CN115071814A - Vehicle rear wheel steering control method and system with double actuators and vehicle - Google Patents
Vehicle rear wheel steering control method and system with double actuators and vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
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Abstract
The invention discloses a double-actuator vehicle rear wheel steering control method, a double-actuator vehicle rear wheel steering control system and a vehicle, wherein the control method comprises the steps of respectively determining steering angle execution signals of rear wheels at two sides according to an acquired vehicle speed signal and a steering wheel steering angle signal; respectively calculating target rotation angles of the rear wheels at the two sides according to the rotation angle execution signals; setting open-loop feedback of yaw angular velocity to enable the rear wheels to rotate in the reverse direction and then rotate in the same direction relative to the front wheels; after the steering actuators on the two sides receive control signals generated based on respective corner execution signals, respectively adjusting the positions of the corners of the rear wheels on the two sides to the position of a target corner, and realizing respective active steering actions of the steering actuators on the two sides; the invention aims to provide a double-actuator vehicle rear wheel steering control method, which can enhance the yaw response feeling of a driver under the condition of normal use, and can implement functional redundancy and increase the safety by controlling the actuator on the other side to reversely steer after the actuator on one side fails.
Description
Technical Field
The patent belongs to the field of vehicle chassis control, and particularly relates to a double-actuator vehicle rear wheel steering control method and system and a vehicle.
Background
The current commercial high-end passenger vehicles are all equipped with a rear wheel steering system, and the system is provided with an algorithm controller (ECU), receives vehicle state parameter signals (vehicle speed and steering wheel turning angle) sent by the whole vehicle, calculates the required rear wheel steering angle information through a specified algorithm, drives an executing mechanism of the rear wheel steering system to act, and further provides a rear wheel steering function. The system can improve the operation stability and the driving safety of the vehicle. However, in the conventional control methods, the proportional feedforward control or the dynamic proportional feedforward control based on the front wheels is often adopted, so that the yaw feeling of the rear-wheel steering vehicle is obviously different from that of the conventional vehicle only with the front wheels when the steering operation is performed, and the discomfort of the driver is caused. The rear wheel steering system that adopts at present adopts the single executor scheme of central formula of mostly adopting, can not control respectively the both sides wheel, and when the executor became invalid, the vehicle had the risk of out of control.
Most of the existing rear wheel steering systems of vehicle equipment are in a single-actuator mode, namely, a motor arranged in a rear axle drives steering pull rods on two sides to drive wheels on two sides to move simultaneously. A small number of super roadsters can adopt the control mode of two executor, and every wheel of two rear wheels all moves through a rear wheel steering executor promptly, but current control mode is that both sides executor does simultaneously, guarantees that both sides wheel is simultaneously, the syntropy moves promptly, can not control respectively. In addition, the existing control methods mostly adopt proportional feedforward control or dynamic proportional feedforward control based on front wheels, so that the yaw feeling of the rear-wheel steering vehicle is obviously different when the steering operation is performed compared with the traditional vehicle only steering the front wheels.
Disclosure of Invention
The invention aims to provide a method and a system for controlling the rear wheel steering of a vehicle with double actuators and the vehicle, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a dual-actuator vehicle rear wheel steering control method comprising:
acquiring a vehicle speed signal and a steering wheel angle signal of a vehicle;
respectively determining corner execution signals of rear wheels at two sides according to the vehicle speed signal and the steering wheel corner signal;
respectively calculating target rotation angles of the rear wheels at the two sides according to the rotation angle execution signals;
setting yaw angular velocity open-loop feedback to enable rear wheels of the vehicle to rotate in the same direction after rotating in the reverse direction relative to front wheels;
and after receiving the control signals generated based on the respective corner executing signals, the two side steering actuators respectively adjust the positions of the corners of the rear wheels at the two sides to the positions of the target corners of the rear wheels at the two sides, so that the two side steering actuators respectively perform active steering actions.
Further, acquiring position signals of driving racks on two sides in real time; and respectively judging the working states of the two-side steering actuators according to the position signals of the two-side driving racks.
Further, it includes:
when the position signals of the driving racks on the two sides are the same and/or are within a tolerance range allowed by calibration, judging that the two-side rotary actuator is in a normal working state;
calculating to obtain the same corner execution signals of the rear wheels at the two sides according to a set control algorithm;
and after receiving corner execution signals based on the same two-side rear wheels, the two-side steering actuators respectively send out the same active steering action.
Further, comprising:
when the position signals of the driving racks on the two sides are different and exceed a tolerance range allowed by calibration, acquiring state signals of motors of steering actuators on the two sides;
and judging whether the motors of the steering actuators on the two sides have faults or not according to the state signals.
Further, comprising:
and when the motors of the two side steering actuators are judged not to have faults, generating a control signal, and driving the two side steering actuators to return to the middle position and lock.
Further, comprising:
when the motor of the steering actuator at one side is judged to be in fault, a control signal is generated to drive the steering actuator at the fault side to be locked, and meanwhile, according to the position of a driving rack of the steering actuator at the fault side, the driving rack of the steering actuator at the side without the fault reaches the position which is the same as the position at the fault side and is opposite to the position at the fault side for locking;
when the motors of the steering actuators on the two sides have faults, generating control signals to drive the steering actuators on the two sides to return to the middle position and lock;
and if the fault causes at least one of the two side steering actuators to be incapable of returning to the right, a warning signal of the fault of the rear wheel steering system is sent out.
Further, a yaw rate open loop feedback is set, and the algorithm of the yaw rate open loop feedback is as follows:
according to the force and moment balance relation of the vehicle, solving a two-degree-of-freedom vehicle motion differential equation:
make the centroid side-slip angle and the centroid side-slip angular velocity zero, sigma F y ＝muω r And deducing a relation between the rear wheel steering angle and the front wheel steering angle as follows:
wherein beta is the centroid slip angle, omega r Is yaw angular velocity, u is centroid forward velocity, upsilon is centroid lateral velocity, a and b are distances from front and rear shafts to the centroid respectively, L is wheelbase, and delta f 、δ r Respectively the turning angles of the front and rear wheels. m is the total vehicle mass, k 1 、k 2 Yaw stiffness of the front and rear axles, respectively, I z To yaw moment of inertia, centre of mass, yaw angle
Further, the dual actuator vehicle rear wheel steering control method is not activated under the automatic driving condition and the automatic parking condition.
In another aspect, there is provided a dual actuator vehicle rear wheel steering control system comprising:
the rear wheel steering control ECU acquires a vehicle speed signal and a steering wheel steering signal of a vehicle in real time and respectively obtains steering angle execution signals of two side steering actuators of a rear wheel through calculation;
the rack position detection module is used for detecting the driving rack position information of the steering actuators at the two sides, generating driving rack position signals at the two sides and sending the driving rack position signals to the fault judgment module;
the fault judgment module is used for respectively judging the working states of the motors of the two-side steering actuators according to the position signals of the two-side driving racks, generating state signals and sending the state signals to the rear wheel steering control ECU, wherein the working states comprise a normal working state and a fault state;
the motor angle control module is used for outputting a motor target current to the motor vector control module according to a rear wheel rotating angle determined by the rear wheel rotating angle control ECU;
and the motor vector control module is used for driving the motors of the two side steering actuators to perform steering actions according to the target current value of the motors.
In still another aspect, a vehicle is provided that includes the dual-actuator vehicle rear-wheel steering control system for performing any of the dual-actuator vehicle rear-wheel steering control methods described above.
Compared with the prior art, the invention has the beneficial effects that: the invention aims to provide a double-actuator vehicle rear wheel steering control method, which can enhance the yaw response feeling of a driver under the normal use condition, and can implement functional redundancy and increase the safety by controlling the actuator on the other side to reversely steer after the actuator on one side fails.
Drawings
FIG. 1 is a flow chart of a method for controlling the rear wheel steering of a dual actuator vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a flowchart of a method for determining the operating states of the two-sided steering actuators respectively by using two-sided driving rack position signals according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle rear wheel steering control system with dual actuators according to an embodiment of the present invention;
FIG. 4 is a schematic structural connection diagram of a steering actuator on two sides of a rear wheel in the embodiment of the invention;
FIG. 5 is a schematic view of a rear wheel steering actuator coupled to a vehicle subframe in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of another embodiment of a dual actuator rear wheel steering system;
FIG. 7 is a schematic diagram of an algorithm for open-loop feedback of yaw rate in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, "a plurality" means two or more unless otherwise specified; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to the drawings, the invention provides a double-actuator vehicle rear wheel steering control method, which is suitable for controlling the rear wheel steering of a passenger vehicle, and can be executed by a double-actuator vehicle rear wheel steering control system provided by an embodiment of the invention, as shown in fig. 1, and comprises the following steps:
and S110, acquiring a vehicle speed signal and a steering wheel angle signal of the vehicle.
Specifically, the vehicle speed signal of the vehicle can represent the current running speed of the vehicle; in the embodiment of the invention, the speed signal of the vehicle and the corner signal of the steering wheel CAN be acquired through a CAN bus of the whole vehicle.
And S120, respectively determining rotation angle execution signals of the rear wheels at the two sides according to the vehicle speed signal and the steering wheel rotation angle signal.
When a vehicle changes lanes, merges, overtakes, runs on a curve or turns, the front wheels and the rear wheels of the vehicle are required to be matched to realize the control of the steering of the vehicle, and the steering of the front wheels is generally required to be opposite to the steering of the rear wheels at low speed so as to enable the vehicle to have smaller turning radius; and at high speed, the steering of the front wheels is required to be the same as the steering of the rear wheels so as to reduce the yaw rate of the vehicle, so the steering angle execution signals of the rear wheels at two sides are respectively determined through the calculation of the vehicle speed signal and the steering wheel steering angle signal so as to meet the steering requirements of the vehicle at different vehicle speeds.
And S130, respectively calculating to obtain target rotation angles of the rear wheels at the two sides according to the rotation angle execution signals.
Specifically, the target turning angles of the rear wheels on the two sides are respectively and independently calculated, the target turning angle of the rear wheel on one side corresponding to the target turning angle is calculated by the turning angle execution signal on one side, and the target turning angle of the rear wheel on the other side corresponding to the target turning angle is calculated by the turning angle execution signal on the other side.
And S140, setting open-loop feedback of the yaw rate, so that the rear wheels of the vehicle rotate in the same direction after rotating in the reverse direction relative to the front wheels.
Specifically, the existing control methods mostly adopt proportional feedforward control or dynamic proportional feedforward control based on front wheels, which causes the rear-wheel steering vehicle to have a significant difference in yaw feeling of the vehicle when performing a steering operation, compared with a conventional vehicle that only steers front wheels; and a control algorithm of yaw velocity open-loop feedback is set, the rear wheels of the vehicle rotate in the same direction after rotating in the opposite direction relative to the front wheels, the yaw response reduction caused by the same-direction rotation of the rear wheels for improving the stability is compensated, and better user experience is brought.
S150, after the steering actuators on the two sides receive control signals generated based on the steering angle execution signals, the steering actuators on the two sides respectively adjust the positions of the steering angles of the rear wheels on the two sides to the positions of the target steering angles of the rear wheels on the two sides, and accordingly the steering actuators on the two sides respectively perform active steering actions.
Specifically, the existing control mode of the two-side steering actuator is to do actions simultaneously, i.e. to ensure that the wheels on the two sides move simultaneously and in the same direction and cannot be controlled respectively; the invention can respectively control the active steering action of the motors at two sides according to the working state of the motors of the steering actuators at two sides, and when the steering actuator at one side fails, the active steering action of the actuator at the other side is controlled to keep the balance of the rear wheels at two sides relative to the middle shaft of the vehicle, so that the vehicle is prevented from swinging left and right due to faults when running, functional redundancy is realized, and the driving safety is improved.
Alternatively, on the basis of the above embodiment, as shown in fig. 2, the method for controlling the rear wheel steering of a vehicle with two actuators according to the present invention further includes the steps of:
s210, collecting position signals of driving racks on two sides in real time; respectively judging the working states of the two-side steering actuators according to the position signals of the two-side driving racks;
specifically, the position signals of the driving racks on the two sides are compared and verified to judge whether the steering actuators on the two sides are in a normal working state or abnormal, so that specific action response is made according to the real-time working state.
S220, when the position signals of the driving racks on the two sides are the same and/or are within a tolerance range allowed by calibration, judging that the two-side rotary actuator is in a normal working state;
calculating to obtain the same corner execution signals of the rear wheels at the two sides according to a set control algorithm;
and after receiving corner execution signals based on the same two-side rear wheels, the two-side steering actuators respectively send out the same active steering action.
Specifically, when the position signals of the two sides are the same or within a tolerance range allowed by calibration, the rear wheel steering system is considered to be in a normal working state, and at the moment, the rear wheel steering angle control ECU sends the same steering angle execution signals to the actuators on the two sides according to a set control algorithm, so that the actuators on the two sides receive the same enable signals, and the rear wheels on the two sides synchronously respond, wherein the tolerance range allowed by calibration is set according to the characteristics of the mechanical structure of the actuators and the results of real vehicle tests.
And S230, when the position signals of the driving racks on the two sides are different and exceed a tolerance range allowed by calibration, acquiring state signals of the motors of the steering actuators on the two sides, and judging whether the motors of the steering actuators on the two sides have faults or not according to the state signals.
When the motors of the two side steering actuators are judged not to have faults, generating a control signal, and driving the two side steering actuators to return to the middle position and lock;
specifically, due to the fact that position signals of the driving racks on the two sides are different and exceed a tolerance range allowed by calibration, the rear wheels on the two sides have angle difference, therefore, an unbalanced shaking state can occur when the vehicle runs, and at the moment, the steering actuators on the two sides are driven to return to a middle position and are locked, the problems are effectively solved, and potential safety hazards are eliminated.
When the motor of the steering actuator at one side is judged to be in fault, a control signal is generated to drive the steering actuator at the fault side to be locked, and meanwhile, according to the position of a driving rack of the steering actuator at the fault side, the driving rack of the steering actuator at the side without the fault reaches the position which is the same as the position at the fault side and is opposite to the position at the fault side for locking;
specifically, the motor of the steering actuator on one side fails to normally execute the steering action, the steering actuator is locked to prevent abnormal action, and meanwhile, the driving rack of the steering actuator which does not fail reaches the position which is the same as the position on the failed side and is opposite to the position on the failed side to be locked, so that rear tires on two sides are symmetrical in angle on two sides of the axis of the vehicle, and factors which harm driving safety, such as tail flicking or side shifting and the like caused by the failure of the vehicle, are reduced.
When the motors of the steering actuators on the two sides have faults, generating control signals to drive the steering actuators on the two sides to return to the middle position and lock;
and if the fault causes at least one of the two side steering actuators to be incapable of returning to the right, a warning signal of the fault of the rear wheel steering system is sent out.
Specifically, if at least one of the two side steering actuators fails to return to the right due to a fault, and the rear wheels on the two sides of the vehicle lose balance, the driver is preferably reminded of the serious fault of the rear wheel steering system through display screen fault information or alarm signals, and the vehicle needs to be stopped for maintenance.
Alternatively, a yaw rate open-loop feedback is provided, and as shown in fig. 7, the algorithm of the yaw rate open-loop feedback is as follows:
according to a vehicle linear two-degree-of-freedom model and the force and moment balance relation of a vehicle, solving a two-degree-of-freedom vehicle motion differential equation:
make the centroid side-slip angle and the centroid side-slip angular velocity zero, sigma F y ＝muω r And deducing a relation between the rear wheel steering angle and the front wheel steering angle as follows:
wherein beta is the centroid slip angle, omega r Is yaw angular velocity, u is centroid forward velocity, which can be regarded as vehicle speed equivalently, v is centroid lateral velocity, a and b are distances from front and rear shafts to centroid respectively, L is wheelbase, delta f 、δ r Respectively the turning angles of the front and rear wheels. m is the total vehicle mass, k 1 、k 2 Yaw stiffness of the front and rear axles, respectively, I z To yaw moment of inertia, centre of mass, yaw angle
In the above embodiment, the method for controlling the steering of the rear wheels of the vehicle with the double actuators is different from the known control method in that in order to control the mass center slip angle of the vehicle to zero with a rapid and small overshoot at the time of high-speed steering and not to reduce the overall vehicle response, the rear wheels need to rotate in the same direction after rotating in the opposite direction relative to the front wheels, so that the reduction of yaw response caused by the same direction rotation of the rear wheels, which improves the stability, can be compensated. On the basis of the traditional proportional feedforward, a yaw rate open-loop feedback algorithm is added.
Optionally, the vehicle rear wheel steering control method of the double actuator is not activated under the automatic driving condition and the automatic parking condition.
In another aspect, there is provided a dual actuator vehicle rear wheel steering control system, as shown in fig. 3 to 6, including:
the rear wheel steering control ECU acquires a vehicle speed signal and a steering wheel steering signal of a vehicle in real time and respectively obtains steering angle execution signals of two side steering actuators of a rear wheel through calculation;
the rack position detection module is used for detecting the driving rack position information of the steering actuators at the two sides, generating driving rack position signals at the two sides and sending the driving rack position signals to the fault judgment module;
the fault judgment module is used for respectively judging the working states of the motors of the two-side steering actuators according to the position signals of the two-side driving racks, generating state signals and sending the state signals to the rear wheel steering control ECU, wherein the working states comprise a normal working state and a fault state;
the motor angle control module is used for outputting a motor target current to the motor vector control module according to a rear wheel rotating angle determined by the rear wheel rotating angle control ECU;
and the motor vector control module is used for driving the motors of the two side steering actuators to perform steering actions according to the target current value of the motors.
In the above embodiment, the rear wheel steering actuator of the dual-actuator vehicle rear wheel steering control system is connected to the rear knuckle on the outer side, i.e., the wheel side, via a rubber bushing or a ball joint, and is connected to the vehicle sub-frame on the inner side via a rubber bushing. The motor control ECU of the steering actuators on the two sides of the rear wheel steering control system receives actuating signals of the rear wheel steering control ECU of the rear wheel steering control system, the motor is controlled to actuate, the steering pull rod is pushed to move left and right in the horizontal direction, the rear wheel is pushed to rotate along the vertical axis, and the steering angle of the single-side wheel is generally not more than +/-10 degrees.
In a further aspect, there is provided a vehicle including a dual actuator vehicle rear wheel steering control system as described above for performing a dual actuator vehicle rear wheel steering control method as described in any one of the preceding claims.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A method of controlling a rear wheel steering of a vehicle with two actuators, comprising:
acquiring a vehicle speed signal and a steering wheel angle signal of a vehicle;
respectively determining corner execution signals of rear wheels at two sides according to the vehicle speed signal and the steering wheel corner signal;
respectively calculating target rotation angles of the rear wheels at the two sides according to the rotation angle execution signals;
setting yaw angular velocity open-loop feedback to enable rear wheels of the vehicle to rotate in the same direction after rotating in the reverse direction relative to front wheels;
and after receiving the control signals generated based on the respective corner executing signals, the two side steering actuators respectively adjust the positions of the corners of the rear wheels at the two sides to the positions of the target corners of the rear wheels at the two sides, so that the two side steering actuators respectively perform active steering actions.
2. The double-actuator vehicle rear wheel steering control method according to claim 1, characterized in that two-side driving rack position signals are collected in real time; and respectively judging the working states of the two-side steering actuators according to the position signals of the two-side driving racks.
3. The double-actuator vehicle rear wheel steering control method according to claim 2, characterized by comprising:
when the position signals of the driving racks on the two sides are the same and/or are within a tolerance range allowed by calibration, judging that the two-side rotary actuator is in a normal working state;
calculating to obtain the same corner execution signals of the rear wheels at the two sides according to a set control algorithm;
and after receiving corner execution signals based on the same two-side rear wheels, the two-side steering actuators respectively send out the same active steering action.
4. The double-actuator vehicle rear wheel steering control method according to claim 2, characterized by comprising:
when the position signals of the driving racks on the two sides are different and exceed a tolerance range allowed by calibration, acquiring state signals of motors of steering actuators on the two sides;
and judging whether the motors of the steering actuators on the two sides have faults or not according to the state signals.
5. The double-actuator vehicle rear wheel steering control method according to claim 4, characterized by comprising:
and when the motors of the two side steering actuators are judged not to have faults, generating a control signal, and driving the two side steering actuators to return to the middle position and lock.
6. The double-actuator vehicle rear wheel steering control method according to claim 4, characterized by comprising:
when the motor of the steering actuator at one side is judged to be in fault, a control signal is generated to drive the steering actuator at the fault side to be locked, and meanwhile, according to the position of a driving rack of the steering actuator at the fault side, the driving rack of the steering actuator at the side without the fault reaches the position which is the same as the position at the fault side and is opposite to the position at the fault side for locking;
when the motors of the steering actuators on the two sides have faults, generating control signals to drive the steering actuators on the two sides to return to the middle position and lock;
and if the fault causes at least one of the two side steering actuators to be incapable of returning to the right, a warning signal of the fault of the rear wheel steering system is sent out.
7. The double-actuator vehicle rear wheel steering control method according to claim 1, wherein a yaw rate open loop feedback is provided, and an algorithm of the yaw rate open loop feedback is as follows:
according to the force and moment balance relation of the vehicle, solving a two-degree-of-freedom vehicle motion differential equation:
make the centroid side-slip angle and the centroid side-slip angular velocity zero, sigma F y ＝muω r And deducing a relation between the rear wheel steering angle and the front wheel steering angle as follows:
wherein beta is the centroid slip angle, omega r Is yaw angular velocity, u is centroid forward velocity, upsilon is centroid lateral velocity, a and b are distances from front and rear shafts to the centroid respectively, L is wheelbase, and delta f 、δ r Respectively the turning angles of the front and rear wheels. m is the total vehicle mass, k 1 、k 2 Yaw stiffness of the front and rear axles, respectively, I z To yaw moment of inertia, centre of mass, yaw angle
8. The dual actuator vehicle rear wheel steering control method of claim 7, wherein the dual actuator vehicle rear wheel steering control method is not activated during an autonomous driving condition and an autonomous parking condition.
9. A dual actuator vehicle rear wheel steering control system, comprising:
the rear wheel steering control ECU acquires a vehicle speed signal and a steering wheel steering signal of a vehicle in real time and respectively obtains steering angle execution signals of two side steering actuators of a rear wheel through calculation;
the rack position detection module is used for detecting the driving rack position information of the steering actuators at the two sides, generating driving rack position signals at the two sides and sending the driving rack position signals to the fault judgment module;
the fault judgment module is used for respectively judging the working states of the motors of the two-side steering actuators according to the position signals of the two-side driving racks, generating state signals and sending the state signals to the rear wheel steering control ECU, wherein the working states comprise a normal working state and a fault state;
the motor angle control module is used for outputting a motor target current to the motor vector control module according to a rear wheel rotating angle determined by the rear wheel rotating angle control ECU;
and the motor vector control module is used for driving the motors of the two side steering actuators to perform steering actions according to the target current value of the motors.
10. A vehicle comprising a dual actuator vehicle rear wheel steering control system of claim 9 for carrying out a dual actuator vehicle rear wheel steering control method of any one of claims 1 to 8.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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