corporation | Real-time vehicle dynamics estimation system |
| DE102006023562B4 (en) * | 2006-05-19 | 2009-10-29 | Audi Ag | Method and motor vehicle for characteristic or map-dependent variation of the angular transmission between a steering wheel angle of a steering wheel and the wheel steering angle responsible for the vehicle steering wheels of a motor vehicle with an active steering system |
| JP4232843B1 (en) * | 2007-10-04 | 2009-03-04 | トヨタ自動車株式会社 | Vehicle steering control device |
| DE102007000975A1 (en) * | 2007-11-06 | 2009-05-07 | Zf Lenksysteme Gmbh | Method for controlling a superposition steering |
| DE102008012006B4 (en) * | 2008-03-01 | 2012-02-23 | Audi Ag | Method for operating an active steering system and active steering system |
| CN101618733B (en) * | 2009-08-06 | 2011-05-04 | 上海交通大学 | Front wheel and rear wheel drive steering control system of automobile |
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| CN102730059A (en) | 2012-10-17 |
| DE102011007263A1 (en) | 2012-10-18 |
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