CN109533021A - A kind of multi-axle steering control system suitable for commercial vehicle - Google Patents
A kind of multi-axle steering control system suitable for commercial vehicle Download PDFInfo
- Publication number
- CN109533021A CN109533021A CN201910015686.4A CN201910015686A CN109533021A CN 109533021 A CN109533021 A CN 109533021A CN 201910015686 A CN201910015686 A CN 201910015686A CN 109533021 A CN109533021 A CN 109533021A
- Authority
- CN
- China
- Prior art keywords
- steering
- trailer
- wheel
- corner
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a kind of multi-axle steering control systems suitable for commercial vehicle, belong to semitrailer multi-axle steering field；The system includes rear-wheel corner computing module, scene monitoring modular, multi-mode switching module and turns to execution module；The present invention is directed to improve mobility and safety of the semitrailer in turning, and improves tire wear and improve economy；The front wheel angle and built-in corner calculation formula that rear wheel rotation corner computing module is measured according to sensor can obtain trailer tire corner in real time, scene monitoring modular utilizes the vehicle week environment of multi-sensor monitoring semitrailer simultaneously, and scene information is sent to multi-mode switching module, multi-mode switching module carries out pattern switching according to the overriding concern factor of different scenes, and the steering of trailer tire is carried out by steering execution module, so that semitrailer carries out the steering of different mode in turning according to different vehicle week environment.
Description
Technical field
The present invention relates to the multi-axle steering control systems of commercial semitrailer, belong to semitrailer multi-axle steering field.
Background technique
With the development of the society, semitrailer highway transportation accounting in the cargo transport of road surface is higher and higher, friendship is thus brought
A series of problems, such as logical congestion and tire wear.Multi-axle steering control system can be improved the mobility of semitrailer, reinforce path with
With ability and driving safety, tire wear is reduced, therefore multi-axle steering control system is by growing interest and attention.Early in upper
In a century, research is both for passenger car with regard to having started to study multi-axle steering control system, but mainly by people, to semi-mounted
The multi-axle steering control of vehicle has no the control of too many research, especially semitrailer in big turning.Travel the semi-mounted on highway
Vehicle can make semitrailer trailer track in steering procedure due to multiple-unit car body, car body are longer etc. when being turned
It is larger with traction wheel paths difference, cause road occupying wider, mobility is poor, is easy to happen traffic accident, not due to trailer tire
It turns to, causes tire wear more serious, economy is lower.
It goes to solve the above problems therefore, it is necessary to develop a kind of multi-axle steering control system suitable for commercial vehicle, thus
Guarantee mobility, economy and the safety of semitrailer during the turn.
Summary of the invention
The purpose of the present invention is to propose to a kind of multi-axle steering control systems suitable for commercial vehicle, by executing different steerings
Allocation plan guarantees its safety so that semitrailer improves tire wear in steering procedure, and improves its mobility.
In order to achieve the above objectives, the present invention adopts the following technical scheme: a kind of multi-axle steering suitable for commercial vehicle controls
System, including rear-wheel corner computing module, scene monitoring modular, multi-mode switching module and steering execution module；
The multi-axle steering control system is suitable for semitrailer, including tractor unit and trailer unit；
The tractor unit is triple axle, and wherein front axle is steering shaft, referred to as first axle, left side wheel corner δ1l's
Range is -40 °≤δ1l≤ 45 °, right side wheels corner δ1rRange be -45 °≤δ1r≤ 40 °, in addition two axis are drive shaft, from
Successively it is known as the second axis and third axis after forward direction, low-angle steering, and first axle, the second axis and third axis wheel can also be carried out
Hard-over proportionate relationship it is as follows:
Left side wheel hard-over proportionate relationship:
δ1l:δ2l:δ3l=6:1.5:1；
Right side wheels hard-over proportionate relationship:
δ1r:δ2r:δ3r=6.05:1.55:1；
Wherein, δilIt (i=1,2,3) is the i-th axis left side wheel corner, δir(i=1,2,3) turn for the i-th axis right side wheels
Angle；
The tractor unit can be extended to any number of axle, and all axis are used equally for turning to；
The trailer unit is triple axle, and all axis are used equally for turning to, and is successively referred to as the 4th from front to back
Axis, the 5th axis and the 6th axis, the 6th axis left side wheel corner δ6lRange be -42 °≤δ6l≤ 47 °, the 6th axis right side wheels turn
Angle δ6rRange be -47 °≤δ6r≤ 42 °, and the hard-over proportionate relationship of the 4th axis, the 5th axis and six-axle car wheel is as follows:
Left side wheel hard-over proportionate relationship:
δ4l:δ5l:δ6l=1:1.2:1.4；
Right side wheels hard-over proportionate relationship:
δ4r:δ5r:δ6r=1:1.25:1.45；
Wherein, δilIt (i=4,5,6) is the i-th axis left side wheel corner, δir(i=4,5,6) turn for the i-th axis right side wheels
Angle；
The trailer unit can be extended to any number of axle, and all axis are used equally for turning to；
The rear-wheel corner computing module, according to tractor unit front axle tire steering angle and built-in corner calculation formula
It calculates in real time, obtains ideal trailer tire corner δideal；
The scene monitoring modular is mainly made of multiple sensors, vehicle week environment when real-time monitoring is turned；
The multi-mode switching module is divided into economy steering pattern, mobility steering pattern and safe sexual deviation mould
Formula；
The steering execution module includes cue module, warning module and execution module.
The tractor front axle tire steering angle includes left side wheel corner and right side wheels corner, respectively by revolver
Rotary angle transmitter and right wheel rotary angle transmitter obtain, and revolver rotary angle transmitter is mounted on left side wheel horizontal symmetrical face, and
And be located at apart from 0.1 × D on the inside of left side wheel and at 0.25 × D of wheel center line, right wheel rotary angle transmitter is mounted on the right side
On the wheel horizontal symmetrical face of side, and it is located at apart from 0.1 × D on the inside of right side wheels and at 0.25 × D of wheel center line,
Middle D is wheel diameter；
The revolver rotary angle transmitter and right wheel rotary angle transmitter is respectively two, and the type of two sensors is not
Together, it can mutually be corrected when both working normally, improve angle measurement accuracy, when one of sensor failure,
It can also guarantee the measurement of angle, two sensors are symmetrical about wheel center line, and clipping room is away from for 0.5 × D；
The ideal trailer tire corner δidealSo that the wheel of tractor unit and the wheel of trailer unit are around same
Point is turned to, and all steering tires carry out pure rolling, can significantly mitigate tire wear；
The ideal trailer tire corner δidealCalculated result stored by special reservoir, in other modules
It can be called at any time when use.
The built-in corner calculation formula is divided into left-hand bend operating condition and right-hand bend operating condition, and the invention is with optimum embodiment three
Axis semitrailer is not considered as being limited the specific number of axle of trailer unit as explanation；
The left-hand bend operating condition trailer tire corner calculation formula is as follows:
As ψ < 0:
In formula, ψ is splice angle, δil,δirRespectively i-th (i=1,4,5,6) axis left and right side wheel steering angle, Bf,BrRespectively
For tractor unit Wheel centre distance and trailer unit Wheel centre distance, LiDistance for the i-th (i=1,4,5,6) axis to hinge joint, a
For turning center to the distance of tractor unit longitudinal centre line, b is throwing of the turning center in tractor unit longitudinal centre line
Shadow is to the distance of hinge joint, and c is distance of the turning center to hinge joint, and θ is in the line and steering of turning center and hinge joint
Angle between the heart and the vertical line of trailer unit longitudinal centre line；
As ψ > 0:
The case where a in formula, b, c is according to when ψ < 0, is calculated；
The right-hand bend operating condition trailer tire corner calculation formula is as follows:
As ψ > 0:
As ψ < 0:
The case where a in formula, b, c is according to when ψ > 0, is calculated.
The scene monitoring modular utilizes multi-sensor monitoring week vehicle environment, determines that ambient enviroment is no vehicle or has
Vehicle；
The multisensor includes but is not limited to camera, millimetre-wave radar, laser radar, ultrasonic sensor, sonar,
Wherein sensor uses one such or a variety of, to achieve the purpose that monitor all vehicle environment；
The sensor is separately mounted to tractor unit outer surface and trailer unit outer surface, tractor unit front end
Three sensors are installed, two of them sensor is mounted on above driver's cabin vehicle window, the two asymmetric distribution, left sensor f1
For camera, it is located at 0.1 × E on the left of tractor unit, right sensor f2For laser radar, it is located at apart from tractor list
At 0.2 × E of first right side, wherein E is tractor unit width, another sensor f3For millimetre-wave radar, it is vertical to be mounted on vehicle body
To on the plane of symmetry, and apart from driver's cabin vehicle window 0.2 × H of lower edge1Locate, wherein H1For tractor unit height, a tractor unit left side
One sensor f is installed right two sides respectively4,f5, it is located at away from 0.6 × F of tractor unit front end, and apart from tractor unit vehicle
Push up 0.5 × H1Place, wherein F is tractor unit length, and a sensor r is installed in trailer unit rear end1, it is longitudinally right to be located at vehicle body
On title face, and apart from 0.4 × H of trailer unit roof2Locate, wherein H2For trailer unit height, the trailer unit left and right sides is pacified respectively
Two sensors are filled, two, left side sensor is r2,r3, two, right side sensor is r4,r5, it is located at apart from trailer list
At first 0.3 × G of front end and 0.3 × G of rear end, and 0.35 × H of height distance trailer unit roof2Place, wherein G is that trailer unit is long
Degree.
The multi-mode switching module transmitted according to scene monitoring modular vehicle week environment come switching working mode, work as vehicle
When all environment is no vehicles, multi-mode switching module switches to economy steering pattern, and when vehicle week environment, which is, vehicle, multi-mode is cut
Mold changing block switches to mobility steering pattern, and when sensor breaks down, multi-mode switching module switches to safe sexual deviation
Mode；
The economy steering pattern makes trailer according to practical trailer tire corner using economy as overriding concern target
δactualIt is turned to, to achieve the purpose that mitigate tire wear；
The practical trailer tire corner δactualCalculating acquisition is carried out by following formula:
δactual=μ δideal；
Wherein, μ is economy adjustment factor, δidealFor ideal trailer tire corner；
The economy adjustment factor μ is determined according to road conditions coefficient lambda, and road conditions coefficient lambda is determined according to pavement grade
Numerical value, pavement grade are divided into a1,a2,a3,a4Respectively represent that road conditions are good, road conditions are general, road conditions are poor and road conditions are severe, road conditions system
The physical relationship of number λ and pavement grade is as follows:
When pavement grade is in a1When:
λ=100；
When pavement grade is in a2When:
λ=75；
When pavement grade is in a3When:
λ=50；
When pavement grade is in a4When:
λ=25；
The economy adjustment factor μ and the physical relationship of road conditions coefficient lambda are as follows:
The mobility steering pattern is using mobility as overriding concern target, according to ideal trailer tire corner δideal、
It adjusts control rate K and predetermined time delay T and carries out trailer tire steering, so that trailer track accurately follows traction wheel paths,
To achieve the purpose that mobility；
The safety steering pattern is using safety as overriding concern target, when the sensor in scene monitoring modular goes out
When existing failure, out-of-alignment steering mechanism is locked according to the size of safety loading coefficient S；
The range of the safety loading coefficient S is 0≤S≤1, related with the number of sensor degradation and position, will be led
Draw vehicle unit front end sensors f1,f2,f3In damage number be denoted as J1, by the side sensor f of tractor unit4,f5With drag
The side sensor r of vehicle unit2,r3,r4,r5In damage number be denoted as J2, by end sensor r after trailer unit1Damage number
Mesh is denoted as J3, physical relationship is as follows:
Wherein, J1,J2,J3For integer, and value range is as follows:
0≤J1≤3,0≤J2≤6,0≤J3≤1；
The safety loading coefficient S is bigger, illustrates that influence of the failure of sensor for safety is smaller, locks not coaxial
The probability of steering mechanism is smaller, and safety loading coefficient S and the relationship of safety steering pattern are specific as follows:
As S=1, sensor is all worked normally, and safety steering pattern is closed；
As 0.8≤S < 1, safety steering pattern locks the steering mechanism of the second axis tire；
As 0.6≤S < 0.8, safety steering pattern locks the steering mechanism of second and third axis tire；
As 0.4≤S < 0.6, safety steering pattern lock second and third, the steering mechanism of four axis tires；
As 0.2≤S < 0.4, safety steering pattern lock second and third, the steering mechanism of four, five axis tires；
As 0≤S < 0.2, safety steering pattern lock second and third, the steering mechanism of four, five, six axis tires；
The economy steering pattern of the multi-mode switching module, mobility steering pattern and safety steering pattern
Proportion is determined by weight coefficient；
The weight coefficient includes economy steering pattern weight coefficient A, mobility steering pattern weight coefficient B and peace
Full sexual deviation pattern weight coefficient C, i.e. multi-mode switching module are as follows:
A × economy steering pattern+B × mobility steering pattern+C × safety steering pattern；
And have:
A+B+C=1；
The numerical values recited of wherein A, B, C are determined by road conditions and traffic environment；
In asphalt surface or the good road surface of cement pavement attachment coefficient, with economy steering pattern for main mould
Formula, mobility steering pattern are laid equal stress on safety steering pattern:
A=0.4, B=0.3, C=0.3；
When in ice and snow road or wet-skid road surface, it is contemplated that coefficient of road adhesion is minimum at this time, with safe sexual deviation mould
Formula is Main Patterns:
A+B≤0.5,C≥0.5；
In muddy road surface or backroad, using mobility steering pattern as Main Patterns, economy steering pattern with
Safety steering pattern is laid equal stress on:
A=0.3, B=0.4, C=0.3；
When mountain road when driving, with safety steering pattern be primary mode, the more economical property of mobility steering pattern
Steering pattern is more important:
A=0.2, B=0.3, C=0.5；
In congested traffic environment, using mobility steering pattern as overriding concern mode, safety steering pattern is relatively passed through
Sexual deviation mode of helping is more important:
A=0.15, B=0.6, C=0.25；
When in the good rotary island of traffic environment or bend, it is contemplated that angle of turn is larger at this time, is primary with economy
Consideration, safety and mobility are taken second place:
A=0.6, B=0.15, C=0.25；
When being in other situations, to guarantee safety as top priority:
A+B≤0.4,C≥0.6。
The operation interval of the cue module, warning module and execution module according to apart from curve traffic time t into
Row divides；
It is described apart from curve traffic time t according to apart from bend distance s, speed of operation v and traveling acceleration axIt carries out
It calculates, wherein being calculated apart from curve traffic time t by following formula:
When driving at a constant speed:
S=vt1；
Wherein, t1It is when driving at a constant speed apart from the curve traffic time；
When even acceleration or even Reduced Speed Now:
Wherein, t2Be even acceleration or when even Reduced Speed Now apart from the curve traffic time；
Other complicated travel situations:
Wherein, t3When being complicated driving cycle apart from curve traffic time, k1To drive at a constant speed weight coefficient, k2It is even
Acceleration or even Reduced Speed Now weight coefficient, k1,k2Size determined by the driving style of driver；
When driver is adult form driving style:
k1=0.5, k2=0.5；
When driver is radical type driving style:
k1=0.2, k2=0.8；
When driver is new hand-type driving style:
k1=0.7, k2=0.3；
In order to which the safety of traveling takes the minimum value of three time apart from curve traffic time t using conservative strategy, it may be assumed that
T=min (t1,t2,t3)；
Described is measured apart from bend distance s by the multisensor of scene monitoring modular；
The speed of operation v and traveling acceleration axIt is measured respectively by vehicle speed sensor and acceleration transducer；
The cue module is being greater than 0.5 × t to less than is playing a major role equal to the time between t, according to scene
Light flash in different colors or friendly language carry out driver to the information of monitoring modular and multi-mode switching module respectively
Prompt, for example, green light flashing represents around without vehicle, and voice broadcast " around without vehicle, please being turned with economy mode ", Huang
Lamp flashing has vehicle, and voice broadcast " around having vehicle, please turn with motor-driven sexual norm " around representing, and blinking red lamp, which represents, to be passed
Sensor breaks down, and system is according to the safety loading coefficient under safety steering pattern come the severity of Judging fault, serious journey
The brightness for spending different red lights is different, and the prompt " sensor minor failure, system remain to normally travel " that voice broadcast is different,
" sensor medium outage, system remain to run, but need to repair in time ", " sensor whole failure, please lock rear-axle steering machine
Structure ", when sensor whole failure, can also sound buzzing alarming in compartment, cause the strong interest of driver；
The warning module plays a major role in the time for being greater than 0.1 × t to less than being equal between 0.5 × t, works as driving
Member under prompt modes without operation when, into warning module, warning module prompt " will enter automatic turning mode ", and
Steering wheel and seat vibration are carried out, gives control unit for vehicle Servo Control power；
The execution module plays a major role in the time for being more than or equal to 0 × t to less than being equal between 0.1 × t, this mould
Block is the necessary module of vehicle turning, it can all work in any time of vehicle turning, is divided into manual mode, automatic mold
Formula and auxiliary mode, manual mode are manipulated by driver, and automatic mode is controlled by control unit, in cue module
When, driver is turned to by manual operation, in warning module, when driver is without turning to, by vehicle control list
Member carries out automatically controlling mode, when driver's intervention, and manual mode can be automatically switched to by automatic mode, auxiliary mode dress
There is intelligent force aid system, when in case of emergency, needing sharply steering wheel rotation, and the turning velocity of driver and steering force
When insufficient, intelligent force aid system according to the size and Orientation of driver's hand-power supplement a steering moment, allow the vehicle to and
When turn；
Manual mode, automatic mode and the auxiliary mode is determined its importance by execution module weight coefficient；
The execution module weight coefficient includes manual mode weight coefficient P, automatic mode weight coefficient Q and auxiliary mould
Formula weight coefficient R, i.e. execution module are as follows:
P × manual mode+Q × automatic mode+R × auxiliary mode；
And have:
P+Q+R=1；
Wherein, the numerical values recited of P, Q, R apart from curve traffic time t and driving conditions by determining；
When being located at t between at that time:
P=1, Q=0, R=0；
When being located between at that time more than or equal between 0.8 × t to less than t:
P=0.8, Q=0.1, R=0.1；
When being located between at that time more than or equal between 0.6 × t to less than 0.8 × t:
P=0.6, Q=0.25, R=0.15；
When being located between at that time more than or equal between 0.4 × t to less than 0.6 × t:
P=0.5, Q=0.3, R=0.2；
When being located between at that time more than or equal between 0.2 × t to less than 0.4 × t:
P=0.3, Q=0.4, R=0.3；
When being located between at that time greater than between 0 × t to less than 0.2 × t:
P=0.1, Q=0.6, R=0.3；
When being located at 0 × t between at that time:
P=0.05, Q=0.65, R=0.3；
When in case of emergency:
P=0.15, Q=0.05, R=0.8.
The mobility steering module is according to ideal trailer tire corner δidealWith adjusting control rate K, mobility is obtained
Trailer tire corner value controls trailer tire and turns to further according to predetermined time delay T；
The adjusting control rate K calibrates three-dimensional MAP chart according to different steering wheel angle and speed, is certainly not limited to
Steering wheel angle and speed can also include load, side acceleration, yaw velocity, side drift angle and splice angle；
The rule of the adjusting control rate K is specific as follows:
As speed v=5km/h:
K=7.743 × 10-8×δ2+2.472×10-4×δ+0.4046；
As speed v=10km/h:
K=2.369 × 10-8×δ2+3.073×10-4×δ+0.3742；
As speed v=15km/h:
K=-1.335 × 10-7×δ2+4.418×10-4×δ+0.3178；
As speed v=20km/h:
K=-1.595 × 10-7×δ2+4.601×10-4×δ+0.3042；
Wherein, δ is steering wheel angle, in the range of 45 °≤δ≤900 °；
The adjusting control rate K is adjusted in real time according to the size of trajectory error, so that trailer track and tractor
Track is overlapped.
The principle of the adjusting control rate K: K is adjusted come real-time perfoming according to the size of trajectory error, so that trailer rail
Mark and traction wheel paths are overlapped, and when trajectory error is greater than 0, increase K value, so that rail is worked as close to traction wheel paths in trailer track
When mark error is less than 0, reduce K value, make trailer track close to traction wheel paths, when the absolute value of trajectory error is less than e, it is believed that
Trailer track is overlapped with traction wheel paths, and wherein the calculation formula of e is as follows:
E=max (e1,e2)；
Wherein, e is trajectory error judgment criteria, e1For the first judgment criteria of trajectory error, δ1oFor first axle outboard wheels
Corner, e2For the second judgment criteria of trajectory error, δ6oFor the 6th axis outboard wheels corner.
The trajectory error refers to trailer track and draws the difference of wheel paths, can be traction wheel paths and subtracts trailer
Track is also possible to trailer track and subtracts traction wheel paths, and the present invention it is not considered that makes the present invention for the former
Limitation；
The traction wheel paths and trailer track are obtained by sensor, and wherein the form of sensor is unlimited；
There are two the traction wheel paths sensors, and it is longitudinally right with vehicle body to be installed in tractor unit vehicle body lower surface
In the intersection line of title face, and it is located at 0.1 × F of tractor unit front end and 0.2 × F；
There are two the trailer track sensors, is installed in trailer unit vehicle body lower surface and the longitudinally asymmetric face of vehicle body
In intersection line, and it is located at 0.05 × G of trailer unit rear end and 0.15 × G.
The predetermined time delay T is to the supplement for adjusting control rate K, and unit is the second, when corner is larger, is passed through
The adjusting for adjusting control rate K is turning to initial stage trajectory error still very greatly, this is referred to as into curved tail swing, in order to eliminate into curved tail
Pendulum can make trailer tire corner postpone some time compared with tractor front wheel angle, and the length of delay time T is by predetermined time delay
T calibration maps determine；
The predetermined time delay T is demarcated according to steering wheel angle and speed, when steering wheel angle and speed are in
Within the scope of the correspondence of predetermined time delay T calibration maps, predetermined time delay T works, so that dragging under mobility steering pattern
Wheel tire corner postpones corresponding predetermined time delay T, when steering wheel angle and speed not in this range, predetermined time delay
T does not work, and trailer tire corner is individually adjusted by adjusting control rate K；
The calibration condition of the predetermined time delay T can also include other vehicle parameters, such as load, lateral acceleration
Degree, yaw velocity, side drift angle and splice angle；
The specific rule of the predetermined time delay T is as follows:
As speed v=5km/h:
T=9.406 × 10-7×δ2-2.503×10-3×δ+4.787；
As speed v=10km/h:
T=9.406 × 10-7×δ2-2.503×10-3×δ+3.787；
As speed v=15km/h:
T=5.879 × 10-7×δ2-1.503×10-3×δ+2.671；
As speed v=20km/h:
T=2.205 × 10-7×δ2-8.492×10-4×δ+2.087；
Wherein, the range of δ is 360 °≤δ≤900 °.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
In required attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those of ordinary skill in the art, without any creative labor, it can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is commercial vehicle multi-axle steering control system figure；
Fig. 2 is tractor front axle tire rotary angle transmitter schematic view of the mounting position；
Fig. 3 is semitrailer left-hand bend schematic diagram；
Fig. 4 is semitrailer right-hand bend schematic diagram；
Fig. 5 is scene monitoring modular multiple sensor mounting positions schematic diagram；
Fig. 6 is mobility cornering mode flow diagram；
Fig. 7 is the three-dimensional MAP chart for adjusting control rate K；
Fig. 8 is the X-Y scheme for adjusting control rate K；
Fig. 9 is the logic chart for adjusting control rate K and eliminating trajectory error；
Figure 10 is the three-dimensional MAP chart of predetermined time delay T；
Figure 11 is the X-Y scheme of predetermined time delay T.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
It is as shown in Figure 1 commercial vehicle multi-axle steering control system figure provided in an embodiment of the present invention, the commercial vehicle is more
Axle steer control system is divided into rear-wheel corner computing module, scene monitoring modular, multi-mode switching module and turns to execution module；
The multi-axle steering control system is suitable for semitrailer, including tractor unit and trailer unit；
The tractor unit is triple axle, and wherein front axle is steering shaft, referred to as first axle, left side wheel corner δ1l's
Range is -40 °≤δ1l≤ 45 °, right side wheels corner δ1rRange be -45 °≤δ1r≤ 40 °, in addition two axis are drive shaft, from
Successively it is known as the second axis and third axis after forward direction, low-angle steering, and first axle, the second axis and third axis wheel can also be carried out
Hard-over proportionate relationship it is as follows:
Left side wheel hard-over proportionate relationship:
δ1l:δ2l:δ3l=6:1.5:1；
Right side wheels hard-over proportionate relationship:
δ1r:δ2r:δ3r=6.05:1.55:1；
Wherein, δilIt (i=1,2,3) is the i-th axis left side wheel corner, δir(i=1,2,3) turn for the i-th axis right side wheels
Angle；
The tractor unit can be extended to any number of axle, and all axis are used equally for turning to；
The trailer unit is triple axle, and all axis are used equally for turning to, and is successively referred to as the 4th from front to back
Axis, the 5th axis and the 6th axis, the 6th axis left side wheel corner δ6lRange be -42 °≤δ6l≤ 47 °, the 6th axis right side wheels turn
Angle δ6rRange be -47 °≤δ6r≤ 42 °, and the hard-over proportionate relationship of the 4th axis, the 5th axis and six-axle car wheel is as follows:
Left side wheel hard-over proportionate relationship:
δ4l:δ5l:δ6l=1:1.2:1.4；
Right side wheels hard-over proportionate relationship:
δ4r:δ5r:δ6r=1:1.25:1.45；
Wherein, δilIt (i=4,5,6) is the i-th axis left side wheel corner, δir(i=4,5,6) turn for the i-th axis right side wheels
Angle；
The trailer unit can be extended to any number of axle, and all axis are used equally for turning to；
The rear-wheel corner computing module, according to tractor unit front axle tire steering angle and built-in corner calculation formula
It calculates in real time, obtains ideal trailer tire corner δideal；
The scene monitoring modular is mainly made of multiple sensors, vehicle week environment when real-time monitoring is turned；
The multi-mode switching module is divided into economy steering pattern, mobility steering pattern and safe sexual deviation mould
Formula；
The steering execution module includes cue module, warning module and execution module.
The tractor front axle tire steering angle includes left side wheel corner and right side wheels corner, respectively by revolver
Rotary angle transmitter and right wheel rotary angle transmitter obtain；
It is illustrated in figure 2 tractor front axle tire rotary angle transmitter schematic view of the mounting position, in which: WLFor in left side wheel
Side, WRFor right side wheels inside, MHFor wheel horizontal symmetrical face, L is wheel center line, wl1,wl2For revolver rotary angle transmitter；
wr1,wr2For right wheel rotary angle transmitter；D is wheel diameter.
The revolver rotary angle transmitter is mounted on wheel horizontal symmetrical face MHOn, and be located on the inside of left side wheel
0.1 × D and at 0.25 × D of wheel center line, right wheel rotary angle transmitter is mounted on wheel horizontal symmetrical face MHOn, and position
In apart from 0.1 × D on the inside of right side wheels and at 0.25 × D of wheel center line；
The revolver rotary angle transmitter and right wheel rotary angle transmitter is respectively two, i.e. wl1,wl2And wr1,wr2, and two
The type of sensor is different, can mutually correct when both working normally, and angle measurement accuracy is improved, when one of them
When sensor failure, it can also be ensured that the measurement of angle, clipping room between two sensors is away from for 0.5 × D；
The ideal trailer tire corner δidealSo that the wheel of tractor unit and the wheel of trailer unit are around same
Point is turned to, and all steering tires carry out pure rolling, can significantly mitigate tire wear；
The ideal trailer tire corner δidealCalculated result stored by special reservoir, in other modules
It can be called at any time when use.
The built-in corner calculation formula is divided into left-hand bend operating condition and right-hand bend operating condition, and the invention is with optimum embodiment three
Axis semitrailer is not considered as being limited the specific number of axle of trailer unit as explanation；
It is illustrated in figure 3 semitrailer left-hand bend schematic diagram, in which: UFFor tractor unit, LFFor in tractor unit longitudinal direction
Heart line, URFor trailer unit, LRFor trailer unit longitudinal centre line, O is turning center, O1For front axle center, O2For hinge joint, ψ
For splice angle, δil,δirRespectively i-th (i=1,4,5,6) axis left and right side wheel steering angle, Bf,BrRespectively tractor unit vehicle
Take turns wheelspan and trailer unit Wheel centre distance, LiIt is the i-th (i=1,4,5,6) wheelbase from hinge joint O2Distance, a be turning center O
To tractor unit longitudinal centre line LFDistance, b be turning center O in tractor unit longitudinal centre line LFProject to hinge
Contact O2Distance, c be turning center O to hinge joint O2Distance, θ is turning center O and hinge joint O2Line and steering in
Heart O and trailer unit longitudinal centre line LRVertical line between angle；
In left-hand bend, tractor unit and trailer unit are turned to around same turning center, in order to formula
It is derived and is stated, vehicle axis system is carried out described below:
For tractor unit, with front axle center O1It is x with vehicle forward direction for origin1Axis positive direction, with a vehicle left side
Side is y1Axis direction, with vertical paper outward for z1Axis positive direction, steering angle is relative to z1Axis positive direction rotates counterclockwise to be positive,
Such as the ω in Fig. 31Direction rotates；
For trailer unit, with hinge joint O2It is x with vehicle forward direction for origin2Axis positive direction is with vehicle left side
y2Axis positive direction, with vertical paper outward for z2Axis positive direction, steering angle is relative to z2Axis positive direction rotates counterclockwise to be positive, such as
ω in Fig. 32Direction rotates；
When trailer unit rotates counterclockwise relative to tractor unit, splice angle ψ is positive；
It should be understood that described above be intended merely to explain the present invention, it is not intended to limit the present invention；
The left-hand bend operating condition trailer tire corner calculation formula is as follows:
As ψ < 0:
As ψ > 0:
The case where a in formula, b, c can be according to when ψ < 0, is calculated；
It is illustrated in figure 4 semitrailer right-hand bend schematic diagram, in which: UFFor tractor unit, LFFor in tractor unit longitudinal direction
Heart line, URFor trailer unit, LRFor trailer unit longitudinal centre line, O is turning center, O1For front axle center, O2For hinge joint, ψ
For splice angle, δil,δirRespectively i-th (i=1,4,5,6) axis left and right side wheel steering angle, Bf,BrRespectively tractor unit vehicle
Take turns wheelspan and trailer unit Wheel centre distance, LiIt is the i-th (i=1,4,5,6) wheelbase from hinge joint O2Distance, a be turning center O
To tractor unit longitudinal centre line LFDistance, b be turning center O in tractor unit longitudinal centre line LFProject to hinge
Contact O2Distance, c be turning center O to hinge joint O2Distance, θ is turning center O and hinge joint O2Line and steering in
Heart O and trailer unit longitudinal centre line LRVertical line between angle；
In right-hand bend, tractor unit and trailer unit are turned to around same turning center, in order to formula
It is derived and is stated, vehicle axis system is carried out described below:
For tractor unit, with front axle center O1It is x with vehicle forward direction for origin1Axis positive direction, with a vehicle left side
Side is y1Axis direction, with vertical paper outward for z1Axis positive direction, steering angle is relative to z1Axis positive direction rotates counterclockwise to be positive,
Such as the ω in Fig. 41Direction rotates；
For trailer unit, with hinge joint O2It is x with vehicle forward direction for origin2Axis positive direction is with vehicle left side
y2Axis positive direction, with vertical paper outward for z2Axis positive direction, steering angle is relative to z2Axis positive direction rotates counterclockwise to be positive, such as
ω in Fig. 42Direction rotates；
When trailer unit rotates counterclockwise relative to tractor unit, splice angle ψ is positive；
It should be understood that described above be intended merely to explain the present invention, it is not intended to limit the present invention；
The right-hand bend operating condition trailer tire corner calculation formula is as follows:
As ψ > 0:
As ψ < 0:
The case where a in formula, b, c can be according to when ψ > 0, is calculated.
The scene monitoring modular utilizes multi-sensor monitoring week vehicle environment, determines that ambient enviroment is no vehicle or has
Vehicle；
The multisensor includes but is not limited to camera, millimetre-wave radar, laser radar, ultrasonic sensor, sonar,
Wherein sensor can be used one such or a variety of, to achieve the purpose that monitor all vehicle environment；
It is illustrated in figure 5 the multiple sensor mounting positions schematic diagram of scene monitoring modular, in which: W is driver's cabin vehicle window, UF
For tractor unit, UFFFor tractor unit front end, UFTFor tractor unit roof, URFor trailer unit, URFFor trailer unit
Front end, URRFor trailer unit rear end, URTFor trailer unit roof, MVFor the longitudinally asymmetric face of vehicle body, f1,f2,f3For tractor unit
Front end sensors, f4For tractor unit left sensor, r1For end sensor after trailer unit, r2,r3For on the left of trailer unit
Sensor, E are tractor unit width, and F is tractor unit length, H1For tractor unit height, G is that trailer unit is long
Degree, H2For trailer unit height；
The multisensor is installed in tractor unit outer surface and trailer unit outer surface, tractor unit front end
UFFThree sensors are installed, two sensors are mounted on above driver's cabin vehicle window W, the two asymmetric distribution, left sensor f1
At 0.1 × E on the left of the tractor unit, right sensor f2At 0.2 × E on the right side of tractor unit, another
Sensor f3It is mounted on the longitudinally asymmetric face M of vehicle bodyVOn, and apart from driver's cabin vehicle window W 0.2 × H of lower edge1Place, tractor unit are left
One sensor f is installed right two sides respectively4,f5, it is located at away from 0.6 × F of tractor unit front end, and apart from tractor unit vehicle
Push up 0.5 × H1Place, trailer unit rear end URROne sensor r is installed1, it is located at the longitudinally asymmetric face M of vehicle bodyVOn, and apart from trailer list
First 0.4 × H of roof2Two sensors are installed in place, the trailer unit left and right sides respectively, and two, left side sensor is r2,r3, right side
Two sensors are r4,r5, it is located at 0.3 × G of 0.3 × G of trailer unit front end and rear end, and height distance trailer
0.35 × H of unit roof2Place.
It illustrates: f5It for tractor unit right sensor, is not marked in Fig. 5, with f4It is longitudinally asymmetric about vehicle body
Face MVIt is symmetrical, r4,r5It for trailer unit right sensor, is not also marked in Fig. 5, with r2,r3It is longitudinally right about vehicle body
Title face MVIt is symmetrical.
The multi-mode switching module transmitted according to scene monitoring modular vehicle week environment come switching working mode, work as vehicle
When all environment is no vehicles, multi-mode switching module switches to economy steering pattern, and when vehicle week environment, which is, vehicle, multi-mode is cut
Mold changing block switches to mobility steering pattern, and when sensor breaks down, multi-mode switching module switches to safe sexual deviation
Mode；
The economy steering pattern makes trailer according to practical trailer tire corner using economy as overriding concern target
δactualIt is turned to, to achieve the purpose that mitigate tire wear；
The practical trailer tire corner δactualCalculating acquisition is carried out by following formula:
δactual=μ δideal；
Wherein, μ is economy adjustment factor, δidealFor ideal trailer tire corner；
The economy adjustment factor μ is determined according to road conditions coefficient lambda, and road conditions coefficient lambda is determined according to pavement grade
Numerical value, pavement grade are divided into a1,a2,a3,a4Respectively represent that road conditions are good, road conditions are general, road conditions are poor and road conditions are severe, road conditions system
The physical relationship of number λ and pavement grade is as follows:
When pavement grade is in a1When:
λ=100；
When pavement grade is in a2When:
λ=75；
When pavement grade is in a3When:
λ=50；
When pavement grade is in a4When:
λ=25；
The economy adjustment factor μ and the physical relationship of road conditions coefficient lambda are as follows:
The mobility steering pattern is using mobility as overriding concern target, according to ideal trailer tire corner δideal、
It adjusts control rate K and predetermined time delay T and carries out trailer tire steering, so that trailer track accurately follows traction wheel paths,
To achieve the purpose that mobility；
The safety steering pattern is using safety as overriding concern target, when the sensor in scene monitoring modular goes out
When existing failure, out-of-alignment steering mechanism is locked according to the size of safety loading coefficient S；
The range of the safety loading coefficient S is 0≤S≤1, related with the number of sensor degradation and position, will be led
Draw vehicle unit front end sensors f1,f2,f3In damage number be denoted as J1, by the side sensor f of tractor unit4,f5With drag
The side sensor r of vehicle unit2,r3,r4,r5In damage number be denoted as J2, by end sensor r after trailer unit1Damage number
Mesh is denoted as J3, physical relationship is as follows:
Wherein, J1,J2,J3For integer, and value range is as follows:
0≤J1≤3,0≤J2≤6,0≤J3≤1；
The safety loading coefficient S is bigger, illustrates that influence of the failure of sensor for safety is smaller, locks not coaxial
The probability of steering mechanism is smaller, and safety loading coefficient S and the relationship of safety steering pattern are specific as follows:
As S=1, sensor is all worked normally, and safety steering pattern is closed；
As 0.8≤S < 1, safety steering pattern locks the steering mechanism of the second axis tire；
As 0.6≤S < 0.8, safety steering pattern locks the steering mechanism of second and third axis tire；
As 0.4≤S < 0.6, safety steering pattern lock second and third, the steering mechanism of four axis tires；
As 0.2≤S < 0.4, safety steering pattern lock second and third, the steering mechanism of four, five axis tires；
As 0≤S < 0.2, safety steering pattern lock second and third, the steering mechanism of four, five, six axis tires；
The economy steering pattern of the multi-mode switching module, mobility steering pattern and safety steering pattern
Proportion is determined by weight coefficient；
The weight coefficient includes economy steering pattern weight coefficient A, mobility steering pattern weight coefficient B and peace
Full sexual deviation pattern weight coefficient C, i.e. multi-mode switching module are as follows:
A × economy steering pattern+B × mobility steering pattern+C × safety steering pattern；
And have:
A+B+C=1；
The numerical values recited of wherein A, B, C are determined by road conditions and traffic environment；
In asphalt surface or the good road surface of cement pavement attachment coefficient, with economy steering pattern for main mould
Formula, mobility steering pattern are laid equal stress on safety steering pattern:
A=0.4, B=0.3, C=0.3；
When in ice and snow road or wet-skid road surface, it is contemplated that coefficient of road adhesion is minimum at this time, with safe sexual deviation mould
Formula is Main Patterns:
A+B≤0.5,C≥0.5；
In muddy road surface or backroad, using mobility steering pattern as Main Patterns, economy steering pattern with
Safety steering pattern is laid equal stress on:
A=0.3, B=0.4, C=0.3；
When mountain road when driving, with safety steering pattern be primary mode, the more economical property of mobility steering pattern
Steering pattern is more important:
A=0.2, B=0.3, C=0.5；
In congested traffic environment, using mobility steering pattern as overriding concern mode, safety steering pattern is relatively passed through
Sexual deviation mode of helping is more important:
A=0.15, B=0.6, C=0.25；
When in the good rotary island of traffic environment or bend, it is contemplated that angle of turn is larger at this time, is primary with economy
Consideration, safety and mobility are taken second place:
A=0.6, B=0.15, C=0.25；
When being in other situations, to guarantee safety as top priority:
A+B≤0.4,C≥0.6。
The operation interval of the cue module, warning module and execution module according to apart from curve traffic time t into
Row divides；
It is described apart from curve traffic time t according to apart from bend distance s, speed of operation v and traveling acceleration axIt carries out
It calculates, wherein being calculated apart from curve traffic time t by following formula:
When driving at a constant speed:
S=vt1；
Wherein, t1It is when driving at a constant speed apart from the curve traffic time；
When even acceleration or even Reduced Speed Now:
Wherein, t2Be even acceleration or when even Reduced Speed Now apart from the curve traffic time；
Other complicated travel situations:
Wherein, t3When being complicated driving cycle apart from curve traffic time, k1To drive at a constant speed weight coefficient, k2It is even
Acceleration or even Reduced Speed Now weight coefficient, k1,k2Size determined by the driving style of driver；
When driver is adult form driving style:
k1=0.5, k2=0.5；
When driver is radical type driving style:
k1=0.2, k2=0.8；
When driver is new hand-type driving style:
k1=0.7, k2=0.3；
In order to which the safety of traveling takes the minimum value of three time apart from curve traffic time t using conservative strategy, it may be assumed that
T=min (t1,t2,t3)；
Described is measured apart from bend distance s by the multisensor of scene monitoring modular；
The speed of operation v and traveling acceleration axIt is measured respectively by vehicle speed sensor and acceleration transducer；
The cue module is being greater than 0.5 × t to less than is playing a major role equal to the time between t, according to scene
Light flash in different colors or friendly language carry out driver to the information of monitoring modular and multi-mode switching module respectively
Prompt, for example, green light flashing represents around without vehicle, and voice broadcast " around without vehicle, please being turned with economy mode ", Huang
Lamp flashing has vehicle, and voice broadcast " around having vehicle, please turn with motor-driven sexual norm " around representing, and blinking red lamp, which represents, to be passed
Sensor breaks down, and system is according to the safety loading coefficient under safety steering pattern come the severity of Judging fault, serious journey
The brightness for spending different red lights is different, and the prompt " sensor minor failure, system remain to normally travel " that voice broadcast is different,
" sensor medium outage, system remain to run, but need to repair in time ", " sensor whole failure, please lock rear-axle steering machine
Structure ", when sensor whole failure, can also sound buzzing alarming in compartment, cause the strong interest of driver；
The warning module plays a major role in the time for being greater than 0.1 × t to less than being equal between 0.5 × t, works as driving
Member under prompt modes without operation when, into warning module, warning module prompt " will enter automatic turning mode ", and
Steering wheel and seat vibration are carried out, gives control unit for vehicle Servo Control power；
The execution module plays a major role in the time for being more than or equal to 0 × t to less than being equal between 0.1 × t, this mould
Block is the necessary module of vehicle turning, it can all work in any time of vehicle turning, is divided into manual mode, automatic mold
Formula and auxiliary mode, manual mode are manipulated by driver, and automatic mode is controlled by control unit, in cue module
When, driver is turned to by manual operation, in warning module, when driver is without turning to, by vehicle control list
Member carries out automatically controlling mode, when driver's intervention, and manual mode can be automatically switched to by automatic mode, auxiliary mode dress
There is intelligent force aid system, when in case of emergency, needing sharply steering wheel rotation, and the turning velocity of driver and steering force
When insufficient, intelligent force aid system according to the size and Orientation of driver's hand-power supplement a steering moment, allow the vehicle to and
When turn；
Manual mode, automatic mode and the auxiliary mode is determined its importance by execution module weight coefficient；
The execution module weight coefficient includes manual mode weight coefficient P, automatic mode weight coefficient Q and auxiliary mould
Formula weight coefficient R, i.e. execution module are as follows:
P × manual mode+Q × automatic mode+R × auxiliary mode；
And have:
P+Q+R=1；
Wherein, the numerical values recited of P, Q, R apart from curve traffic time t and driving conditions by determining；
When being located at t between at that time:
P=1, Q=0, R=0；
When being located between at that time more than or equal between 0.8 × t to less than t:
P=0.8, Q=0.1, R=0.1；
When being located between at that time more than or equal between 0.6 × t to less than 0.8 × t:
P=0.6, Q=0.25, R=0.15；
When being located between at that time more than or equal between 0.4 × t to less than 0.6 × t:
P=0.5, Q=0.3, R=0.2；
When being located between at that time more than or equal between 0.2 × t to less than 0.4 × t:
P=0.3, Q=0.4, R=0.3；
When being located between at that time greater than between 0 × t to less than 0.2 × t:
P=0.1, Q=0.6, R=0.3；
When being located at 0 × t between at that time:
P=0.05, Q=0.65, R=0.3；
When in case of emergency:
P=0.15, Q=0.05, R=0.8.
It is illustrated in figure 6 the flow chart of mobility steering pattern, according to ideal trailer tire corner δidealIt is controlled with adjusting
Rate K obtains mobility trailer tire corner value in real time, further according to predetermined time delay T, controls trailer tire and turns to, so that dragging
Wheel paths accurately follow traction wheel paths, to achieve the purpose that mobility.
It is illustrated in figure 7 the three-dimensional MAP chart that mobility adjusts control rate K, the adjusting control rate K is according to different sides
Three-dimensional MAP chart is calibrated to disk corner and speed, is certainly not limited to steering wheel angle and speed, can also include load, lateral
Acceleration, yaw velocity, side drift angle and splice angle；
It is illustrated in figure 8 the X-Y scheme that mobility adjusts control rate K, rule is specific as follows:
As speed v=5km/h:
K=7.743 × 10-8×δ2+2.472×10-4×δ+0.4046；
As speed v=10km/h:
K=2.369 × 10-8×δ2+3.073×10-4×δ+0.3742；
As speed v=15km/h:
K=-1.335 × 10-7×δ2+4.418×10-4×δ+0.3178；
As speed v=20km/h:
K=-1.595 × 10-7×δ2+4.601×10-4×δ+0.3042；
Wherein, δ is steering wheel angle, in the range of 45 °≤δ≤900 °；
The adjusting control rate K is adjusted according to the size of trajectory error come real-time perfoming, so that trailer track and traction
Wheel paths are overlapped.
If Fig. 9 is the logic chart for adjusting control rate K and eliminating trajectory error, the principle of the adjusting control rate K: according to rail
The size of mark error carrys out real-time perfoming adjustment K, so that trailer track and traction wheel paths are overlapped, when trajectory error is greater than 0, increases
Big K value, so that trailer track close to traction wheel paths, when trajectory error is less than 0, reduces K value, makes trailer track close to traction
Wheel paths, when the absolute value of trajectory error is less than e, it is believed that trailer track is overlapped with traction wheel paths, wherein the calculation formula of e
It is as follows:
E=max (e1,e2)；
Wherein, e is trajectory error judgment criteria, e1For the first judgment criteria of trajectory error, δ1oFor first axle outboard wheels
Corner, e2For the second judgment criteria of trajectory error, δ6oFor the 6th axis outboard wheels corner.
The trajectory error refers to trailer track and draws the difference of wheel paths, can be traction wheel paths and subtracts trailer
Track is also possible to trailer track and subtracts traction wheel paths, and the present invention it is not considered that makes the present invention for the former
Limitation；
The traction wheel paths and trailer track are obtained by sensor, and wherein the form of sensor is unlimited；
There are two the traction wheel paths sensors, and it is longitudinally right with vehicle body to be installed in tractor unit vehicle body lower surface
In the intersection line of title face, and it is located at 0.1 × F of tractor unit front end and 0.2 × F；
There are two the trailer track sensors, is installed in trailer unit vehicle body lower surface and the longitudinally asymmetric face of vehicle body
In intersection line, and it is located at 0.05 × G of trailer unit rear end and 0.15 × G.
Such as the three-dimensional MAP chart that Figure 10 is predetermined time delay T, the predetermined time delay T is to adjusting control rate K
Supplement, unit is the second, when corner is larger, through overregulating the adjusting of control rate K, is turning to initial stage trajectory error still very
Greatly, this is referred to as into curved tail swing, in order to eliminate into curved tail swing, trailer tire corner can be made to postpone compared with tractor front wheel angle several
The length of time, delay time T are determined by the three-dimensional MAP chart of predetermined time delay T；
The predetermined time delay T is demarcated according to steering wheel angle and speed, when steering wheel angle and speed are in
Within the scope of the correspondence of predetermined time delay T calibration maps, predetermined time delay T works, so that dragging under mobility steering pattern
Wheel tire corner postpones corresponding predetermined time delay T, when steering wheel angle and speed not in this range, predetermined time delay
T does not work, and trailer tire corner is individually adjusted by adjusting control rate K；
The calibration condition of the predetermined time delay T can also include other vehicle parameters, such as load, lateral acceleration
Degree, yaw velocity, side drift angle and splice angle；
It is specific regular as follows such as the X-Y scheme that Figure 11 is predetermined time delay T:
As speed v=5km/h:
T=9.406 × 10-7×δ2-2.503×10-3×δ+4.787；
As speed v=10km/h:
T=9.406 × 10-7×δ2-2.503×10-3×δ+3.787；
As speed v=15km/h:
T=5.879 × 10-7×δ2-1.503×10-3×δ+2.671；
As speed v=20km/h:
T=2.205 × 10-7×δ2-8.492×10-4×δ+2.087；
Wherein, the range of δ is 360 °≤δ≤900 °.
Claims (10)
1. a kind of multi-axle steering control system suitable for commercial vehicle, it is characterised in that:
Including rear-wheel corner computing module, scene monitoring modular, multi-mode switching module and turn to execution module；
The multi-axle steering control system is suitable for semitrailer, including tractor unit and trailer unit；
The tractor unit is triple axle, and wherein front axle is steering shaft, referred to as first axle, left side wheel corner δ1lRange
For -40 °≤δ1l≤ 45 °, right side wheels corner δ1rRange be -45 °≤δ1r≤ 40 °, in addition two axis are drive shaft, from forward direction
Successively it is known as the second axis and third axis afterwards, low-angle steering can also be carried out, and first axle, the second axis and third axis wheel are most
Big corner proportionate relationship is as follows:
Left side wheel hard-over proportionate relationship:
δ1l:δ2l:δ3l=6:1.5:1；
Right side wheels hard-over proportionate relationship:
δ1r:δ2r:δ3r=6.05:1.55:1；
Wherein, δilIt (i=1,2,3) is the i-th axis left side wheel corner, δirIt (i=1,2,3) is the i-th axis right side wheels corner；
The tractor unit can be extended to any number of axle, and all axis are used equally for turning to；
The trailer unit is triple axle, and all axis are used equally for turning to, and is successively referred to as the 4th axis, the from front to back
Five axis and the 6th axis, the 6th axis left side wheel corner δ6lRange be -42 °≤δ6l≤ 47 °, six-axle car wheel corner δ6rModel
It encloses for -47 °≤δ6r≤ 42 °, and the hard-over proportionate relationship of the 4th axis, the 5th axis and six-axle car wheel is as follows:
Left side wheel hard-over proportionate relationship:
δ4l:δ5l:δ6l=1:1.2:1.4；
Right side wheels hard-over proportionate relationship:
δ4r:δ5r:δ6r=1:1.25:1.45；
Wherein, δilIt (i=4,5,6) is the i-th axis left side wheel corner, δirIt (i=4,5,6) is the i-th axis right side wheels corner；
The trailer unit can be extended to any number of axle, and all axis are used equally for turning to；
The rear-wheel corner computing module, it is real-time according to tractor unit front axle tire steering angle and built-in corner calculation formula
It calculates, obtains ideal trailer tire corner δideal；
The scene monitoring modular is mainly made of multiple sensors, vehicle week environment when real-time monitoring is turned；
The multi-mode switching module is divided into economy steering pattern, mobility steering pattern and safety steering pattern；
The steering execution module includes cue module, warning module and execution module.
2. a kind of multi-axle steering control system suitable for commercial vehicle described in accordance with the claim 1, it is characterised in that:
The tractor front axle tire steering angle includes left side wheel corner and right side wheels corner, respectively by revolver corner
Sensor and right wheel rotary angle transmitter obtain, and revolver rotary angle transmitter is mounted on left side wheel horizontal symmetrical face, and position
In apart from 0.1 × D on the inside of left side wheel and at 0.25 × D of wheel center line, right wheel rotary angle transmitter is mounted on right side vehicle
It takes turns on horizontal symmetrical face, and is located at apart from 0.1 × D on the inside of right side wheels and at 0.25 × D of wheel center line, wherein D
For wheel diameter；
The revolver rotary angle transmitter and right wheel rotary angle transmitter is respectively two, and the type of two sensors is different,
It can mutually be corrected when both working normally, improve angle measurement accuracy and may be used also when one of sensor failure
To guarantee the measurement of angle, two sensors are symmetrical about wheel center line, and clipping room is away from for 0.5 × D；
The ideal trailer tire corner δidealSo that the wheel of tractor unit and the wheel of trailer unit are around same click-through
Row turns to, and all steering tires carry out pure rolling；
The ideal trailer tire corner δidealCalculated result stored by special reservoir, other modules use
When can call at any time.
3. a kind of multi-axle steering control system suitable for commercial vehicle described in accordance with the claim 1, it is characterised in that:
The built-in corner calculation formula is divided into left-hand bend operating condition and right-hand bend operating condition, and the invention is with three axis of optimum embodiment half
Trailer is not considered as being limited the specific number of axle of trailer unit as explanation；
The left-hand bend operating condition trailer tire corner calculation formula is as follows:
As ψ < 0:
In formula, ψ is splice angle, δil,δirRespectively i-th (i=1,4,5,6) axis left and right side wheel steering angle, Bf,BrRespectively lead
Draw vehicle unit Wheel centre distance and trailer unit Wheel centre distance, LiFor the distance of the i-th (i=1,4,5,6) axis to hinge joint, a is to turn
To center to the distance of tractor unit longitudinal centre line, b is turning center projecting in tractor unit longitudinal centre line
The distance of hinge joint, c are the distance that hinge joint is arrived in turning center, θ be turning center and hinge joint line and turning center and
Angle between the vertical line of trailer unit longitudinal centre line；
As ψ > 0:
The case where a in formula, b, c is according to when ψ < 0, is calculated；
The right-hand bend operating condition trailer tire corner calculation formula is as follows:
As ψ > 0:
As ψ < 0:
The case where a in formula, b, c is according to when ψ > 0, is calculated.
4. a kind of multi-axle steering control system suitable for commercial vehicle described in accordance with the claim 1, it is characterised in that:
The scene monitoring modular utilizes multi-sensor monitoring week vehicle environment, determines that ambient enviroment is no vehicle or has vehicle；
The multisensor includes but is not limited to camera, millimetre-wave radar, laser radar, ultrasonic sensor, sonar, wherein
Sensor is using one such or a variety of, to achieve the purpose that monitor all vehicle environment；
The sensor is separately mounted to tractor unit outer surface and trailer unit outer surface, the installation of tractor unit front end
Three sensors, two of them sensor are mounted on above driver's cabin vehicle window, the two asymmetric distribution, left sensor f1For phase
Machine is located at 0.1 × E on the left of tractor unit, right sensor f2For laser radar, it is located at apart from the tractor unit right side
At 0.2 × E of side, wherein E is tractor unit width, another sensor f3For millimetre-wave radar, it is longitudinally right to be mounted on vehicle body
On title face, and apart from driver's cabin vehicle window 0.2 × H of lower edge1Locate, wherein H1For tractor unit height, tractor unit or so two
One sensor f is installed side respectively4,f5, it is located at away from 0.6 × F of tractor unit front end, and apart from tractor unit roof 0.5
×H1Place, wherein F is tractor unit length, and a sensor r is installed in trailer unit rear end1, it is located at the longitudinally asymmetric face of vehicle body
On, and apart from 0.4 × H of trailer unit roof2Locate, wherein H2For trailer unit height, the trailer unit left and right sides installs two respectively
A sensor, two, left side sensor are r2,r3, two, right side sensor is r4,r5, it is located at before trailer unit
It holds at 0.3 × G and 0.3 × G of rear end, and 0.35 × H of height distance trailer unit roof2Place, wherein G is trailer unit length.
5. a kind of multi-axle steering control system suitable for commercial vehicle described in accordance with the claim 1, it is characterised in that:
The multi-mode switching module transmitted according to scene monitoring modular vehicle week environment come switching working mode, when vehicle chow ring
When no vehicle is in border, multi-mode switching module switches to economy steering pattern, and when vehicle week environment, which is, vehicle, multi-mode switches mould
Block switches to mobility steering pattern, and when sensor breaks down, multi-mode switching module switches to safety steering pattern；
The economy steering pattern makes trailer according to practical trailer tire corner using economy as overriding concern target
δactualIt is turned to, to achieve the purpose that mitigate tire wear；
The practical trailer tire corner δactualCalculating acquisition is carried out by following formula:
δactual=μ δideal；
Wherein, μ is economy adjustment factor, δidealFor ideal trailer tire corner；
The economy adjustment factor μ is determined according to road conditions coefficient lambda, and road conditions coefficient lambda determines numerical value according to pavement grade,
Pavement grade is divided into a1,a2,a3,a4Respectively represent that road conditions are good, road conditions are general, road conditions are poor and road conditions are severe, road conditions coefficient lambda with
The physical relationship of pavement grade is as follows:
When pavement grade is in a1When:
λ=100；
When pavement grade is in a2When:
λ=75；
When pavement grade is in a3When:
λ=50；
When pavement grade is in a4When:
λ=25；
The economy adjustment factor μ and the physical relationship of road conditions coefficient lambda are as follows:
The mobility steering pattern is using mobility as overriding concern target, according to ideal trailer tire corner δideal, adjust
Control rate K and predetermined time delay T carries out trailer tire steering, so that trailer track accurately follows traction wheel paths, to reach
To the purpose of mobility；
The safety steering pattern is using safety as overriding concern target, when event occurs in the sensor in scene monitoring modular
When barrier, out-of-alignment steering mechanism is locked according to the size of safety loading coefficient S；
The range of the safety loading coefficient S is 0≤S≤1, related with the number of sensor degradation and position, by tractor
Unit front end sensors f1,f2,f3In damage number be denoted as J1, by the side sensor f of tractor unit4,f5With trailer list
The side sensor r of member2,r3,r4,r5In damage number be denoted as J2, by end sensor r after trailer unit1Damage number note
For J3, physical relationship is as follows:
Wherein, J1,J2,J3For integer, and value range is as follows:
0≤J1≤3,0≤J2≤6,0≤J3≤1；
The safety loading coefficient S is bigger, illustrates that influence of the failure of sensor for safety is smaller, locks different axle steers
The probability of mechanism is smaller, and safety loading coefficient S and the relationship of safety steering pattern are specific as follows:
As S=1, sensor is all worked normally, and safety steering pattern is closed；
As 0.8≤S < 1, safety steering pattern locks the steering mechanism of the second axis tire；
As 0.6≤S < 0.8, safety steering pattern locks the steering mechanism of second and third axis tire；
As 0.4≤S < 0.6, safety steering pattern lock second and third, the steering mechanism of four axis tires；
As 0.2≤S < 0.4, safety steering pattern lock second and third, the steering mechanism of four, five axis tires；
As 0≤S < 0.2, safety steering pattern lock second and third, the steering mechanism of four, five, six axis tires；
The economy steering pattern of the multi-mode switching module, mobility steering pattern and safety steering pattern it is shared
Specific gravity is determined by weight coefficient；
The weight coefficient includes economy steering pattern weight coefficient A, mobility steering pattern weight coefficient B and safety
Steering pattern weight coefficient C, i.e. multi-mode switching module are as follows:
A × economy steering pattern+B × mobility steering pattern+C × safety steering pattern；
And have:
A+B+C=1；
The numerical values recited of wherein A, B, C are determined by road conditions and traffic environment；
In asphalt surface or the good road surface of cement pavement attachment coefficient, using economy steering pattern as Main Patterns, machine
Dynamic sexual deviation mode is laid equal stress on safety steering pattern:
A=0.4, B=0.3, C=0.3；
When in ice and snow road or wet-skid road surface, it is contemplated that coefficient of road adhesion is minimum at this time, is with safety steering pattern
Main Patterns:
A+B≤0.5,C≥0.5；
In muddy road surface or backroad, using mobility steering pattern as Main Patterns, economy steering pattern and safety
Sexual deviation mode is laid equal stress on:
A=0.3, B=0.4, C=0.3；
When mountain road when driving, with safety steering pattern be primary mode, the more economical sexual deviation of mobility steering pattern
Mode is more important:
A=0.2, B=0.3, C=0.5；
In congested traffic environment, using mobility steering pattern as overriding concern mode, the more economical property of safety steering pattern
Steering pattern is more important:
A=0.15, B=0.6, C=0.25；
When in the good rotary island of traffic environment or bend, it is contemplated that angle of turn is larger at this time, using economy as overriding concern
Factor, safety and mobility are taken second place:
A=0.6, B=0.15, C=0.25；
When being in other situations, to guarantee safety as top priority:
A+B≤0.4,C≥0.6。
6. a kind of multi-axle steering control system suitable for commercial vehicle described in accordance with the claim 1, it is characterised in that:
The operation interval of the cue module, warning module and execution module is drawn according to apart from curve traffic time t
Point；
It is described apart from curve traffic time t according to apart from bend distance s, speed of operation v and traveling acceleration axIt is calculated,
Wherein calculated apart from curve traffic time t by following formula:
When driving at a constant speed:
S=vt1；
Wherein, t1It is when driving at a constant speed apart from the curve traffic time；
When even acceleration or even Reduced Speed Now:
Wherein, t2Be even acceleration or when even Reduced Speed Now apart from the curve traffic time；
Other complicated travel situations:
Wherein, t3When being complicated driving cycle apart from curve traffic time, k1To drive at a constant speed weight coefficient, k2For even acceleration
Or even Reduced Speed Now weight coefficient, k1,k2Size determined by the driving style of driver；
When driver is adult form driving style:
k1=0.5, k2=0.5；
When driver is radical type driving style:
k1=0.2, k2=0.8；
When driver is new hand-type driving style:
k1=0.7, k2=0.3；
In order to which the safety of traveling takes the minimum value of three time apart from curve traffic time t using conservative strategy, it may be assumed that
T=min (t1,t2,t3)；
Described is measured apart from bend distance s by the multisensor of scene monitoring modular；
The speed of operation v and traveling acceleration axIt is measured respectively by vehicle speed sensor and acceleration transducer；
The cue module is being greater than 0.5 × t to less than is playing a major role equal to the time between t, is monitored according to scene
The information of module and multi-mode switching module light flash respectively in different colors or friendly language prompt driver,
For example green light flashing represents surrounding without vehicle, and voice broadcast " around without vehicle, please being turned with economy mode ", amber light flash
There are vehicle, and voice broadcast " around having vehicle, please turn with motor-driven sexual norm " around representing, blinking red lamp representative sensor goes out
Existing failure, for system according to the safety loading coefficient under safety steering pattern come the severity of Judging fault, severity is different
The brightness of red light is different, and the prompt " sensor minor failure, system remain to normally travel " that voice broadcast is different, " sensor
Medium outage, system remain to run, but need to repair in time ", " sensor whole failure, rear-axle steering mechanism please be lock ", when
When sensor whole failure, can also sound buzzing alarming in compartment, cause the strong interest of driver；
The warning module plays a major role in the time for being greater than 0.1 × t to less than being equal between 0.5 × t, when driver exists
When under prompt modes without operation, into warning module, warning module prompts " will enter automatic turning mode ", and carries out
Steering wheel and seat vibration give control unit for vehicle Servo Control power；
The execution module plays a major role in the time for being more than or equal to 0 × t to less than being equal between 0.1 × t, this module is
The necessary module of vehicle turning, it can all work in any time of vehicle turning, be divided into manual mode, automatic mode and
Auxiliary mode, manual mode are manipulated by driver, and automatic mode is controlled by control unit, in cue module, are driven
The person of sailing is turned to by manual operation, in warning module, when driver is without turning to, is carried out by control unit for vehicle
Automatic control mode when driver's intervention, and can be automatically switched to manual mode by automatic mode, and auxiliary mode is equipped with intelligence
Force aid system, when in case of emergency, needing sharply steering wheel rotation, and the turning velocity of driver and steering force are insufficient
When, intelligent force aid system supplements a steering moment according to the size and Orientation of driver's hand-power, allows the vehicle to turn in time
It is curved；
Manual mode, automatic mode and the auxiliary mode is determined its importance by execution module weight coefficient；
The execution module weight coefficient includes manual mode weight coefficient P, automatic mode weight coefficient Q and auxiliary mode power
Weight coefficients R, i.e. execution module are as follows:
P × manual mode+Q × automatic mode+R × auxiliary mode；
And have:
P+Q+R=1；
Wherein, the numerical values recited of P, Q, R apart from curve traffic time t and driving conditions by determining；
When being located at t between at that time:
P=1, Q=0, R=0；
When being located between at that time more than or equal between 0.8 × t to less than t:
P=0.8, Q=0.1, R=0.1；
When being located between at that time more than or equal between 0.6 × t to less than 0.8 × t:
P=0.6, Q=0.25, R=0.15；
When being located between at that time more than or equal between 0.4 × t to less than 0.6 × t:
P=0.5, Q=0.3, R=0.2；
When being located between at that time more than or equal between 0.2 × t to less than 0.4 × t:
P=0.3, Q=0.4, R=0.3；
When being located between at that time greater than between 0 × t to less than 0.2 × t:
P=0.1, Q=0.6, R=0.3；
When being located at 0 × t between at that time:
P=0.05, Q=0.65, R=0.3；
When in case of emergency:
P=0.15, Q=0.05, R=0.8.
7. a kind of multi-axle steering control system suitable for commercial vehicle described in accordance with the claim 1, it is characterised in that:
The mobility steering module is according to ideal trailer tire corner δidealWith adjusting control rate K, mobility trailer is obtained
Tire corner value controls trailer tire and turns to further according to predetermined time delay T；
The adjusting control rate K calibrates three-dimensional MAP chart according to different steering wheel angle and speed, is certainly not limited to direction
Disk corner and speed can also include load, side acceleration, yaw velocity, side drift angle and splice angle；
The rule of the adjusting control rate K is specific as follows:
As speed v=5km/h:
K=7.743 × 10-8×δ2+2.472×10-4×δ+0.4046；
As speed v=10km/h:
K=2.369 × 10-8×δ2+3.073×10-4×δ+0.3742；
As speed v=15km/h:
K=-1.335 × 10-7×δ2+4.418×10-4×δ+0.3178；
As speed v=20km/h:
K=-1.595 × 10-7×δ2+4.601×10-4×δ+0.3042；
Wherein, δ is steering wheel angle, in the range of 45 °≤δ≤900 °；
The adjusting control rate K is adjusted in real time according to the size of trajectory error, so that trailer track and traction wheel paths
It is overlapped.
8. a kind of multi-axle steering control system suitable for commercial vehicle according to claim 7, it is characterised in that:
The principle of the adjusting control rate K: according to the size of trajectory error come real-time perfoming adjust K so that trailer track and
It draws wheel paths to be overlapped, when trajectory error is greater than 0, increases K value, so that the close traction wheel paths in trailer track, when track is missed
When difference is less than 0, reduce K value, makes trailer track close to traction wheel paths, when the absolute value of trajectory error is less than e, it is believed that trailer
Track is overlapped with traction wheel paths, and wherein the calculation formula of e is as follows:
E=max (e1,e2)；
Wherein, e is trajectory error judgment criteria, e1For the first judgment criteria of trajectory error, δ1oFor first axle outboard wheels corner,
e2For the second judgment criteria of trajectory error, δ6oFor the 6th axis outboard wheels corner.
9. a kind of multi-axle steering control system suitable for commercial vehicle according to claim 7, it is characterised in that:
The trajectory error refers to trailer track and draws the difference of wheel paths, can be traction wheel paths and subtracts trailer rail
Mark is also possible to trailer track and subtracts traction wheel paths, and the present invention it is not considered that does rising limit to the present invention for the former
System；
The traction wheel paths and trailer track are obtained by sensor, and wherein the form of sensor is unlimited；
There are two the traction wheel paths sensors, is installed in tractor unit vehicle body lower surface and the longitudinally asymmetric face of vehicle body
In intersection line, and it is located at 0.1 × F of tractor unit front end and 0.2 × F；
There are two the trailer track sensors, is installed in trailer unit vehicle body lower surface and crosses with the longitudinally asymmetric face of vehicle body
On line, and it is located at 0.05 × G of trailer unit rear end and 0.15 × G.
10. a kind of multi-axle steering control system suitable for commercial vehicle according to claim 7, it is characterised in that:
The predetermined time delay T is to the supplement for adjusting control rate K, and unit is the second, when corner is larger, through overregulating
The adjusting of control rate K is turning to initial stage trajectory error still very greatly, this is referred to as into curved tail swing, can in order to eliminate into curved tail swing
Trailer tire corner is set to postpone some time compared with tractor front wheel angle, the length of delay time T is demarcated by predetermined time delay T
Figure determines；
The predetermined time delay T is demarcated according to steering wheel angle and speed, when steering wheel angle and speed are in default
Within the scope of the correspondence of delay time T calibration maps, predetermined time delay T works, so that the trailer wheels under mobility steering pattern
Tire corner postpones corresponding predetermined time delay T, when steering wheel angle and speed not in this range, predetermined time delay T is not
It works, trailer tire corner is individually adjusted by adjusting control rate K；
The calibration condition of the predetermined time delay T can also include other vehicle parameters, such as load, side acceleration, cross
Pivot angle speed, side drift angle and splice angle；
The specific rule of the predetermined time delay T is as follows:
As speed v=5km/h:
T=9.406 × 10-7×δ2-2.503×10-3×δ+4.787；
As speed v=10km/h:
T=9.406 × 10-7×δ2-2.503×10-3×δ+3.787；
As speed v=15km/h:
T=5.879 × 10-7×δ2-1.503×10-3×δ+2.671；
As speed v=20km/h:
T=2.205 × 10-7×δ2-8.492×10-4×δ+2.087；
Wherein, the range of δ is 360 °≤δ≤900 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910015686.4A CN109533021B (en) | 2019-01-08 | 2019-01-08 | Multi-axle steering control system suitable for commercial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910015686.4A CN109533021B (en) | 2019-01-08 | 2019-01-08 | Multi-axle steering control system suitable for commercial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109533021A true CN109533021A (en) | 2019-03-29 |
| CN109533021B CN109533021B (en) | 2023-08-01 |
Family
ID=65834510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910015686.4A Active CN109533021B (en) | 2019-01-08 | 2019-01-08 | Multi-axle steering control system suitable for commercial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109533021B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244731A (en) * | 2019-06-19 | 2019-09-17 | 西南交通大学 | A kind of three sections marshalling virtual rail train active tracking control method |
| CN111114528A (en) * | 2019-12-11 | 2020-05-08 | 中国航空工业集团公司洛阳电光设备研究所 | Multi-shaft steering driving method applied to independent suspension type four-wheel drive intelligent vehicle |
| CN112498482A (en) * | 2020-12-11 | 2021-03-16 | 航天科工智能机器人有限责任公司 | Six-wheel independent steering chassis and steering method |
| CN112947474A (en) * | 2021-03-22 | 2021-06-11 | 中国第一汽车股份有限公司 | Method and device for adjusting transverse control parameters of automatic driving vehicle |
| CN112977610A (en) * | 2019-12-16 | 2021-06-18 | 现代自动车株式会社 | Rear wheel steering control method and system for cargo trailer |
| CN113715906A (en) * | 2021-09-01 | 2021-11-30 | 三一汽车起重机械有限公司 | Steering monitoring method and system of multi-axis steering crane and crane |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006005124A1 (en) * | 2004-07-13 | 2006-01-19 | Gene Kostecki | Multiaxle vehicle with steerable rear wheels |
| US20070216134A1 (en) * | 2006-02-10 | 2007-09-20 | Padula Santo A | Trailer steering system for a tractor/trailer combination |
| DE102009017831A1 (en) * | 2009-04-20 | 2010-10-21 | Claas Selbstfahrende Erntemaschinen Gmbh | Corrected forced steering for steered trailers / semi-trailers on multi-axle articulated agricultural or forestry towing vehicles |
| CN106599470A (en) * | 2016-12-15 | 2017-04-26 | 武汉理工大学 | All-wheel steering analytical algorithm for large three-axle semitrailer |
| CN209382078U (en) * | 2019-01-08 | 2019-09-13 | 吉林大学 | A kind of multi-axle steering control system suitable for semitrailer |
-
2019
- 2019-01-08 CN CN201910015686.4A patent/CN109533021B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006005124A1 (en) * | 2004-07-13 | 2006-01-19 | Gene Kostecki | Multiaxle vehicle with steerable rear wheels |
| US20070216134A1 (en) * | 2006-02-10 | 2007-09-20 | Padula Santo A | Trailer steering system for a tractor/trailer combination |
| DE102009017831A1 (en) * | 2009-04-20 | 2010-10-21 | Claas Selbstfahrende Erntemaschinen Gmbh | Corrected forced steering for steered trailers / semi-trailers on multi-axle articulated agricultural or forestry towing vehicles |
| CN106599470A (en) * | 2016-12-15 | 2017-04-26 | 武汉理工大学 | All-wheel steering analytical algorithm for large three-axle semitrailer |
| CN209382078U (en) * | 2019-01-08 | 2019-09-13 | 吉林大学 | A kind of multi-axle steering control system suitable for semitrailer |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244731A (en) * | 2019-06-19 | 2019-09-17 | 西南交通大学 | A kind of three sections marshalling virtual rail train active tracking control method |
| CN110244731B (en) * | 2019-06-19 | 2021-06-08 | 西南交通大学 | Active tracking control method for three-section marshalling virtual rail train |
| CN111114528A (en) * | 2019-12-11 | 2020-05-08 | 中国航空工业集团公司洛阳电光设备研究所 | Multi-shaft steering driving method applied to independent suspension type four-wheel drive intelligent vehicle |
| CN112977610A (en) * | 2019-12-16 | 2021-06-18 | 现代自动车株式会社 | Rear wheel steering control method and system for cargo trailer |
| CN112498482A (en) * | 2020-12-11 | 2021-03-16 | 航天科工智能机器人有限责任公司 | Six-wheel independent steering chassis and steering method |
| CN112947474A (en) * | 2021-03-22 | 2021-06-11 | 中国第一汽车股份有限公司 | Method and device for adjusting transverse control parameters of automatic driving vehicle |
| CN113715906A (en) * | 2021-09-01 | 2021-11-30 | 三一汽车起重机械有限公司 | Steering monitoring method and system of multi-axis steering crane and crane |
| CN113715906B (en) * | 2021-09-01 | 2022-05-27 | 三一汽车起重机械有限公司 | Steering monitoring method and system of multi-axis steering crane and crane |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109533021B (en) | 2023-08-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209382078U (en) | A kind of multi-axle steering control system suitable for semitrailer | |
| CN109533021A (en) | A kind of multi-axle steering control system suitable for commercial vehicle | |
| US11650603B2 (en) | Detecting general road weather conditions | |
| US10899350B2 (en) | Vehicle handling system and method | |
| CN101959738B (en) | Vehicle control apparatus | |
| US9555801B2 (en) | Active steering safety system | |
| CN103935265B (en) | A kind of vehicle body stabilizing control system of electric automobile | |
| US10940851B2 (en) | Determining wheel slippage on self driving vehicle | |
| CN103661599B (en) | A kind of turn inside diameter trajectory predictions system and method | |
| CN208477372U (en) | A kind of automated driving system | |
| CN104192144B (en) | A kind of automobile actively crashproof bend false-alarm removing method | |
| JP2020510252A (en) | How to deform long vehicle assemblies and platoons while driving | |
| US11235742B2 (en) | Vehicle handling system and method | |
| CN109270938B (en) | Mining car matrix formation control system | |
| CN106627582A (en) | Path planning system and method for overtaking vehicle on adjacent lane in single-lane automatic drive mode | |
| CN107010064A (en) | A kind of fleet's formation drive manner and system | |
| WO2019003295A1 (en) | Travel control system and vehicle control method | |
| CN105629968B (en) | A kind of self- steering control method of trackless self- steering truck combination | |
| CN114162123B (en) | Automatic in-line running vehicle system and control method | |
| CN105549584A (en) | Self-steering tracking operation train | |
| CN108437987A (en) | A kind of method and system preventing deviation | |
| US20230322220A1 (en) | Predictive traction assist for vehicles in platooning operations | |
| CN107963120A (en) | A kind of rubber tire low-floor intelligent track train automatic steering control method | |
| CN218949172U (en) | Automatic driving system of bus | |
| CN114407902B (en) | Driving decision system based on road water layer depth estimation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |