CN114572306B - Method and equipment for calculating vehicle understeer gradient during same-direction steering of rear wheels - Google Patents
Method and equipment for calculating vehicle understeer gradient during same-direction steering of rear wheels Download PDFInfo
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- CN114572306B CN114572306B CN202210179118.XA CN202210179118A CN114572306B CN 114572306 B CN114572306 B CN 114572306B CN 202210179118 A CN202210179118 A CN 202210179118A CN 114572306 B CN114572306 B CN 114572306B
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- 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
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- 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
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- 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 aims to provide a method and equipment for calculating the gradient of the understeer of a vehicle during the same-direction steering of a rear wheel, and the method for calculating the turning radius of the vehicle with the same-direction steering of the rear wheel is used for calculating, so that the variation of the gradient of the understeer is further deduced through the variation of the turning radius. The method can evaluate the influence of matching rear wheel steering on the stability performance of the whole vehicle in the early development stage based on the understeer gradient of the vehicle obtained through calculation, thereby avoiding risks earlier.
Description
Technical Field
The invention relates to a method and equipment for calculating a vehicle understeer gradient during the same-direction steering of a rear wheel.
Background
The steering stability of a vehicle is directly related to the driving safety of the vehicle, which includes the directional stability, wherein, among three turning characteristics of the vehicle: in neutral steering, understeer and oversteer, neutral steering corresponds to an ideal turning characteristic, i.e. the vehicle is steered at the angle given by the driver without shifting. However, neutral steering is difficult to achieve, and most of the actual steering is understeer and oversteer; understeer may be understood as an offset to the outside of an ideal turning circle; oversteer is an inboard offset.
In the actual turning process, if understeer occurs, the driver can correct the understeer by continuing to rotate the steering wheel, so that the problem is not great; when oversteer occurs, normal running is difficult to recover by turning the steering wheel, and particularly, stability is easy to lose during high-speed running, so that the automobile is dangerous.
When the automobile turns at high speed (such as doubling, sharp turning and the like), the automobile is easy to turn excessively, so that the automobile is unstable, at the moment, the rear wheel generates a corner which is in the same direction as the front wheel, the oversteer can be weakened, and the safety of the automobile is improved.
The application of rear wheel steering technology in the market is gradually increased at present, so that the steering angle of the rear wheel is the same as that of the front wheel during high-speed running, the steering stability and the safety of the automobile are improved, and the steering deficiency gradient in the dynamic performance of the automobile is influenced to different degrees.
When the vehicle is driven at a high speed, the steering condition is led to, and the balance of the vehicle is maintained by the fact that the rear wheels generate a turning angle which is in the same direction as the front wheels to compensate the oversteer trend. At the moment, the corresponding understeer gradient is increased, but no effective method is available at present for calculating the influence of the rear wheel steering system on the understeer gradient of the whole vehicle.
Disclosure of Invention
The invention provides a method and equipment for calculating a vehicle understeer gradient when a rear wheel is steered in the same direction.
The invention provides a method for calculating a vehicle understeer gradient when a rear wheel is steered in the same direction, wherein the method comprises the following steps:
determining the turning radius of the front wheel of the vehicle when the vehicle turns in the same direction without the rear wheel based on the turning angle of the front wheel and the size parameter of the front wheel;
acquiring a rear wheel turning angle of the vehicle, and determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction with the rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheels;
and determining the understeer gradient of the vehicle when the rear wheels are in the same direction based on the front wheel turning radius of the vehicle when the rear wheels are in the same direction.
Further, in the method, determining a front wheel turning radius of the vehicle without rear wheels when the vehicle turns in the same direction based on the turning angle of the front wheels and the size parameter of the front wheels comprises:
the dimensional parameters of the front wheel include: a tread between a front inner wheel of the front wheels and a front outer wheel of the front wheels and a tire width of a vehicle;
the rotation angle of the front wheel is the rotation angle of the front inner wheel in the front wheel or the rotation angle of the front outer wheel in the front wheel;
and determining the front wheel turning radius of the vehicle without the rear wheel steering in the same direction based on the wheel distance between the front inner wheel and the front outer wheel, the tire width of the vehicle and the turning angle of the front inner wheel or based on the wheel distance between the front inner wheel and the front outer wheel, the tire width of the vehicle and the turning angle of the front outer wheel.
Further, in the above method, determining a front wheel turning radius of the vehicle without rear wheels for the same-direction steering based on a wheel span between the front inner wheel and the front outer wheel, a tire width of the vehicle, and a turning angle of the front inner wheel, or based on a wheel span between the front inner wheel and the front outer wheel, a tire width of the vehicle, and a turning angle of the front outer wheel, includes:
calculating the distance from the turning circle center of the vehicle to the midpoint of the rear axle of the vehicle body based on the wheel distance between the front inner wheel and the front outer wheel, the rotation angle of the front inner wheel and the wheel base of the vehicle;
calculating the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle based on the distance from the turning circle center of the vehicle to the middle point of the rear axle of the vehicle body and the wheel distance between the front inner wheel and the front outer wheel;
calculating the distance from the turning circle center to the axle center of the front outer wheel based on the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle and the axle distance of the vehicle;
and calculating the front wheel turning radius of the vehicle without the rear wheel in the same-direction steering, wherein the front wheel turning radius of the vehicle without the rear wheel in the same-direction steering is the distance from the turning center to the outer side of the front outer wheel based on the distance from the turning center to the axle center of the front outer wheel of the vehicle and the tire width of the vehicle.
Further, in the above method, calculating the distance from the turning center of the vehicle to the midpoint of the rear axle of the vehicle body based on the wheel base between the front inner wheel and the front outer wheel, the rotation angle of the front inner wheel, and the wheel base of the vehicle includes:
calculating the distance from the turning circle center O of the vehicle to the midpoint of the rear axle of the vehicle body based on the following formula
：
Wherein, the liquid crystal display device comprises a liquid crystal display device,Tfor the tread between the front inner wheel and the front outer wheel,Lthe front inner wheel has a rotation angle of
。
Further, in the above method, calculating the distance from the turning center to the axle center of the rear outer wheel of the vehicle based on the distance from the turning center to the midpoint of the rear axle of the vehicle body and the wheel distance between the front inner wheel and the front outer wheel includes:
according to the following formula, calculateThe center of the turning circleODistance to rear outer wheel axle of vehicle
：
Further, in the above method, calculating the distance from the turning center to the front outer wheel axle center based on the distance from the turning center to the rear outer wheel axle center of the vehicle and the axle distance of the vehicle includes:
based on the following formula, the distance from the turning circle center to the front outer wheel axle center is calculated
：
Further, in the above method, calculating the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheel based on the distance from the turning center to the front outer wheel axle center and the tire width of the vehicle includes:
calculating the front wheel turning radius of the vehicle under the same-direction steering without the rear wheels based on the following formula
：
Wherein, the liquid crystal display device comprises a liquid crystal display device,wis the tire width of the vehicle.
Further, in the above method, the step of obtaining the rear wheel turning angle of the vehicle, and determining the front wheel turning radius of the vehicle when the vehicle turns in the same direction with the rear wheel based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheel, includes:
based on the included angle between the connecting line of the axle center of the front outer wheel of the vehicle and the turning circle center and the rear wheel axle of the vehicle
Rear wheel steering angle of vehicle->
And distance of turning circle center to outside of rear outer wheel of vehicle +.>
Calculation assisting lineXIs the length of the auxiliary line->
The length of the auxiliary point is the distance between the turning circle center and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the turning circle center as an origin and is parallel to the axis of the vehicle, and the included angle between the connecting line between the auxiliary point and the axis of the rear outer wheel of the vehicle and the rear wheel shaft of the vehicle is the rear wheel turning angle of the vehicle>
；
Based on auxiliary lines
Calculating the amount of increased turning radiusZ；
Based on increased turning radiusZAnd determining a front wheel turning radius of the vehicle when the rear wheels are not in the same direction steering.
Further, in the method, the angle between the connecting line of the axle center of the front outer wheel of the vehicle and the turning circle center and the rear wheel axle of the vehicle is based on
Rear wheel steering angle of vehicle->
And distance of turning circle center to outside of rear outer wheel of vehicle +.>
Calculation assisting lineXIs the length of the auxiliary lineXThe length of the auxiliary point is the distance between the turning circle center and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the turning circle center as an origin and is parallel to the axis of the vehicle, and the included angle between the connecting line between the auxiliary point and the axis of the rear outer wheel of the vehicle and the rear wheel shaft of the vehicle is the rear wheel turning angle of the vehicle>
Comprising:
based on the following formula, calculate auxiliary lineXLength of (2):
based on the following formula, calculateYLength of (2):
further, in the above method, the auxiliary line is based onXCalculating the amount of increased turning radiusZComprising:
calculating the increased turning radius according to the following formulaZ：
Further, in the above method, the steering amount is increased based on the increased turning radiusZAnd determining a front wheel turning radius of the vehicle with and without rear wheel co-steering, comprising:
determining a front wheel turning radius of the vehicle when the rear wheels turn in the same direction based on the following formula:
further, in the above method, determining the understeer gradient of the vehicle when the rear wheels are steered in the same direction based on the front wheel turning radius of the vehicle when the rear wheels are steered in the same direction, includes:
determining an understeer gradient of the vehicle without rear wheels steering in the same direction based on the following formula
：
Wherein, the liquid crystal display device comprises a liquid crystal display device,
steering wheel angle gradient for a vehicle without rear wheels steering in the same direction;SRis the steering ratio of the vehicle;vis the running speed of the vehicle;Lis the wheelbase of the vehicle.
Determining the steering wheel angle gradient when the rear wheel is in the same direction steering based on the following formula
：
Determining an understeer gradient of the vehicle when the rear wheels are steered in the same direction based on the following formula
：
According to another aspect of the present invention there is also provided a computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method of any one of the above.
According to another aspect of the present invention there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any of the preceding claims.
The method for calculating the turning radius of the front wheel of the vehicle with the rear wheel steering in the same direction is used for calculating the turning radius of the front wheel of the vehicle, so that the change amount of the understeer gradient is further deduced through the change of the turning radius. The method can evaluate the influence of matching rear wheel steering on the stability performance of the whole vehicle in the early development stage based on the understeer gradient of the vehicle obtained through calculation, thereby avoiding risks earlier.
In addition, the invention determines the front wheel turning radius of the vehicle without the rear wheel turning in the same direction based on the turning angle of the front wheels and the size parameters of the front wheels of the vehicle; the method and the device for calculating the front wheel turning radius of the vehicle can be used for calculating the front wheel turning radius of the vehicle after the front wheel turning is fused with the rear wheel turning under the condition that actual measurement is not executed by determining the front wheel turning radius of the vehicle during the same-direction steering with the rear wheel based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle during the same-direction steering without the rear wheel.
Drawings
FIG. 1 illustrates a flow chart of a method of calculating a vehicle understeer gradient with rear wheels in a co-directional steer in accordance with an embodiment of the present invention;
FIG. 2 illustrates a schematic view of a wheel over-bend condition without rear wheel steer in the same direction in accordance with an embodiment of the present invention;
FIG. 3 illustrates a schematic view of a vehicle curve with co-steering of the rear wheels in accordance with an embodiment of the present invention;
FIG. 4 shows a schematic diagram of a simplified triangle model of an embodiment of the present invention;
fig. 5 shows a schematic diagram of a mathematical model of the front wheel turning radius of a vehicle with rear wheel steering in Excel according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
In one typical configuration of the present application, the terminal, the device of the service network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer readable media, as defined herein, does not include non-transitory computer readable media (transmission media), such as modulated data signals and carrier waves.
As shown in fig. 1, the present invention provides a method of calculating a vehicle understeer gradient when a rear wheel is steered in the same direction, the method comprising:
step S1, determining the turning radius of the front wheel of the vehicle when the vehicle turns in the same direction without the rear wheel based on the turning angle of the front wheel and the size parameter of the front wheel;
step S2, acquiring a rear wheel turning angle of the vehicle, and determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction with the rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheels;
and S3, determining the understeer gradient of the vehicle when the rear wheels are in the same direction steering based on the front wheel steering radius of the vehicle when the rear wheels are in the same direction steering.
The invention provides a method for calculating the understeer gradient of a vehicle based on the same-direction steering of rear wheels, which further deduces the change amount of the understeer gradient through the change of the turning radius by calculating the turning radius calculation method of the vehicle with the same-direction steering of the rear wheels. The method can evaluate the influence of matching rear wheel steering on the stability performance of the whole vehicle in the early development stage based on the understeer gradient of the vehicle obtained through calculation, thereby avoiding risks earlier.
In addition, the invention determines the front wheel turning radius of the vehicle without the rear wheel turning in the same direction based on the turning angle of the front wheels and the size parameters of the front wheels of the vehicle; the method and the device for calculating the front wheel turning radius of the vehicle can be used for calculating the front wheel turning radius of the vehicle after the front wheel turning is fused with the rear wheel turning under the condition that actual measurement is not executed by determining the front wheel turning radius of the vehicle during the same-direction steering with the rear wheel based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle during the same-direction steering without the rear wheel.
In an embodiment of the method for calculating a vehicle understeer gradient when the vehicle turns in the same direction with the rear wheels, step S1 of determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheels based on a turning angle of the front wheels and a size parameter of the front wheels comprises:
step S11, the size parameters of the front wheel include: a tread between a front inner wheel of the front wheels and a front outer wheel of the front wheels and a tire width of a vehicle;
here, as shown in fig. 2 and 3, the front wheel of the vehicle includes: a front inner wheel and a front outer wheel, wherein the front inner wheel and the front outer wheel are closer to the turning circle center of the vehicleOThe front wheel of (2) is the front inner wheel, which is far away from the center of the turning circleOThe front wheel of the bicycle is a front outer wheel;
the rear wheel of the vehicle includes: the wheel distance between the front inner wheel and the front outer wheel is equal to the wheel distance between the rear inner wheel and the rear outer wheel;
step S12, the rotation angle of the front wheel is the rotation angle of the front inner wheel in the front wheel or the rotation angle of the front outer wheel in the front wheel;
and step S13, determining the front wheel turning radius of the vehicle without the rear wheel steering in the same direction based on the wheel distance between the front inner wheel and the front outer wheel and the turning angle of the front inner wheel or based on the wheel distance between the front inner wheel and the front outer wheel and the turning angle of the front outer wheel.
Here, the present embodiment can accurately determine the front wheel turning radius of the vehicle without the rear wheel turning in the same direction by the wheel span between the front inner wheel and the front outer wheel, the tire width of the vehicle, and the turning angle of the front inner wheel, or based on the wheel span between the front inner wheel and the front outer wheel, the tire width of the vehicle, and the turning angle of the front outer wheel.
In an embodiment of the method for calculating a gradient of understeer of a vehicle in a same direction as a steering wheel without a rear wheel, step S13 of determining a turning radius of the front wheel of the vehicle in the same direction as the steering wheel without the rear wheel based on a wheel span between the front inner wheel and the front outer wheel and a turning angle of the front inner wheel or based on a wheel span between the front inner wheel and the front outer wheel and a turning angle of the front outer wheel includes:
step S131, calculating the distance from the turning circle center of the vehicle to the middle point of the rear axle of the vehicle body based on the wheel distance between the front inner wheel and the front outer wheel, the rotation angle of the front inner wheel and the wheel base of the vehicle;
step S132, calculating the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle based on the distance from the turning circle center of the vehicle to the middle point of the rear axle of the vehicle body and the wheel distance between the front inner wheel and the front outer wheel;
step S133, calculating the distance from the turning circle center to the axle center of the front outer wheel based on the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle and the axle distance of the vehicle;
step S134, calculating a front wheel turning radius of the vehicle without the rear wheel steering in the same direction, based on the distance from the turning center to the axis of the front outer wheel and the tire width of the vehicle, wherein the front wheel turning radius of the vehicle without the rear wheel steering in the same direction is the distance from the turning center to the outer side of the front outer wheel.
Here, in the present embodiment, the front wheel turning radius of the vehicle when the vehicle is steered in the same direction without the rear wheel can be accurately calculated by based on the distance from the turning center to the front outer wheel axis and the tire width of the vehicle.
As shown in fig. 2, in an embodiment of the method for calculating a vehicle understeer gradient when the rear wheels are steered in the same direction, step S131, calculating a distance from a turning center of a vehicle to a midpoint of a rear axle of the vehicle based on a wheel base between the front inner wheel and the front outer wheel, a turning angle of the front inner wheel, and a wheel base of the vehicle, includes:
calculating the turning circle center of the vehicle based on the following formulaODistance to midpoint of rear axle of vehicle body
：
Wherein, the liquid crystal display device comprises a liquid crystal display device,T（Track，T) For the tread between the front inner wheel and the front outer wheel,L（Wheelbase，L) As the wheelbase of the vehicle,
is the corner of the front inner wheel.
In one embodiment of the method for calculating the understeer gradient of the vehicle when the vehicle turns in the same direction with the rear wheel, step S132, based on the distance from the turning center of the vehicle to the midpoint of the rear axle of the vehicle body and the wheel distance between the front inner wheel and the front outer wheel, calculates the distance from the turning center of the vehicle to the axle center of the rear outer wheel of the vehicle, comprises:
according to the following formula, the distance from the turning circle center O to the axis of the rear outer wheel of the vehicle is calculated
：
The wheel overbending condition without the same direction steering of the rear wheel is shown in figure 2, and the distance from the turning circle center O to the midpoint of the rear axle of the vehicle body
It can be calculated as: />
It is possible to further obtain:
further, the front inner wheel has a corner of
The rotation angle of the front outer wheel is +.>
. Because of the ackerman geometry of the front axle of the vehicle during steering, there is a difference between the angles of rotation when the inner and outer wheels are over-bent, i.e. the inner wheel angle is greater than the outer wheel angle, but the calculation method in the invention only uses the front inner wheel angle as input.
The embodiment can accurately calculate the turning circle center of the vehicle through a calculation formulaODistance to midpoint of rear axle of vehicle body
。
As shown in fig. 2, in an embodiment of a method for calculating a vehicle understeer gradient when a rear wheel turns in the same direction, step S133, calculating a distance from a turning center to an axle center of a front outer wheel based on the distance from the turning center to the axle center of the rear outer wheel of the vehicle and an axle distance of the vehicle, includes:
calculating the turning circle center based on the following formulaODistance to the axis of the front outer wheel
：
Here, the center of the curveODistance to the axis of the front outer wheel
The calculation can be performed by:
the embodiment can reliably calculate the turning circle center through a calculation formulaODistance to axle center of front outer wheel of vehicle
。
In an embodiment of the method for calculating a front wheel turning radius of a vehicle with a rear wheel turning in the same direction, S134, calculating a front wheel turning radius of the vehicle without the rear wheel turning in the same direction based on a distance from the turning center to an axle center of a front outer wheel and a tire width of the vehicle, includes:
calculating the front wheel turning radius of the vehicle without rear wheel in the same direction steering based on the following formula
：
Wherein the method comprises the steps ofw(Type Width) is the tire Width of the vehicle.
Front wheel turning radius of vehicle without rear wheel steering
The calculation can be performed by:
the embodiment can reliably calculate the front wheel turning radius of the vehicle without the rear wheel in the same-direction steering through a calculation formula
。
In an embodiment of the method for calculating a gradient of understeer of a vehicle in a same direction steering with rear wheels, step S2 of obtaining a rear wheel turning angle of the vehicle, determining a front wheel turning radius of the vehicle in the same direction steering with rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle in the same direction steering without rear wheels, includes:
step S21, based on the included angle between the connecting line of the axle center of the front outer wheel of the vehicle and the turning circle center and the rear wheel axle of the vehicle
Rear wheel steering angle of vehicle->
And distance of turning circle center to rear outer wheel axle center of vehicle +.>
Calculation assisting lineXAs shown in FIG. 4, the auxiliary lineXIs the length of the circle center of the turning to the longitudinal axisThe distance between the auxiliary points, the transverse axis is the rear wheel axle of the vehicle, the longitudinal axis is an axis which takes the turning circle center as the origin and is parallel to the axis of the vehicle, and the included angle between the connecting line between the auxiliary points and the rear outer wheel axle of the vehicle and the rear wheel axle of the vehicle is the rear wheel turning angle of the vehicle>
；
Step S22, based on auxiliary lineXCalculating the amount of increased turning radiusZ；
Step S23, based on the increased turning radiusZAnd determining a front wheel turning radius of the vehicle when the rear wheels are not in the same direction steering.
The auxiliary point can be defined as the position where the foot hangs down, namely the auxiliary point, when the center of the turning circle of the vehicle without the rear wheel steering in the same direction is perpendicular to the intersection line of the axis of the rear outer wheel of the vehicle and the center of the turning circle of the vehicle with the rear wheel steering in the same direction. By using the position of the auxiliary point and utilizing the geometric relationship, the increased turning radius is effectively calculatedZ。
Here, the present embodiment relates the front wheel turning radius of the vehicle without the rear wheel in the same direction to the increased turning radius amount by means of the auxiliary point and the auxiliary line, and obtains the front wheel turning radius of the vehicle with the rear wheel in the same direction.
In one embodiment of the method for calculating the understeer gradient of the vehicle during the same-direction steering with the rear wheel, step S21 is based on the included angle between the connecting line of the axle center of the front outer wheel of the vehicle and the turning circle center and the rear wheel axle of the vehicle
Rear wheel steering angle of vehicle->
And distance of turning circle center to rear outer wheel axle center of vehicle +.>
Calculation assisting lineXIs the length of the auxiliary lineXThe length of the auxiliary point is the distance between the turning circle center and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the turning circle center as an origin and is parallel to the axis of the vehicle, and the included angle between the connecting line between the auxiliary point and the axis of the rear outer wheel of the vehicle and the rear wheel shaft of the vehicle is the rear wheel turning angle of the vehicle>
。
Further, as with the front wheels, the rear axle of the vehicle is typically designed for the ackerman geometry as well, but since the steering angle is small with the rear wheels steered in the same direction, the steering angle difference between the rear inner wheel and the rear outer wheel is negligible.
Step S211, calculating an auxiliary line based on the following formulaXLength of (2):
step S212, calculating based on the similar triangle theorem and Pythagorean theoremYLength of (2):
here the number of the elements to be processed is,
is the included angle between the connecting line of the axle center of the front outer wheel of the vehicle and the turning circle center and the rear wheel axle of the vehicle,/or%>
For the rotation angle of the rear outer wheel or the rear inner wheel, theYIs the turning circle center of the vehicleOA vertical distance to a line between the auxiliary point and a rear outer wheel axle center of the vehicle.
The embodiment can effectively calculateYIs a length of (c).
In one embodiment of the method for calculating the understeer gradient of the vehicle with the rear wheels in the same direction steering according to the present invention, step S22 is based on the auxiliary lineXCalculating the amount of increased turning radiusZComprising:
from auxiliary linesXCalculated from the values of (2)YAccording to the trigonometric function, calculate the increased turning radiusZ：
The present embodiment can effectively calculate the amount of turning radius increased in the same-direction steering with the rear wheelsZFurther, the steering stability of the vehicle in high-speed driving is facilitated by increasing the front wheel turning radius in the same-direction steering of the rear wheels of the vehicle.
In an embodiment of the method for calculating a gradient of understeer of a vehicle in a same direction steering with rear wheels, step S23 of determining a front wheel turning radius of the vehicle in the same direction steering with rear wheels based on the increased turning radius Z and the front wheel turning radius of the vehicle in the same direction steering without rear wheels comprises:
determining a front wheel turning radius of the vehicle when steering in the same direction with the rear wheels based on the following formula calculation
：
The invention can effectively calculate the front wheel turning radius of the vehicle when the rear wheels are in the same direction steering
。
In one embodiment of the method for calculating the understeer gradient of the vehicle in the same direction as the rear wheel, step S3 of determining the understeer gradient of the vehicle in the same direction as the rear wheel based on the front wheel turning radius of the vehicle in the same direction as the rear wheel comprises the following steps:
step S31, determining the understeer gradient of the vehicle without the rear wheels steering in the same direction based on the following formula
：
Wherein, the liquid crystal display device comprises a liquid crystal display device,
steering wheel angle gradient for a vehicle without rear wheels steering in the same direction;SRis the steering ratio of the vehicle;vis the running speed of the vehicle;Lis the wheelbase of the vehicle.
The steering wheel angle gradient is a change rate, can be the curve slope of steering wheel angle and lateral acceleration, and can be correspondingly increased due to the action of rear wheel steering. As the turning diameter increases, the corresponding steering wheel angle gradient increases in equal proportion. The embodiment can accurately calculate the understeer gradient of the vehicle without the rear wheel steering in the same direction
。
Step S32, determining the steering wheel angle gradient when the rear wheel is in the same direction steering based on the following formula
：
Wherein, the liquid crystal display device comprises a liquid crystal display device,
is in the same direction without a rear wheelUndersteer gradient of steering +.>
As a percentage of the increased turning radius;
step S33, determining the understeer gradient of the vehicle when the rear wheels are steered in the same direction based on the following formula
：
The understeer gradient is a marker post index indicating the stability of the whole vehicle, the index represents the difference value of the slip angles of the front axle and the rear axle, the slip angle of the front axle is larger than the slip angle of the rear axle, and the vehicle is in understeer. The vehicle exhibits oversteer when the front axle slip angle is smaller than the rear axle slip angle. The understeer gradient is defined as the steering wheel angle gradient/steering ratio, which is a fixed value, and the steering wheel angle gradient increases in equal proportion as the turning diameter increases. Therefore, under the condition of high speed, after the steering of the matched rear wheels increases the turning diameter, the understeer gradient can be increased in a similar way, so that the stability of the vehicle is ensured. But the understeer gradient is also not suitable to be too large, resulting in excessive vehicle head pushing. Based on the above description, in the early design process, the vehicle stability performance can be rapidly judged by the method described in the present invention.
According to the embodiment, through calculation of the corner gradient of the steering wheel with the rear wheels steering in the same direction, the change amount of the understeer gradient caused by the change of the steering radius of the front wheels can be effectively inferred, and the influence of matching rear wheels on the stability performance of the whole vehicle can be evaluated in the early stage of development, so that risks are avoided earlier. As shown in fig. 4, a mathematical model of the front wheel turning radius of the vehicle with the rear wheel turning in the same direction, which is built in Excel based on the above calculation method, is shown. As shown in fig. 4, it is mainly divided into two parts, namely, data Input (Input Data) and Result Output (Output Result).
In the data input section, it is mainly divided into three modules (parameters, values and units), mainly including:
1) The inner wheel angle (Max Inner Steer Angle),
) Units: a deg;
2) The outer wheel corner (Max Outer Steer Angle,
) Units: a deg;
3) The rear wheel steering angle (Rear Axle Steer Angle,
) Units: a deg;
4) The Wheelbase (Wheelbase,L) Units: mm;
5) Track (Track,T) Units: mm;
6) The tire Width (type Width,w) Units: mm.
In the result output section, it is mainly divided into three modules (parameters, values and units), mainly including:
1) The distance from the midpoint of the rear axle of the vehicle body (Radius,
) Units: mm;
2) Turning Diameter without rear wheel steering in the same direction (Turn Diameter,
) Units: mm;
3) Center of turning circle of vehicleODistance to midpoint of rear axle of vehicle body
；
4) The angle between the line connecting the axle center of the front outer wheel of the vehicle and the turning center and the rear wheel axle of the vehicle (Alpha,
) Units: a deg;
5) Distance between center of turning circle and auxiliary point on longitudinal axisXUnits: mm;
6）Yunits: mm;
7) Increased turning radiusZUnits: mm;
8) Front wheel turning radius of vehicle with rear wheel turning in same direction
Units: mm.
Here, the front wheel turning radius of the vehicle at the time of the same-directional steering of the rear wheels can be effectively calculated through calculation of the actual data.
In the first three steps, a mathematical model for calculating the front wheel turning radius of the front wheel turning system (without the same steering of the rear wheels) of the vehicle and outputting the result are constructed as shown in fig. 1.
The mathematical model constructed in the first step and the second step requires the wheelbase, the wheel tread, the tire width and the corner of the front wheel of the vehicle as model input;
step three is an output layer, in the step, the radius from the turning circle center to the outer side of the rear outer wheel of the vehicle is used as the output of the step one and the step two, and as the front wheel turning radius of the vehicle without the rear wheel steering in the same direction is the distance from the turning circle center to the outer side of the front outer wheel, the front wheel turning radius of the vehicle without the rear wheel steering in the same direction can be obtained according to the distance from the turning circle center to the axle center of the front outer wheel and the tire width of the vehicle;
from step four to step five, constructing a system mathematical model with the rear wheel steering in the same direction based on a calculation method of the front wheel steering radius without the rear wheel steering in the same direction, and adding the rear wheel steering angle in the same direction as a new input;
in the sixth step, by making a vertical auxiliary line along the central axis of the rear outer wheel, the turning radius increased due to the turning of the same-direction rear wheel can be deduced according to the simplified triangle geometry;
step seven, realizing calculation of the turning radius of the front wheel of the vehicle with the rear wheel turning in the same direction;
and step eight, evaluating the influence of the gradient of the understeer of the whole vehicle according to the increased turning radius as a reference.
According to another aspect of the present invention, there is also provided a computing-based apparatus, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining the turning radius of the front wheel of the vehicle when the vehicle turns in the same direction without the rear wheel based on the turning angle of the front wheel and the size parameter of the front wheel;
acquiring a rear wheel turning angle of the vehicle, and determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction with the rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheels;
and determining the understeer gradient of the vehicle when the rear wheels are in the same direction based on the front wheel turning radius of the vehicle when the rear wheels are in the same direction.
According to another aspect of the present invention, there is also provided a computer-readable storage medium having stored thereon computer-executable instructions, wherein the computer-executable instructions, when executed by a processor, cause the processor to:
determining the turning radius of the front wheel of the vehicle when the vehicle turns in the same direction without the rear wheel based on the turning angle of the front wheel and the size parameter of the front wheel;
acquiring a rear wheel turning angle of the vehicle, and determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction with the rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheels;
and determining the understeer gradient of the vehicle when the rear wheels are in the same direction based on the front wheel turning radius of the vehicle when the rear wheels are in the same direction.
According to another aspect of the present invention there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, such that the apparatus is operable to comprise:
determining the turning radius of the front wheel of the vehicle when the vehicle turns in the same direction without the rear wheel based on the turning angle of the front wheel and the size parameter of the front wheel;
acquiring a rear wheel turning angle of the vehicle, and determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction with the rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheels;
and determining the understeer gradient of the vehicle when the rear wheels are in the same direction based on the front wheel turning radius of the vehicle when the rear wheels are in the same direction.
Details of each device embodiment of the present invention may be specifically referred to corresponding portions of each method embodiment, and will not be described herein.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the spirit or scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims and the equivalents thereof, the present application is intended to cover such modifications and variations.
It should be noted that the present invention may be implemented in software and/or a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to perform the steps or functions described above. Likewise, the software programs of the present invention (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
Furthermore, portions of the present invention may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present invention by way of operation of the computer. Program instructions for invoking the inventive methods may be stored in fixed or removable recording media and/or transmitted via a data stream in a broadcast or other signal bearing medium and/or stored within a working memory of a computer device operating according to the program instructions. An embodiment according to the invention comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to operate a method and/or a solution according to the embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (10)
1. A method for calculating a vehicle understeer gradient when steering in the same direction with a rear wheel, wherein the method comprises:
determining a front wheel turning radius R of a vehicle without rear wheels steering in the same direction based on the turning angle of the front wheels and the size parameters of the front wheels N ；
Acquiring a rear wheel turning angle of the vehicle, and determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction with the rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheels;
determining an understeer gradient of the vehicle when the rear wheels are steered in the same direction based on a front wheel steering radius of the vehicle when the rear wheels are steered in the same direction;
the acquiring the rear wheel turning angle of the vehicle, determining the front wheel turning radius of the vehicle in the same-direction steering with the rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle in the same-direction steering without the rear wheels, includes:
based on the included angle between the connecting line of the axle center of the front outer wheel and the turning circle center of the vehicle and the rear wheel axle of the vehicle
Rear wheel steering angle>
And distance R from turning circle center to rear outer wheel axle center of vehicle O Calculating the length of an auxiliary line X, wherein the length of the auxiliary line X is the distance between a turning circle center and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the turning circle center as an origin and is parallel to the axis of the vehicle, and the included angle between the connecting line between the auxiliary point and the rear outer wheel axis of the vehicle and the rear wheel axis of the vehicle is the rear wheel turning angle>
Calculating an increased turning radius Z based on the length of the auxiliary line X;
determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction with rear wheels based on the increased turning radius Z and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without rear wheels;
the length of the auxiliary line X is calculated based on the following formula:
the length of the auxiliary line Y is calculated based on the following formula:
the increased turning radius Z is calculated according to the following formula:
determining a front wheel turning radius R of the vehicle when steering in the same direction with the rear wheels based on the following formula calculation r ：
R r ＝R N +Z；
The determining the understeer gradient of the vehicle when the rear wheels are steered in the same direction based on the front wheel steering radius of the vehicle when the rear wheels are steered in the same direction comprises:
determining an understeer gradient G of the vehicle without rear wheels steering in the same direction based on the following formula US1 ：
Wherein G is SWA1 Steering wheel angle gradient for a vehicle without rear wheels steering in the same direction; SR is the steering ratio of the vehicle; v is the running speed of the vehicle; l is the wheelbase of the vehicle;
determining the steering wheel angle gradient G when the rear wheel is in the same direction steering based on the following formula SWA2 ：
Determining an understeer gradient G of the vehicle when the rear wheels are steered in the same direction based on the following formula US2 ：
2. The method of claim 1, wherein determining a front wheel turning radius of the vehicle without rear wheel co-steering based on a corner of a front wheel of the vehicle, a dimensional parameter of the front wheel, comprises:
the dimensional parameters of the front wheel include: a tread between a front inner wheel of the front wheels and a front outer wheel of the front wheels and a tire width of a vehicle;
the rotation angle of the front wheel is the rotation angle of the front inner wheel in the front wheel or the rotation angle of the front outer wheel in the front wheel;
and determining the front wheel turning radius of the vehicle without the rear wheel steering in the same direction based on the wheel distance between the front inner wheel and the front outer wheel, the tire width of the vehicle and the turning angle of the front inner wheel or based on the wheel distance between the front inner wheel and the front outer wheel, the tire width of the vehicle and the turning angle of the front outer wheel.
3. The method of claim 2, wherein determining a front wheel turning radius of the vehicle without rear wheels for co-steering based on a wheel span between the front inner wheel and the front outer wheel, a tire width of the vehicle, and a turn angle of the front inner wheel, or based on a wheel span between the front inner wheel and the front outer wheel, a tire width of the vehicle, and a turn angle of the front outer wheel, comprises:
calculating the distance from the turning circle center of the vehicle to the midpoint of the rear axle of the vehicle body based on the wheel distance between the front inner wheel and the front outer wheel, the rotation angle of the front inner wheel and the wheel base of the vehicle;
calculating the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle based on the distance from the turning circle center of the vehicle to the middle point of the rear axle of the vehicle body and the wheel distance between the front inner wheel and the front outer wheel;
calculating the distance from the turning circle center to the axle center of the front outer wheel based on the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle and the axle distance of the vehicle;
and calculating the front wheel turning radius of the vehicle without the rear wheel in the same-direction steering, wherein the front wheel turning radius of the vehicle without the rear wheel in the same-direction steering is the distance from the turning center to the outer side of the front outer wheel based on the distance from the turning center to the axle center of the front outer wheel of the vehicle and the tire width of the vehicle.
4. A method according to claim 3, wherein calculating the distance of the centre of turning circle of the vehicle to the midpoint of the rear axle of the vehicle body based on the wheel base between the front inner wheel and the front outer wheel, the angle of rotation of the front inner wheel and the wheel base of the vehicle comprises:
calculating the distance R from the turning circle center O of the vehicle to the midpoint of the rear axle of the vehicle body based on the following formula C ：
Wherein T is the wheel distance between the front inner wheel and the front outer wheel, L is the wheel distance of the vehicle, and the rotation angle of the front inner wheel is
5. The method of claim 4, wherein calculating the distance of the turning circle center to the rear outer wheel axle of the vehicle based on the distance of the turning circle center of the vehicle to the midpoint of the rear axle of the vehicle body and the wheel distance between the front inner wheel and the front outer wheel comprises:
according to the following formula, calculating the distance R from the turning circle center O to the axis of the rear outer wheel of the vehicle O ：
6. The method of claim 5, wherein calculating the distance of the turning circle center to the front outer wheel axle based on the distance of the turning circle center to the rear outer wheel axle of the vehicle and the wheelbase of the vehicle comprises:
based on the following formula, the distance R from the turning circle center to the front outer wheel axle center is calculated T ：
7. The method of claim 6, wherein calculating a front wheel turning radius of the vehicle without rear wheel co-steering based on the distance of the turning center to a front outer wheel axle and a tire width of the vehicle comprises:
calculating the front wheel turning radius R of the vehicle without rear wheels in the same-direction steering based on the following formula N ：
Where w is the tire width of the vehicle.
8. A computing-based device, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining a front wheel turning radius R of a vehicle without rear wheels steering in the same direction based on the turning angle of the front wheels and the size parameters of the front wheels N ；
Acquiring a rear wheel turning angle of the vehicle, and determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction with the rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheels;
determining an understeer gradient of the vehicle when the rear wheels are steered in the same direction based on a front wheel steering radius of the vehicle when the rear wheels are steered in the same direction;
the acquiring the rear wheel turning angle of the vehicle, determining the front wheel turning radius of the vehicle in the same-direction steering with the rear wheels based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle in the same-direction steering without the rear wheels, includes:
based on the included angle between the connecting line of the axle center of the front outer wheel and the turning circle center of the vehicle and the rear wheel axle of the vehicle
Rear wheel steering angle>
And distance R from turning circle center to rear outer wheel axle center of vehicle O Calculating the length of an auxiliary line X, wherein the length of the auxiliary line X is the distance between a turning circle center and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the turning circle center as an origin and is parallel to the axis of the vehicle, and the included angle between the connecting line between the auxiliary point and the rear outer wheel axis of the vehicle and the rear wheel axis of the vehicle is the rear wheel turning angle>
Calculating an increased turning radius Z based on the length of the auxiliary line X;
determining a front wheel turning radius of the vehicle when the vehicle turns in the same direction with rear wheels based on the increased turning radius Z and the front wheel turning radius of the vehicle when the vehicle turns in the same direction without rear wheels;
the length of the auxiliary line X is calculated based on the following formula:
the length of the auxiliary line Y is calculated based on the following formula:
the increased turning radius Z is calculated according to the following formula:
determining a front wheel turning radius R of the vehicle when steering in the same direction with the rear wheels based on the following formula calculation r ：
R r ＝R N +Z；
The determining the understeer gradient of the vehicle when the rear wheels are steered in the same direction based on the front wheel steering radius of the vehicle when the rear wheels are steered in the same direction comprises:
determining an understeer gradient G of the vehicle without rear wheels steering in the same direction based on the following formula US1 ：
Wherein G is SWA1 Steering wheel angle gradient for a vehicle without rear wheels steering in the same direction; SR is the steering ratio of the vehicle; v is the running speed of the vehicle; l is the wheelbase of the vehicle;
determining the steering wheel angle gradient G when the rear wheel is in the same direction steering based on the following formula SWA2 ：
Determining an understeer gradient G of the vehicle when the rear wheels are steered in the same direction based on the following formula US2 ：
9. A computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method of any one of claims 1 to 7.
10. An apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any one of claims 1 to 7.
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| JP4438499B2 (en) * | 2004-04-26 | 2010-03-24 | 株式会社豊田自動織機 | Turning radius calculation method, steering assistance device and parking assistance device using the turning radius calculation method, turning radius calculation program, and recording medium |
| DE102011007263B4 (en) * | 2011-04-13 | 2015-06-25 | Ford Global Technologies, Llc | Method for creating a control function for a pre-coupling controlled active steering of a motor vehicle and control method and control system for a motor vehicle |
| CN104443022B (en) * | 2014-11-11 | 2018-12-11 | 深圳职业技术学院 | A kind of four motorized wheels electric car stability control method and system |
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| CN108944910B (en) * | 2017-05-27 | 2020-10-23 | 长城汽车股份有限公司 | Vehicle steady state intelligent control method and device |
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