CN108216362A - The trapezoidal control method of Ackermann steering, device, mechanism, system and automobile - Google Patents
The trapezoidal control method of Ackermann steering, device, mechanism, system and automobile Download PDFInfo
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- CN108216362A CN108216362A CN201810039827.1A CN201810039827A CN108216362A CN 108216362 A CN108216362 A CN 108216362A CN 201810039827 A CN201810039827 A CN 201810039827A CN 108216362 A CN108216362 A CN 108216362A
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- Prior art keywords
- steering
- scalable
- trapezoidal
- ackermann
- data
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Classifications
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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
-
- 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
-
- 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
Abstract
The present invention provides a kind of trapezoidal control method of Ackermann steering, system, device and the automobile with the system, the trapezoidal control method of the Ackermann steering controls the first and second steered wheels to change within a predetermined range according to Ackermam theoretical curve by the trapezoidal control mechanism of Ackermann steering, and the trapezoidal control method of Ackermann steering includes the following steps：Obtain torque data, corner and acceleration information, the position data and vehicle speed data of the first and second scalable steering arms；The first and second scalable steering arm is controlled to stretch according to the torque data, corner and acceleration information, the position data of the first and second scalable steering arms and vehicle speed data, the first and second steered wheels to be driven to change within a predetermined range according to the trapezoidal theoretical curve of Ackermam.The trapezoidal control method of Ackermann steering according to embodiments of the present invention can realize the pure rolling of wheel in motor turning, promote steering behaviour.
Description
Technical field
The present invention relates to technical field of automobile control, particularly, are related to a kind of Ackermann steering ladder of active front steering system
Shape control mechanism, system, method, apparatus, equipment, computer readable storage medium and the automobile with the system.
Background technology
With the development of electronic technology, electronic product and sensor technology are more and more universal in the application of steering.More
Start to research and develop come more Automobile Enterprises, using auxiliary driving technology and unmanned technology.Assist driving technology can be real
The active brake of existing emergency, track are kept, automatically with functions such as vehicles.
For reduce turn to when running car additional drag, tire crosses quick-wearing, turning radius is excessive the problem of, need essence
The heart determines the parameter of steering ladder type in steering gear, ensures that steering trapezium meets Ackermam curve.But current automobile turns
It actually can only all design to obtain in certain wheel deflection angle ranges to trapezoidal, make the relationship of both sides wheel deflection angle substantially
On close to ideal relationship.
Invention content
In view of this, it present invention aims at a kind of pure rolling that wheel can be realized in motor turning is provided, is promoted
The trapezoidal control method of Ackermann steering, device, mechanism, system and the automobile with the system of steering behaviour.
In order to solve the above technical problems, according to an aspect of the present invention, provide a kind of Ackermann steering trapezoidal control control
Method controls the first and second steered wheels to be managed within a predetermined range according to Ackermam by the trapezoidal control mechanism of Ackermann steering
By curvilinear motion,
The trapezoidal control mechanism of Ackermann steering, including：
Turn to disc assembly；
Column assy, one end of the column assy connect the steering disc assembly；
Steering gear shaft, the steering gear shaft connect the other end of the column assy；
Steering gear, the steering gear are set in by gear on the steering gear shaft, with by the steering gear gear
Axis drives the steering gear to move left and right in the horizontal direction；
First and second scalable steering arms, the first and second scalable steering arm are connected to the steering gear
Both ends the first and second scalable steering arm to be driven to stretch by the steering gear；And
First and second steered wheels, the first and second scalable steering arm are connected to described first and second
In the steering shaft of steered wheel, to drive first and second steered wheel by the described first and second scalable steering arms
It turns to
The trapezoidal control method of Ackermann steering includes the following steps：
Obtain torque data, corner and acceleration information, the first and second scalable steering arms position data and
Vehicle speed data；
According to the torque data, corner and acceleration information, the first and second scalable steering arms position data,
And vehicle speed data controls the first and second scalable steering arms to stretch, to drive the first and second steered wheels predetermined
In the range of change according to the trapezoidal theoretical curve of Ackermam.
According to some embodiments of the present invention, before the first and second scalable steering arm is controlled stretch,
Further include following steps：
Receive active steering control signal, controlling when receiving active steering control signal described first and second can stretch
Contracting steering arm stretches.
Further, it is described according to the torque data, corner and acceleration information, the first and second scalable steerings
The position data and vehicle speed data of arm control the first and second scalable steering arms to stretch, to drive first and second
Steered wheel is specific as follows according to the trapezoidal theoretical curve variation of Ackermam within a predetermined range：
1) as speed≤8Km/h, the torque data to be more than first predetermined torque value, the steering column stroke >=
30%, make the Ackermam trapezoidal and meet with rationality curved line relation 100%；
2) as speed 8Km/h~60Km/h, the torque data is the more than second predetermined torque value steering column row
Journey >=45% makes the Ackermam trapezoidal and meets with rationality curved line relation 97%；
3) as speed 60Km/h~100Km/h, the torque data is the more than third predetermined torque value steering column
Stroke >=65% makes the Ackermam trapezoidal and meets with rationality curved line relation 95%；
4) as speed ＞ 100Km/h, the torque data to be more than 4th predetermined torque value, the steering column stroke >=
75%, close the control module；
5) when Full Vehicle System exits active steering control, the control module controls the motor to make described first and the
Two scalable steering arms restore to initial position.
Further, the described first predetermined predetermined predetermined Niu Ju Zhi≤4 of Niu Ju Zhi≤third of Niu Ju Zhi≤the second is pre-
Determine torque value.
Preferably, first predetermined torque value be 2.5N.m, second predetermined torque value be 1.5N.m, the third
Predetermined torque value is 1N.m, and the 4th predetermined torque value is 0.5N.m.
The trapezoidal control device of the Ackermann steering of embodiment according to a further aspect of the invention, including：
Acquisition module, to obtain the position of torque data, corner and acceleration information, the first and second scalable steering arms
Put data and vehicle speed data；
Control module, with according to the torque data, corner and acceleration information, the first and second scalable steering arms
Position data and vehicle speed data control the first and second scalable steering arms stretch, with drive first and second turns
Change within a predetermined range according to the trapezoidal theoretical curve of Ackermam to wheel.
In addition, the trapezoidal control device of the Ackermann steering of embodiment according to a further aspect of the present invention, including：
Processor；With
Memory is stored with computer program instructions in the memory,
Wherein, when the computer program instructions are run by the processor so that the processor is realized when performing
The step in Ackermann steering control method described in any of the above-described embodiment.
In addition, according to the computer readable storage medium of another aspect of the invention embodiment, it is stored thereon with computer journey
Sequence realizes the step in the Ackermann steering control method as described in above-mentioned any embodiment when the program is executed by processor.
According to the trapezoidal control mechanism of Ackermann steering of the another side's embodiment of the present invention, including：
Turn to disc assembly；
Column assy, one end of the column assy connect the steering disc assembly；
Steering gear shaft, the steering gear shaft connect the other end of the column assy；
Steering gear, the steering gear are set in by gear on the steering gear shaft, with by the steering gear gear
Axis drives the steering gear to move left and right in the horizontal direction；
First and second scalable steering arms, the first and second scalable steering arm are connected to the steering gear
Both ends the first and second scalable steering arm to be driven to stretch by the steering gear；And
First and second steered wheels, the first and second scalable steering arm are connected to described first and second
In the steering shaft of steered wheel, to drive first and second steered wheel by the described first and second scalable steering arms
It turns to.
Further, the described first scalable steering arm includes the first track rod for being mutually pivotable connection and first turn
To joint arm, first track rod is connected to one end of the steering gear, and first knuckle arm be connected to it is described
In the steering shaft of first steered wheel, the second scalable steering arm include be mutually pivotable connection the second track rod and
Second knuckle arm, second track rod is connected to the other end of the steering gear, and second knuckle arm connects
It is connected in the steering shaft of second steered wheel.
The trapezoidal control system of the Ackermann steering of embodiment according to a further aspect of the present invention, including：
According to the trapezoidal control mechanism of the Ackermann steering of any of the above-described embodiment；
Torque sensor, the column assy of the torque sensor from the trapezoidal control mechanism of the Ackermann steering obtain
Take the torque data of steering wheel；
Corner and acceleration transducer, the corner and acceleration transducer are from the trapezoidal control mechanism of the Ackermann steering
Column assy obtain steering wheel corner and acceleration information；
Scalable knuckle arm position sensor, the scalable knuckle arm position sensor is from the Ackermann steering
First and second scalable steering arms of trapezoidal control mechanism obtain its position data；
Velocity sensor, the velocity sensor obtain vehicle speed data from CAN bus；
Motor, the motor be connected on the first and second scalable steering arms of the trapezoidal control mechanism of Ackermann steering with
The scalable steering arm is adjusted to stretch；And
Control module, the control module according to the torque data, corner and acceleration information, first and second can
The position data and vehicle speed data of flexible steering arm control rotation and the stroke of the motor, so as to drive first He
Second scalable steering arm stretches, and then drives the first and second bogie cars of the trapezoidal control mechanism of Ackermann steering
Wheel changes within a predetermined range according to Ackermam theoretical curve.
Further, which further includes：
Active steering control unit turns when the control module receives the active that the active steering control unit sends out
During to control signal, the control module is according to the torque data, corner and acceleration information, first and second scalable
The position data and vehicle speed data of steering arm control rotation and the stroke of the motor.
According to another aspect of the invention, a kind of automobile is additionally provided, is had according to any of the above-described embodiment of the present invention
The trapezoidal control system of the Ackermann steering.
According to the present invention, by acquiring angle data, steering wheel turns to acceleration information, steering-wheel torque data and
Speed, being capable of accurate judgement vehicle driving-cycle.Under suitable condition, using the minor adjustment of steering trapezium mechanical structure-
Scalable steering arm according to vehicle driving-cycle, actively switches vehicle Ackermann steering ladder type and is turned to, when solving motor turning
It generates road surface and quick-wearing is crossed to the additional drag and tire of running car, ensure steering system in motor turning, all wheels are equal
Make pure rolling.It can realize the design of ideal steering trapezium, promote steering behaviour, running car is additional during so as to reduce steering
Resistance, elimination tire cross quick-wearing, solve the problems, such as that turning radius is excessive, promote steering sensitivity, whole steering behaviour.
Description of the drawings
Fig. 1 is the trapezoidal control mechanism of Ackermann steering according to the embodiment of the present invention；
Fig. 2 is the trapezoidal control system of Ackermann steering according to the embodiment of the present invention；
Fig. 3 is the flow chart of the trapezoidal control method of Ackermann steering according to embodiments of the present invention；
Fig. 4 is that the realistic simulation that the trapezoidal control method of Ackermann steering according to embodiments of the present invention controls comes out
The first and second steered wheels angle relation curve.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
Attached drawing, the technical solution of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is this hair
Bright part of the embodiment, instead of all the embodiments.Based on described the embodiment of the present invention, ordinary skill
Personnel's all other embodiments obtained, shall fall within the protection scope of the present invention.
First, illustrate the trapezoidal control mechanism of Ackermann steering according to embodiments of the present invention with reference to figure 1.
In Fig. 1, arrow show automobile direction of advance.
As shown in Figure 1, the trapezoidal control mechanism 10 of Ackermann steering according to embodiments of the present invention includes：Steering disc assembly 1,
Column assy 2, steering gear shaft 3, steering gear 4, the first and second scalable steering arms 8 and first and second turn to
Wheel 7.
Wherein, one end (lower end shown in Fig. 1) connection of column assy 2 turns to disc assembly 1, with by turning to disc assembly
1 drive column assy 2 rotates.
Steering gear shaft 3 connects the other end (upper end shown in Fig. 1) of column assy 2.
Steering gear 4 is set in by gear (not shown) on steering gear shaft 3, with by steering gear shaft 3 with turn
It is moved left and right in the horizontal direction to device 4.
First and second scalable steering arms 8 are connected to the both ends of steering gear 4, to drive the first He by steering gear 4
Second scalable steering arm 6 is flexible.
First and second scalable steering arms 8 are connected in the steering shaft of the first and second steered wheels 7, to pass through
The first and second steered wheel of flexible drive 7 of first and second scalable steering arms 8 turns to.
Further, as shown in Figure 1, the first scalable steering arm 8 (the scalable steering arm in left side in Fig. 1) is including mutual
(left side in Fig. 1 turns the first track rod 5 (the left side track rod in Fig. 1) and the first knuckle arm 6 being pivotally connected
To joint arm), the first track rod 5 is connected to one end (left end in Fig. 1) of steering gear 4, and the first knuckle arm 6 is connected to
In the steering shaft of first steered wheel 7；Second scalable steering arm 8 (the scalable steering arm in right side in Fig. 1) is including mutual pivot
Turn the second track rod 5 (the right hand steering drag link in Fig. 1) of connection and the 6 (right hand steering in Fig. 1 of the second knuckle arm
Joint arm), the second track rod 6 is connected to the other end (right end in Fig. 1) of steering gear 4, and the second knuckle arm 6 is connected to
In the steering shaft of second steered wheel 7 (right side wheels in Fig. 1).
Next, the trapezoidal control system of Ackermann steering according to the present invention is described with reference to figure 2.
As shown in Fig. 2, the trapezoidal control system 100 of Ackermann steering according to embodiments of the present invention includes：Ackermann steering
Trapezoidal control mechanism 10, torque sensor 20, corner and acceleration transducer 30, scalable knuckle arm position sensor 40,
Velocity sensor 50, motor 60 and control module 70.
Wherein, the trapezoidal control mechanism 10 of Ackermann steering is the trapezoidal control of Ackermann steering according to any of the above-described embodiment
Mechanism 10, description is omitted herein.
Torque sensor 20 obtains the torque of steering wheel from the column assy 2 of the trapezoidal control mechanism 10 of Ackermann steering
Data；
Corner and acceleration transducer 30 are turned to from the acquisition of column assy 2 of the trapezoidal control mechanism 10 of Ackermann steering
The corner and acceleration information of disk.
Scalable knuckle arm position sensor 40 can be stretched from the first and second of the trapezoidal control mechanism 10 of Ackermann steering
Contracting steering arm 8 obtains its position data.
Velocity sensor 50 obtains vehicle speed data from CAN bus.
Motor 60 is connected on the first and second scalable steering arms 8 of the trapezoidal control mechanism 10 of Ackermann steering to adjust
Scalable steering arm 8 is flexible.
Control module 70 is according to the torque data, corner and acceleration information, the first and second scalable steering arms 8
Position data and vehicle speed data control motor 60 rotation and stroke, so as to drive the first and second scalable steering arms 8
It stretches, and then the first and second steered wheels 7 of the trapezoidal control mechanism 10 of Ackermann steering is driven to press within a predetermined range
Change according to Ackermam theoretical curve.
Further, the trapezoidal control system 100 of Ackermann steering can also include active steering control unit 80, work as control
Module 70 receive active steering control unit 80 send out active steering control signal when, control module 70 is according to the torque number
According to, corner and acceleration information, the position data of the first and second scalable steering arms and vehicle speed data control motor 60
Rotation and stroke.
Next, the trapezoidal control method of Ackermann steering according to embodiments of the present invention is described with reference to figure 3.
As shown in figure 3, the trapezoidal control method 200 of Ackermann steering according to embodiments of the present invention, Ackermann steering ladder
Shape control method 200 controls the first and second steered wheels 7 in predetermined model by the trapezoidal control mechanism 10 of above-mentioned Ackermann steering
Change in enclosing according to Ackermam theoretical curve.
The trapezoidal control method 200 of Ackermann steering includes the following steps：
Step S210 obtains torque data, corner and acceleration information, the position of the first and second scalable steering arms
Data and vehicle speed data.
Step S220, according to the torque data, corner and acceleration information, the first and second scalable steering arms
Position data and vehicle speed data control scalable steering arm to stretch, to drive the first and second steered wheels predetermined
In the range of change according to the trapezoidal theoretical curve of Ackermam.
Further, the trapezoidal control method 200 of Ackermann steering according to embodiments of the present invention is controlling first He
Second scalable steering arm carries out further including following steps before stretching：
Step S230, receive active steering control signal, when receive active steering control signal when control described first
It stretches with the second scalable steering arm.
Wherein, it is described according to the torque data, corner and acceleration information, the first and second scalable steering arms
Position data and vehicle speed data control first and the and scalable steering arm stretches, to drive first and second to turn to
Wheel is specific as follows according to the trapezoidal theoretical curve variation of Ackermam within a predetermined range：
1) as speed≤8Km/h, the torque data is the first predetermined torque value (for example, being 2.5N.m, with specific reference to row
Sailing situation etc. can suitably set) more than, more than steering column stroke >=30%, make the Ackermam trapezoidal bent with rationality
Line relationship 100% meets；
2) as speed 8Km/h~60Km/h, the torque data is the second predetermined torque value (for example, being 1.5N.m, specifically
Can be suitably set according to driving condition etc.) more than, it is more than steering column stroke >=45%, make the Ackermam it is trapezoidal with
Rationality curved line relation 97% meets；
3) as speed 60Km/h~100Km/h, the torque data is third predetermined torque value (for example, being 1N.m, specifically
Can be suitably set according to driving condition etc.) more than, it is more than steering column stroke >=65%, make the Ackermam it is trapezoidal with
Rationality curved line relation 95% meets；
4) as speed ＞ 100Km/h, the torque data for the 4th predetermined torque value (for example, be 0.5N.m, with specific reference to
Driving condition etc. can be suitably set) more than, more than steering column stroke >=75%, close the control module；
5) when Full Vehicle System exits active steering control, the control module controls the motor to make described first and the
Two scalable steering arms restore to initial position.
Wherein, to those skilled in the art, the row of steering column is determined by corner and acceleration
Journey is it will be apparent that description is omitted herein.
In addition, according to embodiments of the present invention, also provide a kind of Ackermann steering trapezoidal control device, including：Acquisition module,
To obtain torque data, corner and acceleration information, the position data of the first and second scalable steering arms and speed number
According to；And control module, with according to the torque data, corner and acceleration information, the first and second scalable steering arms
Position data and vehicle speed data control scalable steering arm to stretch, to drive the first and second steered wheels predetermined
In the range of change according to the trapezoidal theoretical curve of Ackermam.
In addition, according to embodiments of the present invention, also provide a kind of Ackermann steering trapezoidal control device, including：
Processor；With
Memory is stored with computer program instructions in the memory,
Wherein, when the computer program instructions are run by the processor so that the processor performs following walk
Suddenly：
Obtain torque data, corner and acceleration information, the first and second scalable steering arms position data and
Vehicle speed data；
According to the torque data, corner and acceleration information, the first and second scalable steering arms position data,
And vehicle speed data controls the first and second scalable steering arms to stretch, to drive the first and second steered wheels predetermined
In the range of change according to the trapezoidal theoretical curve of Ackermam.
Further, which can also include network interface, input equipment, hard disk and display equipment.
It can be interconnected between above-mentioned each interface and equipment by bus architecture.Bus architecture can be included arbitrarily
The bus and bridge of the interconnection of quantity.Specifically by one or more central processing unit (CPU) of processor representative and by storing
The various of one or more memory that device represents are electrically connected to together.Bus architecture can also will such as peripheral equipment,
The various other of voltage-stablizer and management circuit or the like are electrically connected to together.It is appreciated that bus architecture is used to implement
Connection communication between these components.Bus architecture further includes power bus, controlling bus and shape in addition to including data/address bus
State signal bus, these are all it is known in the art, therefore is no longer described in greater detail herein.
The memory, program and data and processor calculating process necessary to being run for storage program area
In the data such as intermediate result.
It is appreciated that the memory in the embodiment of the present invention can be volatile memory or nonvolatile memory or
It may include both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (ROM), can
Program read-only memory (PROM), Erasable Programmable Read Only Memory EPROM (EPROM), electrically erasable programmable read-only memory
(EEPROM) or flash memory.Volatile memory can be random access memory (RAM), be used as External Cache.Herein
The memory 34 of the device and method of description is intended to the including but not limited to memory of these and any other suitable type.
In some embodiments, memory stores following element, executable modules or data structures or he
Subset or their superset：Operating system and application program.
Wherein, operating system comprising various system programs, such as ccf layer, core library layer, driving layer etc., is used to implement
Various basic businesses and the hardware based task of processing.Application program includes various application programs, such as browser
(Browser) etc., it is used to implement various applied business.Realize that the program of present invention method may be embodied in application program
In.
The method that the above embodiment of the present invention discloses can be applied to realize in processor or by processor.Processor
May be a kind of IC chip, the processing capacity with signal.During realization, each step of the above method can lead to
It crosses the integrated logic circuit of the hardware in processor or the instruction of software form is completed.Above-mentioned processor can be general place
Manage device, digital signal processor (DSP), application-specific integrated circuit (ASIC), ready-made programmable gate array (FPGA) or other can
Either implementation of the present invention can be realized or be performed to transistor logic, discrete hardware components for programmed logic device, discrete gate
Disclosed each method, step and logic diagram in example.General processor can be that microprocessor or the processor can also
It is any conventional processor etc..The step of method with reference to disclosed in the embodiment of the present invention, can be embodied directly in hardware decoding
Processor performs completion or performs completion with the hardware in decoding processor and software module combination.Software module can position
In random access memory, flash memory, read-only memory, programmable read only memory or electrically erasable programmable memory, register
In the storage medium for waiting this fields maturation.The storage medium is located at memory, and processor reads the information in memory, with reference to it
Hardware completes the step of above method.
Certainly, the present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, the program
The step in the trapezoidal control method of Ackermann steering as described in any embodiment of the present invention is realized when being executed by processor.
In addition, the present invention also provides a kind of vapour of the trapezoidal control system of Ackermann steering with any of the above-described embodiment
Vehicle, the vehicle structure other than the trapezoidal control system of Ackermann steering may be used the universal architecture of the prior art, save herein
Slightly its detailed description.
Fig. 4 shows the realistic simulation that the trapezoidal control method of Ackermann steering according to embodiments of the present invention controls
The angle relation curve (β) of the first and second steered wheels out.In figure, as a reference, while give parallel geometry
Curve (α) and theoretical Ackermann steering step curve (γ).As can be seen from Figure, Ackermam through the embodiment of the present invention
The angle relation curve (β) that steering trapezium control method is simulated is positioned at parallel geometry curve (α) and theoretical Ackermam
It is feasible program between steering trapezium curve (γ).
In the description of the present invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be based on orientation shown in the drawings or
Position relationship is for only for ease of the description present invention and simplifies description rather than instruction or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, " multiple " are meant that at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention unless specifically defined or limited otherwise, fisrt feature is in second feature one " or " under " can be with
It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature right over second feature or oblique upper or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " example ", " is specifically shown " some embodiments "
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment of the present invention or example.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 is combined in an appropriate manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the different embodiments or examples described in this specification and the feature of different embodiments or examples
It closes and combines.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (13)
1. a kind of trapezoidal control method of Ackermann steering, which is characterized in that pass through Ackermann steering trapezoidal control mechanism control the
One and second steered wheel within a predetermined range according to Ackermam theoretical curve change,
The trapezoidal control mechanism of Ackermann steering, including：
Turn to disc assembly；
Column assy, one end of the column assy connect the steering disc assembly；
Steering gear shaft, the steering gear shaft connect the other end of the column assy；
Steering gear, the steering gear are set in by gear on the steering gear shaft, with by the steering gear shaft band
The steering gear is moved to move left and right in the horizontal direction；
First and second scalable steering arms, the first and second scalable steering arm are connected to the two of the steering gear
It holds the first and second scalable steering arm to be driven to stretch by the steering gear；And
First and second steered wheels, the first and second scalable steering arm are connected to described first and second and turn to
In the steering shaft of wheel, first and second steered wheel to be driven to turn to by the described first and second scalable steering arms
The trapezoidal control method of Ackermann steering includes the following steps：
Obtain torque data, corner and acceleration information, the position data and speed of the first and second scalable steering arms
Data；
According to the torque data, corner and acceleration information, the first and second scalable steering arms position data and
Vehicle speed data controls the first and second scalable steering arm to stretch, to drive the first and second steered wheels predetermined
In the range of change according to the trapezoidal theoretical curve of Ackermam.
2. the trapezoidal control method of Ackermann steering as described in claim 1, which is characterized in that in control described first and second
Before scalable steering arm stretch, following steps are further included：
Receive active steering control signal, when receive active steering control signal when control described first and second scalable turns
It stretches to arm.
3. the trapezoidal control method of Ackermann steering as claimed in claim 2, which is characterized in that described according to the torque number
The first and is controlled according to, corner and acceleration information, the position data of the first and second scalable steering arms and vehicle speed data
Second scalable steering arm stretches, to drive the first and second steered wheels trapezoidal according to Ackermam within a predetermined range
Theoretical curve variation is specific as follows：
1) as speed≤8Km/h, the torque data is more than first predetermined torque value steering column stroke >=30%,
Make the Ackermam trapezoidal and meet with rationality curved line relation 100%；
2) as speed 8Km/h~60Km/h, the torque data to be more than second predetermined torque value, the steering column stroke >=
45%, make the Ackermam trapezoidal and meet with rationality curved line relation 97%；
3) as speed 60Km/h~100Km/h, the torque data is the more than third predetermined torque value steering column stroke
>=65%, make the Ackermam trapezoidal and meet with rationality curved line relation 95%；
4) as speed ＞ 100Km/h, the torque data to be more than 4th predetermined torque value, the steering column stroke >=
75%, close the control module；
5) when Full Vehicle System exits active steering control, the control module controls the motor to make described first and second can
Flexible steering arm restores to initial position.
4. the trapezoidal control method of Ackermann steering as claimed in claim 3, which is characterized in that the first predetermined Niu Ju Zhi≤
The predetermined torque value of second predetermined predetermined Niu Ju Zhi of Niu Ju Zhi≤third≤the 4th.
5. the trapezoidal control method of Ackermann steering as claimed in claim 4, which is characterized in that first predetermined torque value is
2.5N.m, second predetermined torque value be 1.5N.m, the third predetermined torque value be 1N.m, the 4th predetermined torque value
For 0.5N.m.
6. a kind of trapezoidal control device of Ackermann steering, which is characterized in that including：
Acquisition module, to obtain the positional number of torque data, corner and acceleration information, the first and second scalable steering arms
According to and vehicle speed data；
Control module, with the position according to the torque data, corner and acceleration information, the first and second scalable steering arms
It puts data and vehicle speed data controls the first and second scalable steering arms to stretch, to drive the first and second bogie cars
Wheel changes within a predetermined range according to the trapezoidal theoretical curve of Ackermam.
7. a kind of trapezoidal control device of Ackermann steering, which is characterized in that including：
Processor；With
Memory is stored with computer program instructions in the memory,
Wherein, when the computer program instructions are run by the processor so that realized when the processor performs as weighed
Profit requires the step in 1 to 5 any one of them Ackermann steering control method.
8. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, which is held by processor
It is realized during row such as the step in Ackermann steering control method described in any one of claim 1 to 5.
9. a kind of trapezoidal control mechanism of Ackermann steering, which is characterized in that including：
Turn to disc assembly；
Column assy, one end of the column assy connect the steering disc assembly；
Steering gear shaft, the steering gear shaft connect the other end of the column assy；
Steering gear, the steering gear are set in by gear on the steering gear shaft, with by the steering gear shaft band
The steering gear is moved to move left and right in the horizontal direction；
First and second scalable steering arms, the first and second scalable steering arm are connected to the two of the steering gear
It holds the first and second scalable steering arm to be driven to stretch by the steering gear；And
First and second steered wheels, the first and second scalable steering arm are connected to described first and second and turn to
In the steering shaft of wheel, first and second bogie car to be driven to rotate by the described first and second scalable steering arms
To.
10. the trapezoidal control mechanism of Ackermann steering as claimed in claim 9, which is characterized in that
The first scalable steering arm includes being mutually pivotable the first track rod and the first knuckle arm of connection, and described the
One track rod is connected to one end of the steering gear, and first knuckle arm is connected to first steered wheel
In steering shaft,
The second scalable steering arm includes being mutually pivotable the second track rod and the second knuckle arm of connection, and described the
Two track rods are connected to the other end of the steering gear, and second knuckle arm is connected to second steered wheel
Steering shaft on.
11. a kind of trapezoidal control system of Ackermann steering, which is characterized in that including：
The trapezoidal control mechanism of Ackermann steering as described in claim 9 or 10；
Torque sensor, the torque sensor is obtained from the column assy of the trapezoidal control mechanism of the Ackermann steering to be turned
To the torque data of disk；
Corner and acceleration transducer, the corner and acceleration transducer turn from the trapezoidal control mechanism of the Ackermann steering
The corner and acceleration information of steering wheel are obtained to tubing string assembly；
Scalable knuckle arm position sensor, the scalable knuckle arm position sensor are trapezoidal from the Ackermann steering
First and second scalable steering arms of control mechanism obtain its position data；
Velocity sensor, the velocity sensor obtain vehicle speed data from CAN bus；
Motor, the motor are connected on the first and second scalable steering arms of the trapezoidal control mechanism of Ackermann steering to adjust
The scalable steering arm stretches；And
Control module, the control module is according to the torque data, corner and acceleration information, first and second scalable
The position data and vehicle speed data of steering arm control rotation and the stroke of the motor, so as to drive described first and second
Scalable steering arm stretches, and then the first and second steered wheels of the trapezoidal control mechanism of Ackermann steering is driven to exist
Change in preset range according to Ackermam theoretical curve.
12. the trapezoidal control system of Ackermann steering as claimed in claim 11, which is characterized in that further include：
Active steering control unit, when the control module receives the active steering control that the active steering control unit sends out
During signal processed, the control module is according to the torque data, corner and acceleration information, the first and second scalable steerings
The position data and vehicle speed data of arm control rotation and the stroke of the motor.
13. a kind of automobile, which is characterized in that including the trapezoidal control system of Ackermann steering described in claim 11 or 12.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810039827.1A CN108216362B (en) | 2018-01-16 | 2018-01-16 | ackerman steering trapezoidal control method, device, mechanism, system and automobile |
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| CN201810039827.1A CN108216362B (en) | 2018-01-16 | 2018-01-16 | ackerman steering trapezoidal control method, device, mechanism, system and automobile |
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| CN112429078A (en) * | 2020-11-27 | 2021-03-02 | 徐工集团工程机械有限公司 | Control method and control system for engineering vehicle |
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|---|---|
| CN108216362B (en) | 2019-12-10 |
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