CN107776663B - Vehicle pivot steering system, vehicle and vehicle pivot steering control method - Google Patents
Vehicle pivot steering system, vehicle and vehicle pivot steering control method Download PDFInfo
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- CN107776663B CN107776663B CN201610799902.5A CN201610799902A CN107776663B CN 107776663 B CN107776663 B CN 107776663B CN 201610799902 A CN201610799902 A CN 201610799902A CN 107776663 B CN107776663 B CN 107776663B
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- 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
Abstract
The invention discloses a vehicle pivot steering system, which comprises: the parking device comprises a steering adjusting device, an electronic parking device, a first motor, a second motor and a control device, wherein the steering adjusting device is used for controlling a left front wheel of a vehicle to rotate rightwards by a first preset angle and controlling a right front wheel of the vehicle to rotate leftwards by a second preset angle; the electronic parking device is used for locking the rear wheel on the pivot steering direction side of the vehicle; the first motor is used for driving the left front wheel, and the second motor is used for driving the right front wheel; when an in-situ steering starting instruction is detected, the control device respectively controls the steering adjusting device, the electronic parking device, the first motor and the second motor to start, and respectively controls the running directions of the first motor and the second motor according to the in-situ steering direction. The system can realize the pivot steering of the vehicle and has simple structure. The invention also discloses a vehicle and a vehicle pivot steering control method.
Description
Technical Field
The invention belongs to the technical field of vehicles, and particularly relates to a vehicle pivot steering system, a vehicle with the same and a vehicle pivot steering control method.
Background
In the driving process of a vehicle, the problem of needing pivot steering is often encountered, and in the related technology, some pivot steering system structures are also disclosed, for example, some schemes provide a four-wheel full-drive automobile pivot steering system which comprises a full drive axle, a rear drive axle, front drive wheels, rear drive wheels, a steering knuckle and an electric control end member, wherein the front drive axle and the rear drive axle are both steering drive axles, two front drive wheels and two rear drive wheels are respectively connected with a power cylinder for controlling steering, and an electric control unit controls the action of the steering power cylinder; a head clutch for engaging or cutting off power transmitted from a half shaft in the transaxle to the drive wheels is mounted on each of the front and rear drive wheels. However, the scheme is designed only for the integral pivot steering structure, and how to control the driving of each wheel is not mentioned, so that the scheme needs to be combined with a driving torque control scheme in a practical application control system to realize pivot steering.
Therefore, further improvements are needed in vehicle pivot steering systems and solutions.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention needs to provide a vehicle pivot steering system which can realize pivot steering and has a simple structure.
The invention further provides a vehicle comprising the vehicle pivot steering system and a vehicle pivot steering control method.
In order to solve the above problems, an aspect of the present invention provides a pivot steering system for a vehicle, including: the steering adjusting device is used for controlling a left front wheel of the vehicle to rotate rightwards by a first preset angle and controlling a right front wheel of the vehicle to rotate leftwards by a second preset angle; an electronic parking device for locking a rear wheel on a pivot steering direction side of the vehicle; a first motor for driving the left front wheel and a second motor for driving the right front wheel; and the control device is used for respectively controlling the steering adjusting device, the electronic parking device, the first motor and the second motor to be started when the pivot steering starting instruction is detected, and respectively controlling the running directions of the first motor and the second motor according to the pivot steering direction.
According to the vehicle pivot steering system provided by the embodiment of the invention, the left front wheel and the right front wheel of the vehicle are controlled to rotate by preset angles in the opposite directions of the left front wheel and the right front wheel respectively through the steering adjusting device, the rear wheel on the pivot steering direction side of the vehicle is locked by the electronic parking device, and the control device respectively controls the running directions of the first motor and the second motor according to the pivot steering direction, so that the pivot steering control of the vehicle is realized, and the structure is simple.
In order to solve the problems, the vehicle in another aspect of the invention comprises the vehicle pivot steering system.
The vehicle can realize pivot steering by adopting the vehicle pivot steering system, and has a simple structure.
In order to solve the above problems, a pivot steering control method of a vehicle according to still another aspect of the present invention includes: when a pivot steering starting instruction is detected, controlling a left front wheel of a vehicle to rotate rightwards by a first preset angle, controlling a right front wheel of the vehicle to rotate leftwards by a second preset angle, and locking a rear wheel on the side of the pivot steering direction of the vehicle; and controlling a first motor to drive the left front wheel and a second motor to drive the right front wheel, and controlling the running directions of the first motor and the second motor respectively according to the pivot steering direction.
According to the pivot steering control method for the vehicle, the left front wheel and the right front wheel of the vehicle are controlled to rotate by the preset angle in the opposite directions of the left front wheel and the right front wheel respectively, the rear wheel on the side of the pivot steering direction of the vehicle is locked, and the running directions of the first motor and the second motor are controlled respectively according to the pivot steering direction, so that the pivot steering control of the vehicle is realized, and the method is simple and easy to realize.
Drawings
FIG. 1 is a block diagram of a vehicle pivot steering system according to an embodiment of the present invention;
FIG. 2 is a block diagram of a vehicle pivot steering system according to one embodiment of the present invention;
FIG. 3 is a schematic illustration of a vehicle turning left in place according to one embodiment of the present invention;
FIG. 4 is a schematic illustration of a vehicle turning right in place according to one embodiment of the present invention;
FIG. 5 is a block diagram of a vehicle pivot steering system according to one embodiment of the present invention;
FIG. 6 is a block diagram of a vehicle pivot steering system according to another embodiment of the present invention;
FIG. 7 is a block diagram of a vehicle according to an embodiment of the invention;
FIG. 8 is a flow chart of a vehicle pivot steering control method according to an embodiment of the present invention; and
FIG. 9 is a flow chart of a vehicle pivot steering control method according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a vehicle pivot steering system and a vehicle having the same and a vehicle pivot steering control method according to an embodiment of the present invention with reference to the accompanying drawings.
First, a vehicle pivot-point steering system according to an embodiment of the present invention will be described, fig. 1 is a block diagram of a vehicle pivot-point steering system according to an embodiment of the present invention, and as shown in fig. 1, the vehicle pivot-point steering system 100 includes a steering adjustment device 20, an electronic parking device 30, a first motor 40, a second motor 50, and a control device 60.
The steering adjusting device 20 is used for controlling the left front wheel of the vehicle to rotate to the right by a first preset angle and controlling the right front wheel of the vehicle to rotate to the left by a second preset angle. The left front wheel and the right front wheel are controlled to rotate a certain angle towards the opposite directions respectively, for example, the left front wheel and the right front wheel form a 'splayed-in' state, wherein the steering angle of the left front wheel and the steering angle of the right front wheel can be the same or different, and can be set according to specific conditions, namely the rotating angle of the vehicle can be set according to steering requirements.
It is to be understood that the first preset angle and the second preset angle may be default values, or may include a plurality, and are set or selected according to a set command or a selection command before pivot steering control is performed.
As shown in fig. 2, the vehicle pivot steering system 100 further includes an input device 92, and the input device 92 may include a separately provided operation unit, or a touch unit provided on a center console of the vehicle, or another type of operation unit. The input device 92 is configured to receive an input instruction from a user, and the control device 60 determines a first preset angle and a second preset angle according to the input instruction, so as to drive the left front wheel and the right front wheel respectively to steer when steering is performed.
In an embodiment of the invention, the first preset angle and the second preset angle may be 25 to 40 degrees, respectively. For example, before performing pivot steering, the user may input a set angle, such as a first preset angle and a second preset angle of 30 degrees respectively, or select a symbol corresponding to 30 degrees of steering through the input device 92, and of course, the first preset angle and the second preset angle may also set different angle values.
An Electric Parking Brake (EPB) 30 is used to lock the rear wheels on the pivot steering direction side of the vehicle. For example, if the vehicle turns left, the electronic parking device 30 locks the left rear wheel, and conversely, if the vehicle turns right, the electronic parking device 30 locks the right rear wheel, it is understood that in the embodiment of the present invention, the electronic parking device 30 can lock the two rear wheels independently, and the locked rear wheels cannot rotate.
The first motor 40 is used to drive the left front wheel, and the second motor 50 is used to drive the right front wheel, i.e., the left and right front wheels are driven individually.
When detecting a pivot steering starting instruction, the control device 60 respectively controls the steering adjustment device 20, the electronic parking device 30, the first motor 40 and the second motor 50 to start, and respectively controls the running directions of the first motor 40 and the second motor 50 according to the pivot steering direction, so that the pivot steering of the vehicle is realized, and the turning radius is reduced.
Specifically, if the vehicle turns left in situ, the left front wheel and the right front wheel respectively rotate in opposite directions by a preset angle, for example, forming an inward splay, the electronic parking device 30 locks the left rear wheel, the first motor 40 drives the left front wheel to rotate reversely, the second motor 50 drives the right front wheel to rotate forward, as shown in fig. 3, at this time, the entire vehicle rotates counterclockwise and leftward with the left rear wheel as a center of a circle, and the in-situ left steering is realized; if the vehicle is steered to the right in place, the left front wheel and the right front wheel respectively rotate in opposite directions by preset angles, for example, an inner splay is formed, the electronic parking device 30 locks the rear wheel, the first motor 40 drives the left front wheel to rotate forwards, the second motor 50 drives the right front wheel to rotate backwards, and as shown in fig. 4, the whole vehicle rotates clockwise and rightwards with the right rear wheel as a circle center, so that the steering to the right in place is realized.
According to the pivot steering system 100 of the vehicle of the embodiment of the invention, the left front wheel and the right front wheel of the vehicle are controlled to rotate by a preset angle in the opposite directions of the left front wheel and the right front wheel respectively through the steering adjusting device 20, the rear wheel on the pivot steering direction side of the vehicle is locked by the electronic parking device 30, and the control device 60 controls the running directions of the first motor 40 and the second motor 50 respectively according to the pivot steering direction, so that the pivot steering control of the vehicle is realized, and the structure is simple.
As shown in fig. 2, the vehicle pivot steering system 100 further includes a steering start-stop device 10, the steering start-stop device 10 is configured to receive a pivot start-stop command from a user, and the steering start-stop device 10 may include a separately provided trigger button or knob, or a trigger unit located in a center console of the vehicle, or an operation unit in another form, and mainly functions to start or stop the pivot steering system 100 according to the embodiment of the present invention.
Further, as shown in fig. 5, the steering adjustment device 20 includes a first rotary electric machine 21, a left adjustment link 22, a second rotary electric machine 24, a right adjustment link 25, and a control unit 23. The output shaft of the first rotary motor 21 is connected with one end of the left adjusting pull rod 22 through a meshing gear, the other end of the left adjusting pull rod 22 is connected with a steering knuckle of a left front wheel, the output shaft of the second rotary motor 24 is connected with one end of the right adjusting pull rod 25 through a meshing gear, the other end of the right adjusting pull rod 25 is connected with a steering knuckle of a right front wheel, the first rotary motor 21 is used for driving the left adjusting pull rod 22 to move so as to enable the left front wheel of the vehicle to rotate rightwards by a first preset angle, and the second rotary motor 24 drives the right adjusting pull rod 25 to move so as to enable the right front wheel of the vehicle to rotate leftwards by a second preset angle, so that the state of the front wheel is adjusted during steering. The control module 23 is configured to control the first wheel-rotating electric machine 21 and the second wheel-rotating electric machine 24 according to a steering adjustment control signal from the control device 60. Specifically, when the pivot steering start command is detected by the control device 60 during the steering control, a steering adjustment control signal is sent to the control module 23, and the control module 23 controls the first wheel rotation motor 21 and the second wheel rotation motor 24 to operate to drive the left adjustment pull rod 22 and the right adjustment pull rod 25 respectively, so as to rotate the left front wheel and the right front wheel.
Generally, in pivot steering or other steering, the speed of the vehicle is not required to be too fast, and especially in pivot steering, the possibility of sideslip and danger caused by too fast steering speed exists. In the embodiment of the present invention, as shown in fig. 6, the vehicle pivot steering system 100 further includes a speed detecting device 70, the speed detecting device 70 is configured to detect a rotation speed of the rear wheel that is not locked by the electronic parking device 30, and the control device 70 controls output torques of the first motor 50 and the second motor 60 according to the rotation speed of the rear wheel that is not locked by the electronic parking device 30, for example, to balance driving forces of two front wheels with a ground friction force, respectively, so that the steering speed is maintained in a stable and controllable range, which does not cause a danger due to too fast steering speed due to too large torque, and the steering can be smoothly performed.
In the embodiment of the present invention, the output torques of the first motor 40 and the second motor 50 may be controlled so that the steering speed is not too fast when the vehicle is turned on the spot. Specifically, the control device 60 controls the output torques of the first motor 40 and the second motor 50 to be gradually increased by a preset increase width, respectively, after detecting the pivot steering start instruction. That is, the torque of the motor is controlled to slowly increase, for example, 5N/m (N/m) each time, and the minimum torque at which the front wheel motor can drive the entire vehicle to steer in place is different due to the difference in the ground adhesion coefficient between different road surfaces, and at this time, the two rear wheels do not output torque. The control means 60 controls the first motor 40 and the second motor 50 to maintain the current output torque when the rotation speed of the rear wheel, which is not locked by the electronic parking device 30, reaches the first preset rotation speed by the speed detection means 70, and the current output torque can be regarded as the output torque of the motor at which the front wheel just starts to roll (there is a rolling tendency). The rotating speed of the unlocked rear wheel is just larger than 1Km/h, namely when the front wheel motor can just drive the whole vehicle to rotate in place, the output torque of the front wheel motor is not increased any more, namely, the first motor 40 and the second motor 50 keep the current output torque, at the moment, the vehicle can turn in place, and the speed is not too fast to avoid sideslip, so that the safety is ensured.
Of course, manual adjustment may also be performed if the driver is not satisfied with the current steering speed. In one embodiment of the present invention, as shown in fig. 6, the vehicle pivot steering system 100 further includes a torque adjusting device 80, and the torque adjusting device 80 is configured to adjust the output torques of the first motor 40 and the second motor 50, respectively, according to a user operation command. Specifically, the driver can adjust to a steering speed that the driver considers appropriate by operating the torque adjusting device 80, such as a key, to add or subtract the output torque of the motor.
To avoid the rotation speed from being too large, further, the control device 60 is further configured to limit the increase of the output torques of the first and second motors 40 and 50 when the rotation speed of the rear wheel, which is not locked by the electronic parking device 30, reaches a second preset rotation speed, which is greater than the first preset rotation speed, and to gradually decrease the output torques of the first and second motors 40 and 50, respectively, to the preset torque. For example, when the driver increases the output torque of the first motor 40 and the second motor 50 by operating the torque adjusting device 80, the steering speed of the vehicle increases, the rotation speed of the wheel not locked also becomes large, and when the rotation speed of the rear wheel not locked reaches a second preset rotation speed, for example, greater than 5Km/h, it is likely to cause a danger, and from the viewpoint of safety, the control device 60 limits the output torque of the front wheel motor to continue to increase and appropriately decreases the output torque to avoid the danger.
In addition, before the pivot steering control in the above process is performed, the current state of the vehicle may be determined to determine whether the steering condition is satisfied. Specifically, as shown in fig. 6, the vehicle pivot steering system 100 further includes a detecting device 90, where the detecting device 90 is used to detect a state parameter of the vehicle, and in an embodiment of the present invention, the state parameter of the vehicle may include, for example, a vehicle speed, a position of an accelerator pedal, a position of a brake pedal, and current gear information, and the control device 60 determines whether the vehicle satisfies the pivot steering condition according to the state parameter, and performs the pivot steering control when the vehicle satisfies the pivot steering condition, that is, performs the control of the foregoing process.
In some embodiments of the invention, the pivot steering conditions include: the speed of the vehicle is zero; the position of an accelerator pedal and the position of a brake pedal of the vehicle are respectively zero; the current gear of the vehicle is a parking gear, i.e., a P gear. When the vehicle currently meets the pivot steering condition, the steering adjusting device 20, the electronic parking device 30, the first motor 40, the second motor 50 and the speed detecting device 70 are respectively started, and the control device 60 performs corresponding control according to the above, so as to realize the pivot steering control of the vehicle.
In order to more intuitively sense the pivot steering of the vehicle, as shown in fig. 6, the vehicle pivot steering system 100 according to the embodiment of the present invention further includes a multimedia imaging device 91, where the multimedia imaging device 91 is configured to obtain pivot steering information of the vehicle, generate an image of a pivot steering trajectory of the vehicle according to the pivot steering information of the vehicle, and provide the image to the driver, so that the driver can more intuitively know the pivot steering condition of the vehicle.
In summary, operation of the vehicle pivot steering system 100 of the present embodiment includes several processes: identifying a driver's pivot steering demand; displaying the pivot turning track by combining the multimedia image device 91; judging whether the pivot steering requirement is met; carrying out pivot steering torque control; the pivot steering control is exited, for example, when the brake pedal is depressed, or when the steering start-stop device 10 is operated again.
In brief, the pivot steering system 100 of the vehicle needs to collect an accelerator pedal position signal, a brake pedal position signal, a vehicle speed, a rotation speed signal of a wheel, and current gear information, and the operation devices that need to be set include the torque adjusting device 80, for example, divided into a torque increasing button and a torque decreasing button, and the steering start-stop device 10, i.e., the start-stop device, and the electronic parking device 30 needs to be able to lock the left rear wheel and the front and rear wheels separately.
Based on the pivot steering system of the vehicle according to the embodiment of the above aspect, a vehicle according to another aspect of the embodiment of the present invention will be described with reference to the accompanying drawings.
Fig. 7 is a block diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 7, the vehicle 1000 includes the vehicle pivot steering system 100 of the embodiment of the aspect described above.
The vehicle 1000 can realize pivot steering by adopting the vehicle pivot steering system 100, and has a simple structure.
A vehicle pivot steering control method according to an embodiment of still another aspect of the present invention will be described with reference to the accompanying drawings.
Fig. 8 is a flowchart of a vehicle pivot steering control method according to an embodiment of the present invention, and as shown in fig. 8, the vehicle pivot steering control method includes the steps of:
and S1, controlling the left front wheel of the vehicle to rotate rightwards by a first preset angle and controlling the right front wheel of the vehicle to rotate leftwards by a second preset angle after the pivot steering starting command is detected, and locking the rear wheel on the pivot steering direction side of the vehicle.
Specifically, the left front wheel and the right front wheel are controlled to rotate in opposite directions by a certain angle, for example, the left front wheel and the right front wheel form a "inside splayed" state, wherein the steering angle of the left front wheel and the steering angle of the right front wheel can be the same or different, and can be set according to specific situations, that is, the rotation angle of the vehicle can be set according to steering requirements.
It is to be understood that the first preset angle and the second preset angle may be default values, or may include a plurality, and are set or selected according to a set command or a selection command before pivot steering control is performed. Namely, the pivot steering control method may further include: when an input instruction of a user is detected, a first preset angle and a second preset angle are determined according to the input instruction.
The rear wheel on the pivot steering direction side of the vehicle may be locked by an electronic parking device of the vehicle, and the locked rear wheel may not be rotated. For example, if the vehicle turns left, the electronic parking device locks the left rear wheel, and conversely, if the vehicle turns right, the electronic parking device locks the right rear wheel, it is understood that in the embodiment of the present invention, the electronic parking device can lock the two rear wheels separately.
And S2, controlling the first motor to drive the left front wheel and the second motor to drive the right front wheel, and respectively controlling the running directions of the first motor and the second motor according to the pivot steering direction.
Specifically, if the vehicle turns left in situ, the left front wheel and the right front wheel respectively rotate in opposite directions by a preset angle, for example, an inner splay is formed, the left rear wheel is locked by the electronic parking device, the first motor drives the left front wheel to rotate reversely, the second motor drives the right front wheel to rotate forwards, and as shown in fig. 3, the whole vehicle can rotate anticlockwise and leftwards by taking the left rear wheel as a circle center, so that the in-situ left steering is realized; if the vehicle is steered to the right in place, the left front wheel and the right front wheel respectively rotate in opposite directions by preset angles, for example, an inner splay is formed, the electronic parking device locks the rear wheel, the first motor drives the left front wheel to rotate forwards, the second motor drives the right front wheel to rotate backwards, and as shown in fig. 4, the whole vehicle can rotate clockwise and rightwards by taking the right rear wheel as a circle center, so that the steering to the right in place is realized.
According to the pivot steering control method for the vehicle, the left front wheel and the right front wheel of the vehicle are controlled to rotate by the preset angle in the opposite directions of the left front wheel and the right front wheel respectively, the rear wheel on the side of the pivot steering direction of the vehicle is locked, and the running directions of the first motor and the second motor are controlled respectively according to the pivot steering direction, so that the pivot steering control of the vehicle is realized, and the method is simple and easy to realize.
Generally, in pivot steering or other steering, the speed of the vehicle is not required to be too fast, and especially in pivot steering, the possibility of sideslip and danger caused by too fast steering speed exists. In an embodiment of the present invention, the speed in steering may be controlled, and the vehicle pivot steering control method further includes: detecting the rotation speed of the unlocked rear wheel; and respectively controlling the output torques of the first motor and the second motor according to the rotation speed of the unlocked rear wheel, for example, respectively balancing the driving forces of the two front wheels and the ground friction force, so that the danger caused by too high steering speed due to overlarge torque is avoided, and the steering can be smoothly performed.
Specifically, when the vehicle is performing pivot steering, the output torque of the first motor is controlled to be gradually increased by a preset increase width to drive the left front wheel, and the output torque of the second motor is controlled to be gradually increased by a preset increase width to drive the right front wheel. That is, the torque of the motor is controlled to slowly increase, for example, 5N/m (N/m) each time, and the minimum torque at which the front wheel motor can drive the entire vehicle to steer in place is different due to the difference in the ground adhesion coefficient between different road surfaces, and at this time, the two rear wheels do not output torque.
Further, in order to avoid the danger of sideslip caused by too fast speed in steering, when the rotating speed of the unlocked rear wheel reaches a first preset rotating speed, the first motor is controlled to keep the current output torque, and the second motor is controlled to keep the current output torque. The rotating speed of the unlocked rear wheel is just larger than 1Km/h, namely when the front wheel motor can just drive the whole vehicle to rotate in place, the output torque of the front wheel motor is not increased any more, namely, the first motor and the second motor keep the current output torque, at the moment, the vehicle can turn in place, the speed cannot be too fast, the side slip is avoided, and the safety is ensured.
Of course, manual adjustment may also be performed if the driver is not satisfied with the current steering speed. In one embodiment of the present invention, user operation commands may be received to adjust the output torques of the first and second motors, respectively. For example, the driver can adjust the steering speed to a speed that the driver considers appropriate by operating a torque adjusting device such as a key to add or subtract the output torque of the motor.
In order to avoid too large rotation speed, further, when the rotation speed of the unlocked rear wheel reaches a second preset rotation speed, the output torques of the first motor and the second motor are limited to increase, and the output torques of the first motor and the second motor are respectively controlled to gradually decrease to the preset torques, wherein the second preset rotation speed is larger than the first preset rotation speed. For example, when the driver increases the output torque of the first motor and the second motor by operating the torque adjusting device, the steering speed of the vehicle increases, the rotation speed of the wheel not locked also becomes large, and when the rotation speed of the rear wheel not locked reaches a second preset rotation speed, for example, greater than 5Km/h, it is easy to cause a danger.
In addition, after the pivot steering starting instruction is detected, the state parameters of the vehicle can be detected; and judging whether the vehicle meets the pivot steering condition or not according to the state parameters, and performing pivot steering control when the vehicle meets the pivot steering condition. Specifically, the pivot steering conditions include: the speed of the vehicle is zero; the position of an accelerator pedal and the position of a brake pedal of the vehicle are respectively zero; the current gear of the vehicle is a parking gear.
In order to more intuitively sense the pivot steering of the vehicle, the pivot steering information of the vehicle can be obtained through a multimedia imaging device, the multimedia imaging device generates an image of the pivot steering track of the vehicle according to the pivot steering information and provides the image to a driver, so that the driver can more intuitively know the pivot steering condition of the vehicle.
Fig. 9 is a flowchart of a vehicle pivot steering control method according to an embodiment of the present invention, as shown in fig. 9, including:
and S800, detecting that the driver operates the steering start-stop device.
And S810, judging whether the entering pivot steering condition is met. If so, the process proceeds to step S830, and if not, the process proceeds to step S890.
And S820, controlling the output torque of the front wheel motor to slowly increase, for example, 5N/m at a time.
And S830, detecting whether the rotating speed of the unlocked rear wheel is larger than 1Km/h, if so, entering the step S840, otherwise, returning to the step S820.
And S840, recording the output torque of the front wheel motor when the front wheel just rolls, and controlling the front wheel motor to keep the output torque.
And S850, detecting whether the rotating speed of the unlocked rear wheel is greater than 5Km/h, if so, entering the step S860, otherwise, entering the step S870.
S860, the output torque of the front wheel motor is reduced, for example, by 5N/m each time.
S870, a driver' S demand for an increase or decrease in the output torque of the front wheels is detected, and the increase or decrease in the output torque is performed.
And S880, judging whether to quit the pivot steering control. If so, go to step S890, otherwise return to step S850.
And S890, quitting the pivot steering control.
In summary, in the pivot steering control method for the vehicle according to the embodiment of the present invention, the pivot steering control of the vehicle can be realized, the turning radius can be reduced, and the output torque of the front wheel motor can be automatically controlled to achieve smooth steering by adjusting the states of the left front wheel and the right front wheel, locking the rear wheel on the side of the steering direction, and further controlling the operation direction of each front wheel motor according to the steering direction.
It should be noted that in the description of this specification, any process or method description in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (18)
1. A vehicle pivot steering system, comprising:
the steering adjusting device is used for controlling a left front wheel of the vehicle to rotate rightwards by a first preset angle and controlling a right front wheel of the vehicle to rotate leftwards by a second preset angle;
an electronic parking device for locking a rear wheel on a pivot steering direction side of the vehicle;
a first motor for driving the left front wheel and a second motor for driving the right front wheel; and
the control device is used for respectively controlling the steering adjusting device, the electronic parking device, the first motor and the second motor to be started when an in-situ steering starting instruction is detected, and respectively controlling the running directions of the first motor and the second motor according to the in-situ steering direction;
speed detection means for detecting a rotation speed of a rear wheel not locked by the electronic parking device, the control means being further configured to control output torques of the first motor and the second motor, respectively, in accordance with the rotation speed of the rear wheel not locked by the electronic parking device;
the control device is further used for respectively controlling the output torques of the first motor and the second motor to gradually increase in preset increasing amplitude after the pivot steering starting instruction is detected, and respectively controlling the first motor and the second motor to keep the current output torques when the rotating speed of the rear wheel which is not locked by the electronic parking device reaches a first preset rotating speed.
2. The vehicle pivot steering system of claim 1, wherein the steering adjustment device further comprises:
the left front wheel of the vehicle is rotated to the right by a first preset angle through driving the left adjusting pull rod, and the right front wheel of the vehicle is rotated to the left by a second preset angle through driving the right adjusting pull rod; and
and the control module is used for controlling the first rotary motor and the second rotary motor according to a steering adjustment control signal sent by the control device.
3. The vehicle pivot steering system of claim 1, further comprising:
and the steering starting and stopping device is used for receiving an original steering starting and stopping instruction of a user.
4. The vehicle pivot steering system of claim 1, further comprising:
the input device is used for receiving an input instruction of a user, and the control device determines the first preset angle and the second preset angle according to the input instruction.
5. The vehicle pivot steering system of claim 1, further comprising:
and the torque adjusting device is used for respectively adjusting the output torques of the first motor and the second motor according to a user operation instruction.
6. The vehicle pivot steering system according to claim 5, wherein the control device is further configured to limit an increase in the output torques of the first motor and the second motor and to gradually decrease the output torques of the first motor and the second motor to a preset torque, respectively, when the rotation speed of the rear wheels that are not locked by the electronic parking device reaches a second preset rotation speed, which is greater than the first preset rotation speed.
7. The vehicle pivot steering system of claim 1, further comprising:
the control device judges whether the vehicle meets the pivot steering condition according to the state parameters and performs pivot steering control when the vehicle meets the pivot steering condition.
8. The vehicle pivot steering system of claim 7 wherein the pivot steering condition comprises:
the speed of the vehicle is zero;
the position of an accelerator pedal and the position of a brake pedal of the vehicle are respectively zero;
the current gear of the vehicle is a parking gear.
9. The vehicle pivot steering system of claim 1, further comprising:
and the multimedia image device is used for obtaining the vehicle pivot steering information, generating an image of the vehicle pivot steering track according to the vehicle pivot steering information and providing the image for a driver.
10. A vehicle comprising a vehicle pivot steering system according to any one of claims 1 to 9.
11. A vehicle pivot steering control method, characterized by comprising the steps of:
when a pivot steering starting instruction is detected, controlling a left front wheel of a vehicle to rotate rightwards by a first preset angle, controlling a right front wheel of the vehicle to rotate leftwards by a second preset angle, and locking a rear wheel on the side of the pivot steering direction of the vehicle; and
controlling a first motor to drive the left front wheel and a second motor to drive the right front wheel, and controlling the running directions of the first motor and the second motor respectively according to the pivot steering direction;
detecting the rotation speed of the unlocked rear wheel; and
controlling output torques of the first motor and the second motor according to the rotation speed of the unlocked rear wheel;
wherein the controlling a first motor to drive the left front wheel and a second motor to drive the right front wheel further comprises: the output torque of the first motor is controlled to be gradually increased by a preset increasing width to drive the left front wheel, and the output torque of the second motor is controlled to be gradually increased by the preset increasing width to drive the right front wheel.
12. The vehicle pivot steering control method according to claim 11, further comprising:
and when an input instruction of a user is detected, determining the first preset angle and the second preset angle according to the input instruction.
13. The vehicle pivot steering control method according to claim 11, wherein output torques of the first electric motor and the second electric motor are respectively controlled in accordance with rotation speeds of the unlocked rear wheels, further comprising:
and when the rotating speed of the unlocked rear wheel reaches a first preset rotating speed, respectively controlling the first motor and the second motor to keep the current output torque.
14. The vehicle pivot steering control method according to claim 13, further comprising;
and receiving a user operation instruction to respectively adjust the output torques of the first motor and the second motor.
15. The vehicle pivot steering control method according to claim 14, characterized by further comprising:
when the rotation speed of the unlocked rear wheel reaches a second preset rotation speed, limiting the increase of the output torques of the first motor and the second motor, and respectively controlling the output torques of the first motor and the second motor to gradually decrease to the preset torques, wherein the second preset rotation speed is greater than the first preset rotation speed.
16. The vehicle pivot steering control method according to claim 11, further comprising, after detecting the pivot steering start command:
detecting a state parameter of the vehicle;
and judging whether the vehicle meets the pivot steering condition or not according to the state parameters, and performing pivot steering control when the vehicle meets the pivot steering condition.
17. The vehicle pivot steering control method of claim 16, wherein the pivot steering condition includes:
the speed of the vehicle is zero;
the position of an accelerator pedal and the position of a brake pedal of the vehicle are respectively zero;
the current gear of the vehicle is a parking gear.
18. The vehicle pivot steering control method according to claim 11, further comprising:
obtaining pivot steering information of the vehicle, and generating an image of a pivot steering track of the vehicle according to the pivot steering information; and
providing an image of the pivot steering trajectory to a driver.
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| CN201610799902.5A CN107776663B (en) | 2016-08-31 | 2016-08-31 | Vehicle pivot steering system, vehicle and vehicle pivot steering control method |
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| CN201610799902.5A CN107776663B (en) | 2016-08-31 | 2016-08-31 | Vehicle pivot steering system, vehicle and vehicle pivot steering control method |
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| CN110377018A (en) * | 2018-08-15 | 2019-10-25 | 北京京东尚科信息技术有限公司 | A kind of method and apparatus controlling unmanned equipment spinning |
| US11590977B2 (en) * | 2019-12-31 | 2023-02-28 | Rivian Ip Holdings, Llc | Systems and methods for providing a vehicle with a torque vectored K-turn mode |
| CN114275037B (en) * | 2022-01-07 | 2023-03-21 | 江铃汽车股份有限公司 | Steering auxiliary torque control method for pure electric full-drive automobile |
| CN115298951B (en) * | 2022-06-17 | 2024-02-20 | 广东逸动科技有限公司 | Motor control method, ship, equipment and storage medium |
| CN116749743A (en) * | 2023-06-15 | 2023-09-15 | 中国第一汽车股份有限公司 | Four-drive force system, vehicle, and control method for vehicle |
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