CN111114528A - Multi-shaft steering driving method applied to independent suspension type four-wheel drive intelligent vehicle - Google Patents
Multi-shaft steering driving method applied to independent suspension type four-wheel drive intelligent vehicle Download PDFInfo
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- CN111114528A CN111114528A CN201911268447.6A CN201911268447A CN111114528A CN 111114528 A CN111114528 A CN 111114528A CN 201911268447 A CN201911268447 A CN 201911268447A CN 111114528 A CN111114528 A CN 111114528A
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- wheel
- slip rate
- intelligent vehicle
- steering
- suspension type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
Abstract
The invention provides a multi-axle steering driving method applied to an independent suspension type four-wheel drive intelligent vehicle, wherein in the process of unmanned driving, whether four-wheel differential steering is suitable for being adopted is judged by detecting the slip rate of wheels, the turning mode is automatically selected, the change condition of the slip rate is continuously monitored in the turning process, the slip rate is compared with a safety point, and if the slip rate is close to the safety point, the speed of the vehicle is reduced or the turning angle is reduced simultaneously according to the running condition of the intelligent vehicle and the road surface passing condition, so that the slip rate is controlled within the safety range, the running safety of the intelligent vehicle is ensured, the turning flexibility is improved to the maximum extent, and the driving performance of the intelligent vehicle is exerted to the maximum extent.
Description
Technical Field
The invention relates to a multi-axis steering driving algorithm applied to an independent suspension type four-wheel drive intelligent vehicle, and belongs to the field of intelligent vehicle motion control.
Background
At present, the steering strategies of a four-wheel drive intelligent vehicle in high-speed driving are divided into two types: firstly, the four-wheel differential steering mode is fixedly used, the speed of the intelligent vehicle is reduced before the intelligent vehicle enters a bend, and the running safety of the intelligent vehicle is ensured; and the other is that the steering mode is selected according to the vehicle speed, the four-wheel differential steering is selected at low speed, and the front-wheel differential steering is selected at high speed. The first mode obviously loses the driving performance of the intelligent vehicle in the turning process; the drawback of the second approach is that a uniform speed threshold is used without taking into account differences in road adhesion from one road surface to another. If the speed threshold is set to be high, on certain roads with low adhesive force, even if the low-speed condition is met, the running safety of the intelligent vehicle cannot be completely ensured during four-wheel differential steering; if the speed threshold is too low, the flexibility of turning can be greatly lost on the road surface with good adhesive force.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a multi-axle steering driving method applied to an independent suspension type four-turn four-drive intelligent vehicle.
The technical scheme of the invention is as follows:
the multi-axle steering driving method applied to the independent suspension type four-wheel drive intelligent vehicle is characterized in that: the method comprises the following steps:
step 1: the method comprises the steps that an independent suspension type four-turn four-wheel-drive intelligent vehicle is adopted to test running on different adhesive force road surfaces, the vehicle speed, the wheel rotating speed and the wheel steering angle are collected, and the sliding rates of the independent suspension type four-turn four-wheel-drive intelligent vehicle under different vehicle running speeds and different steering angles in the running process of the independent suspension type four-turn four-wheel-drive intelligent vehicle on different adhesive force road surfaces are calculated, so that a database is established; analyzing according to a database to obtain a slip rate critical point and a slip rate safety point for steering mode conversion;
step 2: in the actual operation process of the independent suspension type four-wheel-drive intelligent vehicle, a four-wheel differential steering mode is adopted as an initial steering mode, the vehicle speed, the wheel rotating speed and the steering angle are measured in real time in the driving process, the slip rate is calculated, if the slip rate is lower than a slip rate critical point, the four-wheel differential steering mode is maintained, and if the slip rate reaches the slip rate critical point, a front-wheel differential steering mode is adopted; when the slip rate reaches the slip rate safety point, the slip rate is controlled within the safety point by adopting a mode of reducing the vehicle speed and reducing the turning angle or independently reducing the vehicle speed according to the running condition of the intelligent vehicle and the road surface passing condition.
In a further preferred embodiment, the slip ratio critical point is 0.18, and the slip ratio safety point is 0.25.
According to a further preferred scheme, the vehicle speed is accurately measured through a high-precision satellite positioning and inertial navigation combination carried by an intelligent vehicle, and the rotating speed and the steering motor position of a wheel driving motor are accurately measured through a motor encoder, so that the high-precision wheel rotating speed and the steering angle are obtained.
In a further preferred scheme, the slip ratio in step 1 and step 2 adopts four-wheel average slip ratio.
Advantageous effects
The multi-shaft steering driving method applied to the independent suspension type four-wheel drive intelligent vehicle adopts the slip rate index which can reflect the operation condition of each wheel of the intelligent vehicle objectively as a judgment standard to select a turning mode, and can give consideration to flexibility, safety and driving performance to the maximum extent.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of a front wheel differential steering;
FIG. 2 is a schematic view of four-wheel differential steering.
Detailed Description
In the four-wheel drive intelligent vehicle, the steering control and the speed control of each wheel set are independent, the differential steering of front wheels can be realized, the differential steering of four wheels can also be realized, the steering radius of the differential steering of the four wheels is small, the four-wheel differential steering mode is more flexible, and the steering can be quickly completed. However, compared with the front wheel differential steering, the four wheel differential steering mode brings larger tire slip rate, the vehicle body is difficult to control due to the increased wheel slip rate, and the vehicle body is out of control in severe cases.
The invention judges whether the current road condition is suitable for adopting four-wheel differential steering by detecting the wheel slip rate, automatically selects the steering mode, and can give consideration to the flexibility, the safety and the driving performance to the maximum extent. The method specifically comprises the following steps:
step 1: adopting an independent suspension type four-turn four-wheel-drive intelligent vehicle to run on different adhesive force pavements for testing, collecting the vehicle speed, the rotating speed of each wheel and the steering angle of each wheel, calculating the slip rates of each wheel under different vehicle running speeds and different steering angles in the running process of the independent suspension type four-turn four-wheel-drive intelligent vehicle on different adhesive force pavements, and taking the average slip rate of four wheels as the vehicle slip rate, thereby establishing a relational database of the vehicle slip rate, the road adhesive force, the vehicle running speed and the steering angle; and obtaining a slip rate critical point and a slip rate safety point for steering mode conversion according to database analysis.
According to the invention, through analysis, when the vehicle slip ratio is lower than 0.18, the steering can be stably completed by front wheel steering and four-wheel steering, but when the vehicle slip ratio is higher than 0.18, if the four-wheel steering is adopted, the slip ratio can be rapidly increased, the steering angle has to be reduced and the vehicle speed has to be reduced in order to avoid accidents, and at the moment, the four-wheel steering is adopted, the steering efficiency is not improved, and the vehicle slip ratio value of 0.18 is a critical point for selecting a steering mode. In addition, the safety point of the vehicle slip rate is determined to be 0.25 according to data analysis, and accident risk is brought when the safety point is exceeded.
In the running process, the vehicle speed is accurately measured through a high-precision GPS + inertial navigation combination carried by the intelligent vehicle, the rotating speed of a wheel driving motor and the position of a steering motor are accurately measured through a motor encoder, the rotating speed and the steering angle of a wheel with higher precision are obtained, and the average slip rate of four wheels with higher precision is obtained.
Step 2: in the actual operation process of the independent suspension type four-wheel-drive intelligent vehicle, the initial steering mode adopts a four-wheel differential steering mode, the vehicle speed, the wheel rotating speed and the steering angle are measured in real time in the driving process, the vehicle slip rate is calculated, if the vehicle slip rate is lower than a slip rate critical point, the four-wheel differential steering mode is maintained, and if the slip rate reaches the slip rate critical point, a front-wheel differential steering mode is adopted; when the slip rate reaches the slip rate safety point, the slip rate is controlled within the safety point by adopting a mode of reducing the vehicle speed and reducing the turning angle or independently reducing the vehicle speed according to the running condition of the intelligent vehicle and the road surface passing condition.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (4)
1. A multi-shaft steering driving method applied to an independent suspension type four-wheel drive intelligent vehicle is characterized in that: the method comprises the following steps:
step 1: the method comprises the steps that an independent suspension type four-turn four-wheel-drive intelligent vehicle is adopted to test running on different adhesive force road surfaces, the vehicle speed, the wheel rotating speed and the wheel steering angle are collected, and the sliding rates of the independent suspension type four-turn four-wheel-drive intelligent vehicle under different vehicle running speeds and different steering angles in the running process of the independent suspension type four-turn four-wheel-drive intelligent vehicle on different adhesive force road surfaces are calculated, so that a database is established; analyzing according to a database to obtain a slip rate critical point and a slip rate safety point for steering mode conversion;
step 2: in the actual operation process of the independent suspension type four-wheel-drive intelligent vehicle, a four-wheel differential steering mode is adopted as an initial steering mode, the vehicle speed, the wheel rotating speed and the steering angle are measured in real time in the driving process, the slip rate is calculated, if the slip rate is lower than a slip rate critical point, the four-wheel differential steering mode is maintained, and if the slip rate reaches the slip rate critical point, a front-wheel differential steering mode is adopted; when the slip rate reaches the slip rate safety point, the slip rate is controlled within the safety point by adopting a mode of reducing the vehicle speed and reducing the turning angle or independently reducing the vehicle speed according to the running condition of the intelligent vehicle and the road surface passing condition.
2. The multi-axle steering driving method applied to the independent suspension type four-wheel drive intelligent vehicle according to claim 1, wherein the method comprises the following steps: the slip ratio critical point was 0.18, and the slip ratio safety point was 0.25.
3. The multi-axle steering driving method applied to the independent suspension type four-wheel drive intelligent vehicle according to claim 2, wherein the driving method comprises the following steps: the vehicle speed is accurately measured through a high-precision satellite positioning and inertial navigation combination carried by an intelligent vehicle, and the rotating speed and the steering motor position of a wheel driving motor are accurately measured through a motor encoder, so that the high-precision wheel rotating speed and the steering angle are obtained.
4. The multi-axle steering driving method applied to the independent suspension type four-wheel drive intelligent vehicle according to claim 3, wherein the driving method comprises the following steps: the slip ratio in the step 1 and the step 2 adopts four-wheel average slip ratio.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911268447.6A CN111114528A (en) | 2019-12-11 | 2019-12-11 | Multi-shaft steering driving method applied to independent suspension type four-wheel drive intelligent vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911268447.6A CN111114528A (en) | 2019-12-11 | 2019-12-11 | Multi-shaft steering driving method applied to independent suspension type four-wheel drive intelligent vehicle |
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| CN111114528A true CN111114528A (en) | 2020-05-08 |
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| CN201911268447.6A Pending CN111114528A (en) | 2019-12-11 | 2019-12-11 | Multi-shaft steering driving method applied to independent suspension type four-wheel drive intelligent vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147894A (en) * | 2021-05-12 | 2021-07-23 | 中国第一汽车股份有限公司 | Method for improving low-speed maneuverability of automobile |
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2019
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147894A (en) * | 2021-05-12 | 2021-07-23 | 中国第一汽车股份有限公司 | Method for improving low-speed maneuverability of automobile |
| CN113147894B (en) * | 2021-05-12 | 2022-11-25 | 中国第一汽车股份有限公司 | Method for improving low-speed maneuverability of automobile |
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Application publication date: 20200508 |