CN107416021B - Four-wheel steering control method, device and the vehicle of vehicle - Google Patents
Four-wheel steering control method, device and the vehicle of vehicle Download PDFInfo
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- CN107416021B CN107416021B CN201710465622.5A CN201710465622A CN107416021B CN 107416021 B CN107416021 B CN 107416021B CN 201710465622 A CN201710465622 A CN 201710465622A CN 107416021 B CN107416021 B CN 107416021B
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- 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
- B62D7/1581—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 comprising an electrical interconnecting system between the steering control means of the different axles
Abstract
The invention discloses four-wheel steering control method, device and the vehicles of a kind of vehicle, wherein method includes: detection current vehicle speed；Obtain the current front-wheel effective rotation of vehicle；Vehicle rear wheel corner is obtained according to current vehicle speed and the current front-wheel effective rotation of vehicle；Acquire current vehicle yaw velocity；PI control is carried out to yaw rate according to the difference between current vehicle yaw velocity and preset yaw rate, obtains rear-wheel corner correction amount；Vehicle rear wheel corner is corrected according to rear-wheel corner correction amount, and Vehicular turn is controlled according to revised vehicle rear wheel corner.This method can monitor rear-wheel corner in real time and effectively be corrected, and vehicle is made more to improve the stability of vehicle close to the driving intention of driver, and the safety and reliability of vehicle is effectively ensured, and promote driving experience.
Description
Technical field
The present invention relates to automobile technical field, in particular to four-wheel steering control method, device and the vehicle of a kind of vehicle.
Background technique
It is compared to front-wheel steer, four-wheel steering can be according to the driving intention reasonable distribution rear-wheel corner of driver, no
But allows vehicle to meet the driving intention of driver well, and effectively increase the stability of vehicle.
However, at present vehicle four-wheel steering control to vehicle rear wheel corner calculate it is inaccurate, cause driving intention without
Method embodies well, so that the tracking performance of rear-wheel corner is poor when Vehicular turn, ideal drive easily is not achieved and turns to spy
Property, or even there is the case where running in the opposite direction with driver's driving intention, so that driver's driving experience is deteriorated, and have latent
Street accidents risks so that the safety and reliability of vehicle is poor, it would be highly desirable to solve.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.
For this purpose, an object of the present invention is to provide a kind of four-wheel steering control method of vehicle, this method can make
Vehicle more can improve the stability of vehicle, the safety and reliability of vehicle is effectively ensured close to the driving intention of driver.
It is another object of the present invention to the four-wheel steering control devices for proposing a kind of vehicle.
Another object of the present invention is to propose a kind of vehicle.
In order to achieve the above objectives, one aspect of the present invention embodiment proposes a kind of four-wheel steering control method of vehicle, packet
Include following steps: detection current vehicle speed；Obtain the current front-wheel effective rotation of vehicle；Worked as according to the current vehicle speed and the vehicle
Front-wheel effective rotation obtains vehicle rear wheel corner；Acquire current vehicle yaw velocity；According to the current vehicle yaw angle
Difference between speed and preset yaw rate carries out PI control to yaw rate, obtains rear-wheel corner and repairs
Positive quantity；The vehicle rear wheel corner is corrected according to the rear-wheel corner correction amount, and is turned according to the revised vehicle rear wheel
Angle controls Vehicular turn.
The four-wheel steering control method of the vehicle of the embodiment of the present invention passes through current vehicle speed and equivalent turn of the current front-wheel of vehicle
Angle obtains vehicle rear wheel corner, and logical to yaw rate progress PI control, so that vehicle rear wheel corner is corrected, realization
Rear-wheel corner is monitored in real time and is effectively corrected, vehicle is made more to improve the steady of vehicle close to the driving intention of driver
It is qualitative, the safety and reliability of vehicle is effectively ensured, promotes driving experience.
Further, in one embodiment of the invention, the current front-wheel effective rotation of acquisition vehicle further wraps
It includes: acquiring current steering wheel angle；The current front-wheel of the vehicle is obtained according to the current steering wheel angle and steering gear ratio
Effective rotation.
Further, in one embodiment of the invention, the current front-wheel effective rotation of acquisition vehicle further wraps
It includes: acquiring the current front wheel angle of the near front wheel and the current front wheel angle of off-front wheel；According to the current preceding rotation of described the near front wheel
The average value of the current front wheel angle of angle and the off-front wheel obtains the current front-wheel effective rotation of the vehicle.
Further, in one embodiment of the invention, the preset yaw rate is that vehicle is ideal horizontal
Pivot angle speed, calculation formula are as follows:
Wherein, ωdFor the vehicle ideal yaw velocity, K is stability factor, and a and b are respectively automobile mass center to preceding
Axis and rear axle distance, L are wheelbase, k1And k2Respectively front axle tire cornering stiffness and rear axle tire cornering stiffness, m are vehicle matter
Amount, u are the current vehicle speed.
Further, in one embodiment of the invention, the vehicle rear wheel corner is obtained by following steps: according to
Automobile mass center is to rear axle distance at a distance from automobile mass center to front axle, vehicle mass, rear axle tire cornering stiffness, wheelbase and described
Current vehicle speed square product addition obtain the first sub- controlling elements；According to the automobile mass center to front axle distance and the automobile
Mass center to rear axle distance, the vehicle mass, front axle tire cornering stiffness, the wheelbase and the current vehicle speed square product
Subtract each other to obtain the second sub- controlling elements；It is divided by according to the negative value of the described first sub- controlling elements and the second sub- controlling elements
To controlling elements；It is multiplied to obtain the vehicle rear wheel turn with the current front-wheel effective rotation of the vehicle according to the controlling elements
Angle.
In addition, in one embodiment of the invention, obtaining the vehicle rear wheel corner, formula by following formula are as follows:
Wherein, δrFor the vehicle rear wheel corner,For the controlling elements, a and b are respectively automobile matter
For the heart to front axle and rear axle distance, L is the wheelbase, k1And k2The respectively described front axle tire cornering stiffness and the rear axle tire
Cornering stiffness, m are the vehicle mass, and u is the current vehicle speed, δfFor the current front-wheel effective rotation of the vehicle.
In order to achieve the above objectives, another aspect of the present invention embodiment proposes a kind of four-wheel steering control device of vehicle,
It include: detection module, for detecting current vehicle speed；Module is obtained, for obtaining the current front-wheel effective rotation of vehicle；Calculate mould
Block, for obtaining vehicle rear wheel corner according to the current vehicle speed and the current front-wheel effective rotation of the vehicle；Acquisition module is used
In acquisition current vehicle yaw velocity；Processing module, for according to the current vehicle yaw velocity and preset vehicle
Difference between yaw velocity carries out PI control to yaw rate, obtains rear-wheel corner correction amount；Control module is used
In correcting the vehicle rear wheel corner according to the rear-wheel corner correction amount, and according to the revised vehicle rear wheel corner control
Vehicular turn processed.
The four-wheel steering control device of the vehicle of the embodiment of the present invention passes through current vehicle speed and equivalent turn of the current front-wheel of vehicle
Angle obtains vehicle rear wheel corner, and logical to yaw rate progress PI control, so that vehicle rear wheel corner is corrected, realization
Rear-wheel corner is monitored in real time and is effectively corrected, vehicle is made more to improve the steady of vehicle close to the driving intention of driver
It is qualitative, the safety and reliability of vehicle is effectively ensured, promotes driving experience.
Further, in one embodiment of the invention, the acquisition module is specifically used for acquiring current steering wheel turn
Angle, and the current front-wheel effective rotation of the vehicle is obtained according to the current steering wheel angle and steering gear ratio；Or it adopts
Collect the current front wheel angle of the near front wheel and the current front wheel angle of off-front wheel, and according to the current front wheel angle of described the near front wheel
The current front-wheel effective rotation of the vehicle is obtained with the average value of the current front wheel angle of the off-front wheel.
Further, in one embodiment of the invention, the preset yaw rate is that vehicle is ideal horizontal
Pivot angle speed, calculation formula are as follows:
Wherein, ωdFor the vehicle ideal yaw velocity, K is stability factor, and a and b are respectively automobile mass center to preceding
Axis and rear axle distance, L are wheelbase, k1And k2Respectively front axle tire cornering stiffness and rear axle tire cornering stiffness, m are vehicle matter
Amount, u are the current vehicle speed.
Further, in one embodiment of the invention, the control module is specifically used for according to automobile mass center to rear
Wheelbase from a distance from automobile mass center to front axle, vehicle mass, rear axle tire cornering stiffness, wheelbase and the current vehicle speed it is flat
The product of side, which is added, obtains the first sub- controlling elements, and according to the automobile mass center to front axle distance and the automobile mass center to rear axle
Distance, the vehicle mass, front axle tire cornering stiffness, the wheelbase and the current vehicle speed square product subtract each other to obtain
Two sub- controlling elements are controlled to be divided by according to the negative value of the described first sub- controlling elements and the second sub- controlling elements
The factor, and then be multiplied to obtain the vehicle rear wheel corner with the current front-wheel effective rotation of the vehicle according to the controlling elements.
In addition, in one embodiment of the invention, obtaining the vehicle rear wheel corner, formula by following formula are as follows:
Wherein, δrFor the vehicle rear wheel corner,For the controlling elements, a and b are respectively automobile matter
For the heart to front axle and rear axle distance, L is the wheelbase, k1And k2The respectively described front axle tire cornering stiffness and the rear axle tire
Cornering stiffness, m are the vehicle mass, and u is the current vehicle speed, δfFor the current front-wheel effective rotation of the vehicle.
In order to achieve the above objectives, further aspect of the present invention embodiment proposes a kind of vehicle comprising above-mentioned vehicle
Four-wheel steering control device.The vehicle can obtain vehicle rear wheel by current vehicle speed and the current front-wheel effective rotation of vehicle and turn
Angle, and it is logical to yaw rate progress PI control, to correct vehicle rear wheel corner, realize real to the progress of rear-wheel corner
When monitor and effectively correct, so that vehicle more can be improved the stability of vehicle close to the driving intention of driver, vehicle is effectively ensured
Safety and reliability, promoted driving experience.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart according to the four-wheel steering control method of the vehicle of one embodiment of the invention；
Fig. 2 is the flow chart according to the four-wheel steering control method of the vehicle of a specific embodiment of the invention；
Fig. 3 is the structural schematic diagram according to the four-wheel steering control device of the vehicle of one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Four-wheel steering control method, device and the vehicle of the vehicle proposed according to embodiments of the present invention are described with reference to the accompanying drawings
, the four-wheel steering control method of the vehicle proposed according to embodiments of the present invention is described with reference to the accompanying drawings first.
Fig. 1 is the flow chart of the four-wheel steering control method of the vehicle of one embodiment of the invention.
As shown in Figure 1, the four-wheel steering control method of the vehicle the following steps are included:
In step s101, current vehicle speed is detected.
In step s 102, the current front-wheel effective rotation of vehicle is obtained.
Wherein, in one embodiment of the invention, the current front-wheel effective rotation of vehicle is obtained, further comprises: acquisition
Current steering wheel angle；The current front-wheel effective rotation of vehicle is obtained according to current steering wheel angle and steering gear ratio, is such as passed through
Current steering wheel angle obtains quotient divided by steering gear ratio, and then obtains the current front-wheel effective rotation of vehicle.
Further, in another embodiment of the present invention, the current front-wheel effective rotation of vehicle is obtained, is further wrapped
Include: the current front wheel angle of the current front wheel angle (i.e. left current front wheel angle) and off-front wheel that acquire the near front wheel is (i.e. right current
Front wheel angle)；It is current that vehicle is obtained according to the average value of the current front wheel angle of the near front wheel and the current front wheel angle of off-front wheel
Front-wheel effective rotation.
It is understood that the current front-wheel effective rotation δ of vehiclefAcquisition modes can there are many, for example, such as Fig. 2 institute
Show, driver operates wheel steering, and the current steering wheel angle sensor of whole vehicle model can acquire current steering wheel angle
Size, and/or current front wheel angle sensor can acquire two current front wheel angle sizes, and current front-wheel effective rotation can be at this time
There are two types of calculations: one is obtain the current front-wheel effective rotation of vehicle divided by steering gear ratio by current steering wheel angle
δf；Another kind is to be averaged to obtain the current front-wheel effective rotation δ of vehicle by two current front wheel angles.
In step s 103, vehicle rear wheel corner is obtained according to current vehicle speed and the current front-wheel effective rotation of vehicle.
Further, in one embodiment of the invention, vehicle rear wheel corner is obtained by following steps: according to automobile
Mass center is to rear axle distance at a distance from automobile mass center to front axle, vehicle mass, rear axle tire cornering stiffness, wheelbase and current vehicle speed
Square product addition obtain the first sub- controlling elements；According to automobile mass center to front axle distance and automobile mass center to rear axle distance,
Vehicle mass, front axle tire cornering stiffness, wheelbase and current vehicle speed square product subtract each other to obtain the second sub- controlling elements；According to
The negative value of first sub- controlling elements and the second sub- controlling elements are divided by obtain controlling elements；According to controlling elements and vehicle it is current before
Wheel effective rotation is multiplied to obtain vehicle rear wheel corner.
For example, obtaining vehicle rear wheel corner, formula by following formula are as follows:
Wherein, δrFor vehicle rear wheel corner,For controlling elements, a and b are respectively automobile mass center to front axle
With rear axle distance, L is wheelbase, k1And k2Respectively front axle tire cornering stiffness and rear axle tire cornering stiffness, m are vehicle mass,
U is current vehicle speed, δfFor the current front-wheel effective rotation of vehicle.
It is understood that being directed to vehicle rear wheel corner δr, after vehicle can be calculated by speed and front-wheel effective rotation
Take turns the size of corner, wherein speed can be found out by Slope Method, i.e., it is big to collect four vehicle wheel rotational speeds for four wheel speed sensors
Small, to take maximum wheel speed as vehicle initial speed size, acceleration transducer can acquire out vehicle plus/minus velocity magnitude,
With vehicle driving, current vehicle speed is equal to the integral that vehicle initial speed adds current vehicle plus/minus velocity versus time, then by
Four-wheel steering model calculates rear-wheel corner size, and calculation formula is as follows:
Wherein, a and b is respectively automobile mass center to front axle and rear axle distance, unit m；L is wheelbase, unit m；k1And k2
Respectively front axle tire cornering stiffness and rear axle tire cornering stiffness, and be negative value, unit N/rad；M is vehicle mass, single
Position is kg；U is current vehicle speed, unit m/s.
For example, with driver turn steering wheel, it is assumed that beat steering wheel to the left, i.e. direction is positive, in different speeds
Under, rear-wheel corner direction and of different sizes, when speed changes in smaller range, formula molecule is negative always, and denominator is always
Be positive, front and back wheel corner is contrary, turning radius can be effectively reduced, increased within the scope of this with speed, rear-wheel and it is current before
Wheel corner ratio is gradually reduced, and can prevent turning transition and the wild effect that occurs；When speed changes in higher range,
Formula molecule is positive always, and formula denominator is also positive always, and front and back wheel corner direction is identical, can prevent from turning to generation because of vehicle body
The wild effect that lateral force is larger and occurs, and speed is higher, rear-wheel and current front wheel angle ratio are gradually increased, approach 1,
I.e. in high speed, in order to which vehicle body keeps stability, no matter how driver beats steering wheel, and corner tends to be equal before and after wheel, vehicle
Body sideling travels straight-line travelling, but not generates lateral force, and the safety of vehicle is effectively ensured.
In step S104, current vehicle yaw velocity is acquired.
In step s105, according to the difference pair between current vehicle yaw velocity and preset yaw rate
Yaw rate carries out PI control, obtains rear-wheel corner correction amount.
In step s 106, according to rear-wheel corner correction amount correct vehicle rear wheel corner, and according to revised vehicle after
It takes turns corner and controls Vehicular turn.
It should be understood that the setting of step S101 to step S106 is only for the convenience of description rather than holding for method for limiting
Row sequence, is not specifically limited herein.
Wherein, in one embodiment of the invention, preset yaw rate is vehicle ideal yaw velocity,
Calculation formula are as follows:
Wherein, ωdFor vehicle ideal yaw velocity, K is stability factor, a and b be respectively automobile mass center to front axle and
Rear axle distance, L are wheelbase, k1And k2Respectively front axle tire cornering stiffness and rear axle tire cornering stiffness, m are vehicle mass, u
For the current vehicle speed.
It is understood that being directed to vehicle rear wheel corner correction amount, belonged to using the rear-wheel corner that above-mentioned formula calculates
Four-wheel steering theoretical calculation, but vehicle is not accounted in steering procedure whether in stable state, cause in steering procedure not
It can accurately reflect very much the driving intention and vehicle actual travel state of driver, it is therefore desirable to carry out to the rear-wheel corner of calculating
Effectively amendment.For example, as shown in Fig. 2, vehicle ideal yaw angle speed can be calculated by linear two degrees of freedom car model
Spend size, and make with the practical yaw velocity size of vehicle that yaw rate sensor acquires out it is poor, to utilize PI
Control logic controls practical yaw velocity, and PI controller output variable may be defined as amendment rear-wheel corner amount, wherein
By adjusting the parameter of PI controller to keep its turning efficiency more preferable, control effect is observed, in identical speed and same direction disk corner
Under conditions of, both compare side acceleration size, side slip angle size and trail change etc., to reduce redundancy, herein not
It is described in detail.
It should be noted that vehicle ideal yaw velocity calculation formula is as follows:
Wherein, u is speed, unit km/h；A, b and L be respectively mass center to front axle distance, mass center to rear axle distance and
Wheelbase, unit m；k1And k2Respectively antero posterior axis tire cornering stiffness, unit N/rad；K is stability factor, and unit is
s2/m2。
The four-wheel steering control method of vehicle according to an embodiment of the present invention passes through current vehicle speed and the current front-wheel of vehicle etc.
Effect corner obtains vehicle rear wheel corner, and logical to yaw rate progress PI control, so that vehicle rear wheel corner is corrected,
Reasonable distribution can be carried out to rear-wheel corner according to the signals such as current front wheel angle, current vehicle speed, yaw velocity are acquired,
And it is calculated based on four-wheel steering theoretical model, rear-wheel corner is effectively corrected, reduce driver's operation fatigue, output is driven
The steering characteristic that the person of sailing is more desirable to improves operational stability when vehicle body turns to, and drives vehicle closer to driver and anticipates
Figure, and driving performance and operational stability are improved, the safety and reliability of vehicle is effectively ensured, promotes driving experience.
Referring next to the four-wheel steering control device for the vehicle that attached drawing description proposes according to embodiments of the present invention.
Fig. 3 is the structural schematic diagram of the four-wheel steering control of the vehicle of one embodiment of the invention.
As shown in figure 3, the four-wheel steering control 10 of the vehicle includes: detection module 100, obtains module 200, computing module
300, acquisition module 400, processing module 500 and control module 600.
Wherein, detection module 100 is for detecting current vehicle speed.It is equivalent for obtaining the current front-wheel of vehicle to obtain module 200
Corner.Computing module 300 is used to obtain vehicle rear wheel corner according to current vehicle speed and the current front-wheel effective rotation of vehicle.Acquire mould
Block 400 is for acquiring current vehicle yaw velocity.Processing module 500 is used for according to current vehicle yaw velocity and preset
Difference between yaw rate carries out PI control to yaw rate, obtains rear-wheel corner correction amount.Control mould
Block 600 is used to correct vehicle rear wheel corner according to rear-wheel corner correction amount, and controls vehicle according to revised vehicle rear wheel corner
Turn to.The control device 10 of the embodiment of the present invention can monitor rear-wheel corner in real time and effectively be corrected, and make vehicle more
The stability of vehicle can be improved close to the driving intention of driver, the safety and reliability of vehicle is effectively ensured, promoted and driven
Experience.
Further, in one embodiment of the invention, module 200 is obtained to be specifically used for acquiring current steering wheel turn
Angle, and the current front-wheel effective rotation of vehicle is obtained according to current steering wheel angle and steering gear ratio；Or acquisition the near front wheel
Current front wheel angle and off-front wheel current front wheel angle, and according to the current front wheel angle of the near front wheel and working as off-front wheel
The average value of preceding front wheel angle obtains the current front-wheel effective rotation of vehicle.
Further, in one embodiment of the invention, control module 600 is specifically used for according to automobile mass center to rear axle
Distance at a distance from automobile mass center to front axle, vehicle mass, rear axle tire cornering stiffness, wheelbase and current vehicle speed square product
Addition obtains the first sub- controlling elements, and according to automobile mass center to front axle distance and automobile mass center to rear axle distance, vehicle mass,
Front axle tire cornering stiffness, wheelbase and current vehicle speed square product subtract each other to obtain the second sub- controlling elements, thus according to first
The negative value of sub- controlling elements and the second sub- controlling elements are divided by obtain controlling elements, so according to controlling elements and vehicle it is current before
Wheel effective rotation is multiplied to obtain vehicle rear wheel corner.
For example, obtaining vehicle rear wheel corner, formula by following formula are as follows:
Wherein, δrFor vehicle rear wheel corner, a and b are respectively automobile mass center to front axle and rear axle distance, and L is wheelbase, k1With
k2Respectively front axle tire cornering stiffness and rear axle tire cornering stiffness, m are vehicle mass, and u is current vehicle speed, δfWork as vehicle
Front-wheel effective rotation.
Further, in one embodiment of the invention, preset yaw rate is vehicle ideal yaw angle
Speed, calculation formula are as follows:
Wherein, ωdFor vehicle ideal yaw velocity, K is stability factor, a and b be respectively automobile mass center to front axle and
Rear axle distance, L are wheelbase, k1And k2Respectively front axle tire cornering stiffness and rear axle tire cornering stiffness, m are vehicle mass, u
For the current vehicle speed.
It should be noted that the aforementioned device that the embodiment is also applied for the explanation of embodiment of the method, herein not
It repeats again.
The four-wheel steering control device of vehicle according to an embodiment of the present invention passes through current vehicle speed and the current front-wheel of vehicle etc.
Effect corner obtains vehicle rear wheel corner, and logical to yaw rate progress PI control, so that vehicle rear wheel corner is corrected,
Reasonable distribution can be carried out to rear-wheel corner according to the signals such as current front wheel angle, current vehicle speed, yaw velocity are acquired,
And it is calculated based on four-wheel steering theoretical model, rear-wheel corner is effectively corrected, reduce driver's operation fatigue, output is driven
The steering characteristic that the person of sailing is more desirable to improves operational stability when vehicle body turns to, and drives vehicle closer to driver and anticipates
Figure, and driving performance and operational stability are improved, the safety and reliability of vehicle is effectively ensured, promotes driving experience.
In addition, the embodiment of the present invention also proposed a kind of vehicle, which includes the four-wheel steering control of above-mentioned vehicle
Device.The vehicle can obtain vehicle rear wheel corner by current vehicle speed and the current front-wheel effective rotation of vehicle, and logical to vehicle
Yaw velocity carries out PI control, to correct vehicle rear wheel corner, it can according to acquiring current front wheel angle, work as front truck
The signals such as speed, yaw velocity are carried out reasonable distribution to rear-wheel corner, and are calculated based on four-wheel steering theoretical model, to rear
Wheel corner is effectively corrected, and driver's operation fatigue is reduced, and the steering characteristic that output driver is more desirable to improves vehicle body and turns to
When operational stability, not only make vehicle closer to driver's driving intention, and improve driving performance and operational stability, have
Effect guarantees the safety and reliability of vehicle, promotes driving experience.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (9)
1. a kind of four-wheel steering control method of vehicle, which comprises the following steps:
Detect current vehicle speed；
Obtain the current front-wheel effective rotation of vehicle；
Vehicle rear wheel corner is obtained according to the current vehicle speed and the current front-wheel effective rotation of the vehicle；
Acquire current vehicle yaw velocity；
According to the difference between the current vehicle yaw velocity and preset yaw rate to Vehicular yaw angle speed
Degree carries out PI control, obtains rear-wheel corner correction amount；And
The vehicle rear wheel corner is corrected according to the rear-wheel corner correction amount, and according to the revised vehicle rear wheel corner
Control Vehicular turn.
2. the four-wheel steering control method of vehicle according to claim 1, which is characterized in that before the acquisition vehicle is current
Effective rotation is taken turns, further comprises:
Acquire the current front wheel angle of the near front wheel and the current front wheel angle of off-front wheel；
The vehicle is obtained according to the average value of the current front wheel angle of described the near front wheel and the current front wheel angle of the off-front wheel
Current front-wheel effective rotation.
3. the four-wheel steering control method of vehicle according to claim 1, which is characterized in that the preset Vehicular yaw
Angular speed is vehicle ideal yaw velocity, calculation formula are as follows:
Wherein, ωdFor the vehicle ideal yaw velocity, K is stability factor, a and b be respectively automobile mass center to front axle and
Rear axle distance, L are wheelbase, k1And k2Respectively front axle tire cornering stiffness and rear axle tire cornering stiffness, m are vehicle mass, u
For the current vehicle speed.
4. the four-wheel steering control method of vehicle according to claim 1-3, which is characterized in that after the vehicle
Corner is taken turns to obtain by following steps:
According to automobile mass center to rear axle distance at a distance from automobile mass center to front axle, vehicle mass, rear axle tire cornering stiffness, axis
It is added to obtain the first sub- controlling elements away from square product with the current vehicle speed；
According to the automobile mass center to front axle distance and the automobile mass center to rear axle distance, the vehicle mass, front axle tire
Cornering stiffness, the wheelbase and the current vehicle speed square product subtract each other to obtain the second sub- controlling elements；
It is divided by obtain controlling elements according to the negative value of the described first sub- controlling elements and the second sub- controlling elements；And
It is multiplied to obtain the vehicle rear wheel corner with the current front-wheel effective rotation of the vehicle according to the controlling elements.
5. a kind of four-wheel steering control device of vehicle characterized by comprising
Detection module, for detecting current vehicle speed；
Module is obtained, for obtaining the current front-wheel effective rotation of vehicle；
Computing module, for obtaining vehicle rear wheel corner according to the current vehicle speed and the current front-wheel effective rotation of the vehicle；
Acquisition module, for acquiring current vehicle yaw velocity；
Processing module, for according to the difference pair between the current vehicle yaw velocity and preset yaw rate
Yaw rate carries out PI control, obtains rear-wheel corner correction amount；And
Control module, for correcting the vehicle rear wheel corner according to the rear-wheel corner correction amount, and according to revised institute
State vehicle rear wheel corner control Vehicular turn.
6. the four-wheel steering control device of vehicle according to claim 5, which is characterized in that the acquisition module is specifically used
In acquiring current steering wheel angle, and according to the current steering wheel angle and steering gear ratio obtain the vehicle it is current before
Take turns effective rotation；Or the current front wheel angle of the near front wheel and the current front wheel angle of off-front wheel are acquired, and according to the left side
It is equivalent that the average value of the current front wheel angle of the current front wheel angle and off-front wheel of front-wheel obtains the current front-wheel of the vehicle
Corner.
7. the four-wheel steering control device of vehicle according to claim 5, which is characterized in that the preset Vehicular yaw
Angular speed is vehicle ideal yaw velocity, calculation formula are as follows:
Wherein, ωdFor the vehicle ideal yaw velocity, K is stability factor, a and b be respectively automobile mass center to front axle and
Rear axle distance, L are wheelbase, k1And k2Respectively front axle tire cornering stiffness and rear axle tire cornering stiffness, m are vehicle mass, u
For the current vehicle speed.
8. according to the four-wheel steering control device of the described in any item vehicles of claim 5-7, which is characterized in that the control mould
Block is specifically used for according to automobile mass center to rear axle distance at a distance from automobile mass center to front axle, vehicle mass, rear axle Wheel slip
Rigidity, wheelbase are added to obtain the first sub- controlling elements with a square product for the current vehicle speed, and extremely according to the automobile mass center
Front axle distance and the automobile mass center to rear axle distance, the vehicle mass, front axle tire cornering stiffness, the wheelbase and described
Current vehicle speed square product subtract each other to obtain the second sub- controlling elements, thus according to the negative value of the described first sub- controlling elements and institute
It states the second sub- controlling elements to be divided by obtain controlling elements, and then according to the controlling elements and equivalent turn of the current front-wheel of the vehicle
Angle is multiplied to obtain the vehicle rear wheel corner.
9. a kind of vehicle characterized by comprising as the four-wheel steering of the described in any item vehicles of claim 5-7 controls dress
It sets.
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| CN110217239B (en) * | 2019-05-20 | 2023-09-01 | 福瑞泰克智能系统有限公司 | Method and equipment for measuring yaw rate of vehicle |
| CN110155169B (en) * | 2019-07-16 | 2019-10-29 | 华人运通(上海)新能源驱动技术有限公司 | Control method for vehicle, device and vehicle |
| CN110816654B (en) * | 2019-08-08 | 2021-03-09 | 中国第一汽车股份有限公司 | Signal estimation method, device, vehicle and storage medium |
| CN110481636A (en) * | 2019-09-04 | 2019-11-22 | 徐工集团工程机械有限公司 | Vehicle steering control method and device, wheel steering system, vehicle |
| CN112550274A (en) * | 2019-09-26 | 2021-03-26 | 上海汽车集团股份有限公司 | Safety corner calculation method and device, electronic equipment and storage medium |
| CN111762261B (en) * | 2020-07-01 | 2021-11-12 | 中国第一汽车股份有限公司 | Vehicle steering control method, device and system |
| CN112026909B (en) * | 2020-08-12 | 2022-06-03 | 武汉路特斯汽车有限公司 | Neutral learning method, device and system for four-wheel steering vehicle |
| CN112172795B (en) * | 2020-09-16 | 2022-05-17 | 华人运通(上海)自动驾驶科技有限公司 | Vehicle parking control method, device, equipment and storage medium |
| CN112896307A (en) * | 2020-12-30 | 2021-06-04 | 杭州湘滨电子科技有限公司 | Control method suitable for steering wheel angle of EPS (electric Power steering) of vehicle |
| CN113071559B (en) * | 2021-03-23 | 2022-06-10 | 南京航空航天大学 | Switching method and device for vehicle steering mode |
| CN113060210B (en) * | 2021-05-12 | 2022-06-17 | 中国第一汽车股份有限公司 | Method for improving automobile maneuverability based on four-wheel independent drive and rear wheel steering |
| CN113428134A (en) * | 2021-06-10 | 2021-09-24 | 北京汽车研究总院有限公司 | Motion control safety monitoring and correction strategy for vehicle |
| CN113335302A (en) * | 2021-06-29 | 2021-09-03 | 三一专用汽车有限责任公司 | Vehicle steering outward swing monitoring method and system and engineering vehicle |
| CN114013504B (en) * | 2021-12-09 | 2023-03-24 | 江苏徐工工程机械研究院有限公司 | Vehicle steering parameter measurement and calibration method, system, medium and automatic driving vehicle |
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| DE10039782A1 (en) * | 2000-08-16 | 2002-02-28 | Daimler Chrysler Ag | Method for regulating yaw and lateral dynamics in a road vehicle |
| CN101537828B (en) * | 2009-03-04 | 2011-10-19 | 长安大学 | Four-wheel steering automobile stability control system |
| CN104477237A (en) * | 2014-11-11 | 2015-04-01 | 深圳职业技术学院 | Four wheel independent steering electric car steering control method and system |
| 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 |
| CN106184363B (en) * | 2016-07-20 | 2018-10-09 | 广西科技大学 | The control method of four-wheel independent steering vehicle |
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