WO2016115994A1 - 车辆后轮辅助转向的控制系统及其控制方法 - Google Patents

车辆后轮辅助转向的控制系统及其控制方法 Download PDF

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Publication number
WO2016115994A1
WO2016115994A1 PCT/CN2016/070720 CN2016070720W WO2016115994A1 WO 2016115994 A1 WO2016115994 A1 WO 2016115994A1 CN 2016070720 W CN2016070720 W CN 2016070720W WO 2016115994 A1 WO2016115994 A1 WO 2016115994A1
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Prior art keywords
rear wheel
wheel
vehicle
controller
control system
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PCT/CN2016/070720
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English (en)
French (fr)
Inventor
刘富豪
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盐城工学院
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Priority to US15/319,246 priority Critical patent/US9994217B2/en
Publication of WO2016115994A1 publication Critical patent/WO2016115994A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/22—Conjoint control of vehicle sub-units of different type or different function including control of suspension systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/205—Steering speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/22—Suspension systems
    • B60W2710/223—Stiffness

Definitions

  • the invention relates to a control method and a system for assisting steering of a rear wheel of a vehicle, in particular to a control system for a rear wheel assisted steering of an automobile vehicle equipped with a rear wheel active steering device and a control method thereof.
  • a rear-wheel active steering device and its control system including a torque amplifying device assembly and a rear wheel steering system
  • the steering assembly, the steering knuckle and the wheel system assembly, the steering knuckle is fixed on the motor shaft of the wheel hub motor of the wheel system assembly, and the steering rod of the rear wheel steering system assembly is connected with the steering trapezoidal arm of the steering knuckle, and the torque amplifying device is always
  • the lower bracket is connected to the steering drive shaft of the rear wheel steering system assembly.
  • the utility model is applied to an electric vehicle driven independently by a hub motor, and the torque of the rear wheel can be amplified by a torque amplifying device to adapt to the situation where the steering is difficult, and at the same time, the electronic control unit passes the differential speed of the rear wheel hub motor. Adjustment can assist in the rear wheel steering.
  • a torque amplifying device to adapt to the situation where the steering is difficult, and at the same time, the electronic control unit passes the differential speed of the rear wheel hub motor. Adjustment can assist in the rear wheel steering.
  • Such technology lacks a reasonable control strategy, resulting in poor control security.
  • the turning radius of turning at low speeds such as turning around is too large, which requires a lot of space, which is very inconvenient in urban crowded urban life. .
  • the ordinary car will inevitably friction with the front wheel, so the car will be unstable during the turning process, and the operational reliability in the event of an emergency. Can not guarantee.
  • the object of the present invention is to solve the current technical solution that the turning radius of the turning in the low speed condition such as the U-turn in the original position is too large, and a large space is required, which is very inconvenient in the urban life where the traffic of the vehicle is crowded.
  • the ordinary car will inevitably friction with the front wheel, so that the car will be unstable during the turning process, and provide a rear-wheel assisted steering of the vehicle. Control system and its control method.
  • a control system for the rear wheel auxiliary steering of the vehicle which is suitable for a vehicle equipped with a rear wheel active steering device, and is powered by the vehicle power supply, including a controller, a data execution module, Data acquisition module, rear wheel active steering device, wheel declination measuring instrument and rotational speed measuring instrument, the wheel declination measuring instrument is installed at the front wheel for testing the front wheel
  • the steering angle is also installed at the front wheel for testing the speed of the front wheel
  • the output of the wheel declination measuring instrument and the tachometer is electrically connected to the data acquisition module, and the data acquisition module and
  • the controller is electrically connected, the controller is electrically connected to a control end of the data execution module, the rear wheel active steering device is installed at a rear wheel of the automobile, and a control end of the rear wheel active steering device Electrically connected to an output of the data execution module, the controller is electrically connected to an ECU of the automobile, and each of the car seats is provided with a weight sensor, and
  • the invention is arranged such that the rear wheel auxiliary steering device is operated in a low speed environment, and the rear wheel of the automobile is rotated backward by ⁇ angle and reversed with the front wheel of the automobile, and can complete the cornering with a smaller radius, the rear wheel
  • the auxiliary steering system assists the turning of the vehicle in the case of high-speed driving, so that the rear wheel can also perform pure rolling, which can make the turning of the vehicle more stable and reliable.
  • the data execution module is connected to a control end point of the detonating air bag, the detonating air bag is provided with four, two are disposed between the frame and the front axle, and the other two are disposed in the frame and the rear axle. between.
  • the controller is a single chip microcomputer.
  • a multiple adjustment button is further included, and the multiple adjustment button is electrically connected to the controller, and the multiple adjustment button is disposed on the car console.
  • a control method for a rear wheel assisted steering of a vehicle suitable for a control system for a rear wheel assisted steering of a vehicle according to claim 4, comprising the steps of:
  • the existing parameters are manually set.
  • the existing parameters include the track distance B and the wheelbase L, the net body weight M and the standard body center position G, and the standard body center position G is determined by the half track data a and the preset center of gravity height.
  • Data h
  • Step 2 At the time of turning, the control system of the rear wheel assisted steering of the vehicle acquires the left wheel deflection angle ⁇ 1 and the left front wheel speed v 1 , and the control system of the vehicle rear wheel assisted steering is based on the net body weight M and all the weight sensors The sum of the values gives the weight m of the car, and the distance r 1 from the instantaneous center to the left front wheel axis is the target calculated value, and the preset minimum turning radius r 0 and the preset wheel safe speed v 0 are read, if v 1 >v 0 , the rear wheel active steering device in the control system of the rear wheel assisted steering of the vehicle is stopped, and the rear wheel of the vehicle is purely rolling. If v 1 ⁇ v 0 , step 3 is performed.
  • step three the controller calculates the centripetal torque T G according to the existing parameters and the following formula:
  • Step 4 Calculate the target rear wheel angle ⁇ 2 according to all the above parameters:
  • Step 5 Multiply the target rear wheel angle ⁇ 2 by the adjustment multiple to obtain the final rear wheel rotation angle ⁇ , and finally the rear wheel rotation angle ⁇ is output to the rear wheel active steering device, the rear wheel active steering device is operated, and the rear wheel of the automobile is rotated by ⁇ angle Reversed with the front wheel of the car.
  • step two if v 1 >1.5 times v 0 and 1.5 times r 1 ⁇ r 0 , the controller outputs a control signal to the detonating airbag on the steering side, and the detonating airbag on the steering side is detonated.
  • the invention is arranged such that the initiation of the detonation airbag can serve to assist the positive position.
  • the system of the invention can automatically and accurately determine the real-time working state of the car to take correct countermeasures.
  • the adjustment factor in the step 5 is a adjustment factor obtained by the controller according to the multiple adjustment button input.
  • the substantial effect of the present invention is that the present invention is configured such that the vehicle equipped with the rear wheel assisted steering operates in the rear wheel active steering device in a low speed environment, and the rear wheel of the automobile rotates after the angle ⁇ and is opposite to the front wheel of the automobile, and can be smaller.
  • the radius is completed, and the rear-wheel assisted steering system assists the turning of the vehicle in the case of high-speed driving, so that the rear wheel can also perform pure rolling, which can make the turning of the vehicle more stable and reliable, and the present invention and the invention using the same
  • the automobile is particularly suitable for large turns on the road and the parking and exiting operation of the vehicle in a narrow space.
  • the device for presetting the wheel safety speed v 0 in the present invention enables the system of the present invention to automatically and accurately determine the real-time working state of the vehicle. To take the right approach, car safety has also made great progress.
  • 1 is a low speed cornering indication diagram of a vehicle equipped with the present invention
  • FIG. 2 is a high speed cornering indication diagram of a vehicle equipped with the present invention
  • Figure 3 is a low speed cornering indication diagram of a vehicle not equipped with the present invention.
  • Figure 4 is a schematic view of a car center
  • Figure 5 is a mechanical analysis diagram of the present invention.
  • a control system for rear wheel assisted steering of a vehicle is applicable to a vehicle equipped with a rear wheel active steering device, which is powered by a vehicle power supply, including a controller, a data execution module, a data acquisition module, and a rear Wheel active steering device, wheel declination measuring instrument and rotational speed measuring instrument, the wheel declination measuring instrument is installed at the front wheel for testing the steering angle of the front wheel, and the rotational speed measuring instrument is also installed at the front wheel for testing the front wheel
  • the speed of the wheel declination meter and the speed measuring instrument is electrically connected to the data acquisition module, the data acquisition module is electrically connected to the controller, and the controller and the data execution module
  • the control terminal is electrically connected, the rear wheel active steering device is installed at the rear wheel of the automobile, and the control end of the rear wheel active steering device is electrically connected to the output end of the data execution module, the controller and the controller
  • the ECUs of the automobile are electrically connected, and each of the car seats is provided with a weight sensor, and the
  • the data execution module is electrically connected.
  • the controller is a single chip microcomputer.
  • a multiplier adjustment button is also included, the fold adjustment button being electrically coupled to the controller, the fold adjustment button being disposed on the car console.
  • a control method for a rear wheel assisted steering of a vehicle suitable for a control system for a rear wheel assisted steering of a vehicle according to claim 4, comprising the steps of:
  • Step one manually set the existing parameters
  • the existing parameters include the track distance B and the wheelbase L, the net body weight M and
  • the standard body center position G is composed of the half-track data a and the preset center-of-gravity height data h.
  • Step 2 At the time of turning, the control system of the rear wheel assisted steering of the vehicle acquires the wheel deflection angle ⁇ 1 and the left front wheel speed v 1 , and the control system of the rear wheel assisted steering of the vehicle is based on the net body weight M and the values of all the weight sensors.
  • the sum of the vehicle weight m, the distance r 1 from the instantaneous center to the left front wheel axis is the target calculated value, and the preset minimum turning radius r 0 and the preset wheel safe speed v 0 are read, if v 1 >v 0
  • the rear wheel active steering device in the control system of the rear wheel assisted steering of the vehicle is stopped, and the rear wheel of the automobile is purely rolling. If v 1 ⁇ v 0 , step 3 is performed.
  • centripetal moment of the car in the direction of the axle of the car is:
  • the third step is derived, where v g , r g , ⁇ g and ⁇ are respectively: the center point speed of the car, the angle of the car center point, the angle between the center point of the car and the angle of rotation O, and the angular velocity.
  • step three the controller calculates the centripetal torque T G according to the existing parameters and the following formula:
  • Step 4 Calculate the target rear wheel angle ⁇ 2 according to all the above parameters:
  • Step 5 Multiply the target rear wheel angle ⁇ 2 by the adjustment multiple to obtain the final rear wheel rotation angle ⁇ , and finally the rear wheel rotation angle ⁇ is output to the rear wheel active steering device, the rear wheel active steering device is operated, and the rear wheel of the automobile is rotated by ⁇ angle Reversed with the front wheel of the car.
  • step two if v 1 >1.5 times v 0 and 1.5 times r 1 ⁇ r 0 , the controller outputs a control signal to the detonating airbag on the steering side, and the detonating airbag on the steering side is detonated.
  • the adjustment factor in the step 5 is the adjustment factor obtained by the controller according to the multiple adjustment button input.
  • FIG. 3 is a case where an ordinary vehicle turns to a 90° bend
  • FIG. 1 is a vehicle equipped with a rear wheel assisted steering, and can complete a corner with a smaller radius in a low speed environment
  • FIG. 2 The rear wheel assisted steering system assists the turning of the vehicle under high-speed driving conditions, so that the rear wheel can also perform pure rolling, which can make the vehicle turn more stable and reliable.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

一种车辆后轮辅助转向的控制系统及其控制方法，包括控制器、数据执行模块、数据采集模块、后轮主动转向装置、车轮偏角测量仪和转速测量仪，车轮偏角测量仪安装在前轮处用于测量前轮的转向角度，转速测量仪也安装在前轮处用于测试前轮的速度，车轮偏角测量仪和转速测量仪的输出端与数据采集模块电连接，数据采集模块与控制器电连接，控制器与数据执行模块的控制端电连接，后轮主动转向装置安装在汽车后轮处，后轮主动转向装置的控制端与数据执行模块的输出端电连接，控制器与汽车的ECU电连接，每个汽车座椅内均设置有重量传感器，重量传感器与控制器电连接，其解决了汽车过弯不安全的问题。

Description

车辆后轮辅助转向的控制系统及其控制方法 技术领域
本发明是一种车辆后轮辅助转向的控制方法及系统，特别是涉及一种安装有后轮主动转向装置的汽车车辆后轮辅助转向的控制系统及其控制方法。
背景技术
如今，随着经济的发展以及人们生活水平的大幅度提高，汽车基本已经走入千家万户。汽车已经成为了主流的交通运输方式，无论是家用车还是大型货车以及载车辆，凭借其自身无法取代的优点占据了交通行业的半壁江山。随着城市化的不断扩张，家用车数量的与日俱增，公路大面积覆盖，大大小小的弯道不计其数。凡是过弯，车辆在不同的速度下，由于转弯半径的不同，都会有侧翻的危险，但是如果车辆在转弯时时刻都能够保持汽车的转弯半径在安全范围内，那么车辆转弯就会很安全。在开车时，转弯和掉头不可避免，对于开车技术不过硬的人来说是十分难以把握的，由于判断的失误难免会发生危险。现在的车在原地掉头等低速情况下转弯的转弯半径都过大，需要很大的空间，在车辆人流密集的都市生活中是十分不便的。而在高速情况下，汽车在转弯过程中，普通汽车随着前轮的导向，后轮难免会发生摩擦，这样车子在转弯的过程中会不稳定，遇到突发情况时的操作可靠性就无法保证。
中国专利申请号：CN201420437339.3，在2014年12月3日公开了一种后轮主动转向装置及其控制系统，包括力矩放大装置总成、后轮转向系 统总成、转向节和车轮系统总成，转向节固定在车轮系统总成的轮毂电机的电机轴上，后轮转向系统总成的转向拉杆与转向节的转向梯形臂相连，力矩放大装置总成下端的支架与后轮转向系统总成的转向传动轴相连。本实用新型应用于采用轮毂电机独立驱动的电动汽车上，通过力矩放大装置可以对后轮转向力矩进行放大，以适应于转向困难的场合，同时，电控单元通过对后轮轮毂电机的差速调节，能够辅助实现后轮转向。但是此类技术缺少合理的控制策略，导致控制安全性比较差，在原地掉头等低速情况下转弯的转弯半径都过大，需要很大的空间，在车辆人流密集的都市生活中是十分不便的。而在高速情况下，汽车在转弯过程中，普通汽车随着前轮的导向，后轮难免会发生摩擦，这样车子在转弯的过程中会不稳定，遇到突发情况时的操作可靠性就无法保证。
发明内容
本发明的目的是为解决目前的技术方案存在在原地掉头等低速情况下转弯的转弯半径都过大，需要很大的空间，在车辆人流密集的都市生活中是十分不便的。而在高速情况下，汽车在转弯过程中，普通汽车随着前轮的导向，后轮难免会发生摩擦，这样车子在转弯的过程中会不稳定的问题，提供一种车辆后轮辅助转向的控制系统及其控制方法。
本发明解决其技术问题所采用的技术方案是：一种车辆后轮辅助转向的控制系统，适用于配设有后轮主动转向装置的汽车，由汽车电源供电，包括控制器、数据执行模块、数据采集模块、后轮主动转向装置、车轮偏角测量仪和转速测量仪，所述车轮偏角测量仪安装在前轮处用于测试前轮 的转向角度，转速测量仪也安装在前轮处用于测试前轮的速度，所述车轮偏角测量仪和转速测量仪的输出端与所述数据采集模块电连接，所述数据采集模块与所述控制器电连接，所述控制器与所述数据执行模块的控制端电连接，所述的后轮主动转向装置安装在所述汽车后轮处，所述后轮主动转向装置的控制端与所述数据执行模块的输出端电连接，所述控制器与所述汽车的ECU电连接，每个所述汽车座椅内均设置有重量传感器，所述重量传感器与所述的控制器电连接。本发明这样设置，使得搭载了后轮辅助转向的汽车在低速环境下后轮主动转向装置运行，汽车后轮旋转θ角度后与汽车前轮逆向，能够以更小的半径完成过弯，后轮辅助转向系统对在高速行驶情况下的车辆转弯进行的辅助，使得后轮也能够做纯滚动，这样能够使车辆转弯更加稳定可靠。
作为优选，所述数据执行模块与起爆气囊的控制端点连接，所述起爆气囊设置有四个，两个设置在车架和前车桥之间，另两个设置在车架和后车桥之间。
作为优选，所述控制器为单片机。
作为优选，还包括有倍数调节按钮，所述倍数调节按钮与所述控制器电连接，所述倍数调节按钮配设在汽车控制台上。
一种车辆后轮辅助转向的控制方法，适用于如权利要求4所述的车辆后轮辅助转向的控制系统，包括以下步骤：
步骤一，人工设定现有参数，现有参数包括轮距B和轴距L、净车身重量M和标准车身中心位置G，标准车身中心位置G由半轮距数据a和预设重心高度 数据h构成，
步骤二，在转弯时，车辆后轮辅助转向的控制系统获取左车轮偏转角θ1和左前轮速度v1，所述车辆后轮辅助转向的控制系统根据净车身重量M和所有重量传感器的数值之和得到汽车重量m，瞬时中心至左前轮轴心的距离r1为目标计算值，同时读取预设的最小转弯半径r0和预设车轮安全转速v0，若v1＞v0则停止车辆后轮辅助转向的控制系统中的后轮主动转向装置运行，汽车后轮为纯滚动，若v1≤v0则执行步骤三，
步骤三，控制器根据现有参数和以下公式计算向心力矩TG：
Figure PCTCN2016070720-appb-000001
因为，由力矩平衡得出TG＝T重，得到以下算法：
Figure PCTCN2016070720-appb-000002
因此获得以下算法：
Figure PCTCN2016070720-appb-000003
获得出瞬时中心至左前轮轴心的距离r1，若r1＜r0则停止车辆后轮辅助转向的控制系统中的后轮主动转向装置运行，若r1≥r0则执行步骤四，
步骤四，根据上述所有参数，计算目标后轮转角θ2：
Figure PCTCN2016070720-appb-000004
步骤五，将目标后轮转角θ2乘以调节倍数后得出最终后轮转角θ，最终后轮转角θ输出至后轮主动转向装置，后轮主动转向装置运行，汽车后轮旋转θ角 度后与汽车前轮逆向。
作为优选，在步骤二中，若v1＞1.5倍的v0且1.5倍的r1＜r0，则控制器输出控制信号至转向侧的起爆气囊，转向侧的起爆气囊起爆。本发明这样设置，起爆气囊起爆可以起到辅助正位的作用。本发明这个系统能够自动准确的判断车子的实时工作状态，来采取正确的应对方法。
作为优选，所述步骤五中的调节倍数为控制器根据倍数调节按钮输入得出的调节倍数。
本发明的实质性效果是：本发明这样设置，使得搭载了后轮辅助转向的汽车在低速环境下后轮主动转向装置运行，汽车后轮旋转θ角度后与汽车前轮逆向，能够以更小的半径完成过弯，后轮辅助转向系统对在高速行驶情况下的车辆转弯进行的辅助，使得后轮也能够做纯滚动，这样能够使车辆转弯更加稳定可靠，搭载本发明和使用本发明的方法之后，汽车特别适合路上进行大转弯和车辆在狭小空间内停车和出车操作，本发明中预设车轮安全转速v0的设施，使得本发明这个系统能够自动准确的判断车子的实时工作状态，来采取正确的应对方法，汽车安全性也有长足的进步。
附图说明
图1是搭载本发明的汽车低速过弯指示图；
图2是搭载本发明的汽车高速过弯指示图；
图3是未搭载本发明的汽车低速过弯指示图；
图4是汽车中心示意图；
图5是本发明的力学分析图。
具体实施方式
下面通过具体实施例，并结合附图，对本发明的技术方案作进一步的具体说明。
实施例1：
一种车辆后轮辅助转向的控制系统(参见附图1至5)，适用于配设有后轮主动转向装置的汽车，由汽车电源供电，包括控制器、数据执行模块、数据采集模块、后轮主动转向装置、车轮偏角测量仪和转速测量仪，所述车轮偏角测量仪安装在前轮处用于测试前轮的转向角度，转速测量仪也安装在前轮处用于测试前轮的速度，所述车轮偏角测量仪和转速测量仪的输出端与所述数据采集模块电连接，所述数据采集模块与所述控制器电连接，所述控制器与所述数据执行模块的控制端电连接，所述的后轮主动转向装置安装在所述汽车后轮处，所述后轮主动转向装置的控制端与所述数据执行模块的输出端电连接，所述控制器与所述汽车的ECU电连接，每个所述汽车座椅内均设置有重量传感器，所述重量传感器与所述的控制器电连接。所述车架和前车桥之间还设置有两个起爆气囊，所述车架和后车桥之间也设置有两个起爆气囊，所述四个起爆气囊的控制端均与所述的数据执行模块电连接。所述控制器为单片机。还包括有倍数调节按钮，所述倍数调节按钮与所述控制器电连接，所述倍数调节按钮配设在所述的汽车控制台上。
一种车辆后轮辅助转向的控制方法，适用于如权利要求4所述的车辆后轮辅助转向的控制系统，包括以下步骤：
步骤一，人工设定现有参数，现有参数包括轮距B和轴距L、净车身重量M和 标准车身中心位置G，标准车身中心位置G由半轮距数据a和预设重心高度数据h构成，
步骤二，在转弯时，车辆后轮辅助转向的控制系统获取车轮偏转角θ1和左前轮速度v1，所述车辆后轮辅助转向的控制系统根据净车身重量M和所有重量传感器的数值之和得到汽车重量m，瞬时中心至左前轮轴心的距离r1为目标计算值，同时读取预设的最小转弯半径r0和预设车轮安全转速v0，若v1＞v0则停止车辆后轮辅助转向的控制系统中的后轮主动转向装置运行，汽车后轮为纯滚动，若v1≤v0则执行步骤三，
由汽车重心处的向心力FG：
Figure PCTCN2016070720-appb-000005
汽车在汽车车轴方向上的向心力矩为：
Figure PCTCN2016070720-appb-000006
推导得出步骤三，其中vg、rg、θg和ω分别为：汽车中心点速度、汽车中心点转角度，汽车中心点至旋转中心角O的夹角和角速度，
步骤三，控制器根据现有参数和以下公式计算向心力矩TG：
Figure PCTCN2016070720-appb-000007
因为，由力矩平衡得出TG＝T重，得到以下算法：
Figure PCTCN2016070720-appb-000008
因此获得以下算法：
Figure PCTCN2016070720-appb-000009
获得出瞬时中心至左前轮轴心的距离r1，若r1＜r0则停止车辆后轮辅助转向的控制系统中的后轮主动转向装置运行，若r1≥r0则执行步骤四，
步骤四，根据上述所有参数，计算目标后轮转角θ2：
Figure PCTCN2016070720-appb-000010
步骤五，将目标后轮转角θ2乘以调节倍数后得出最终后轮转角θ，最终后轮转角θ输出至后轮主动转向装置，后轮主动转向装置运行，汽车后轮旋转θ角度后与汽车前轮逆向。
在步骤二中，若v1＞1.5倍的v0且1.5倍的r1＜r0，则控制器输出控制信号至转向侧的起爆气囊，转向侧的起爆气囊起爆。
所述步骤五中的调节倍数为控制器根据倍数调节按钮输入得出的调节倍数。
本实施例这样设置，如图3为普通车辆转90°弯时的情况，而图1则为搭载了后轮辅助转向的汽车，在低速环境下能够以更小的半径完成过弯，而图2则后轮辅助转向系统对在高速行驶情况下的车辆转弯进行的辅助，使得后轮也能够做纯滚动，这样能够使车辆转弯更加稳定可靠。
以上所述的实施例只是本发明的一种较佳的方案，并非对本发明作任何形式上的限制，在不超出权利要求所记载的技术方案的前提下还有其它的变体及改型。

Claims (7)

  1. 一种车辆后轮辅助转向的控制系统，适用于配设有后轮主动转向装置的汽车，由汽车电源供电，其特征在于：包括控制器、数据执行模块、数据采集模块、后轮主动转向装置、车轮偏角测量仪和转速测量仪，所述车轮偏角测量仪安装在前轮处用于测试前轮的转向角度，转速测量仪也安装在前轮处用于测试前轮的速度，所述车轮偏角测量仪和转速测量仪的输出端与所述数据采集模块电连接，所述数据采集模块与所述控制器电连接，所述控制器与所述数据执行模块的控制端电连接，所述的后轮主动转向装置安装在所述汽车后轮处，所述后轮主动转向装置的控制端与所述数据执行模块的输出端电连接，每个所述汽车座椅内均设置有重量传感器，所述重量传感器与所述的控制器电连接。
  2. 根据权利要求1所述的车辆后轮辅助转向的控制系统，其特征在于：所述数据执行模块与起爆气囊的控制端点连接，所述起爆气囊设置有四个，两个设置在车架和前车桥之间，另两个设置在车架和后车桥之间。
  3. 根据权利要求3所述的车辆后轮辅助转向的控制系统，其特征在于：所述控制器为单片机。
  4. 根据权利要求2所述的车辆后轮辅助转向的控制系统，其特征在于：还包括有倍数调节按钮，所述倍数调节按钮与所述控制器电连接，所述倍数调节按钮配设在汽车控制台上。
  5. 一种车辆后轮辅助转向的控制方法，适用于如权利要求4所述的车辆后轮辅助转向的控制系统，其特征在于：包括以下步骤：
    步骤一，人工设定现有参数，现有参数包括轮距B和轴距L、净车身重量M和 标准车身中心位置G，标准车身中心位置G由半轮距数据a和预设重心高度数据h构成，
    步骤二，在转弯时，车辆后轮辅助转向的控制系统获取车左轮偏转角θ1和左前轮速度v1，所述车辆后轮辅助转向的控制系统根据净车身重量M和所有重量传感器的数值之和得到汽车重量m，瞬时中心至左前轮轴心的距离r1为目标计算值，同时读取预设的最小转弯半径r0和预设车轮安全转速v0，若v1＞v0则停止车辆后轮辅助转向的控制系统中的后轮主动转向装置运行，汽车后轮为纯滚动，若v1≤v0则执行步骤三，
    步骤三，控制器根据现有参数和以下公式计算向心力矩TG：
    Figure PCTCN2016070720-appb-100001
    因为，由力矩平衡得出TG＝T重，得到以下算法：
    Figure PCTCN2016070720-appb-100002
    因此获得以下算法：
    Figure PCTCN2016070720-appb-100003
    获得出瞬时中心至左前轮轴心的距离r1，若r1＜r0则停止车辆后轮辅助转向的控制系统中的后轮主动转向装置运行，若r1≥r0则执行步骤四，
    步骤四，根据上述所有参数，计算目标后轮转角θ2：
    Figure PCTCN2016070720-appb-100004
    步骤五，将目标后轮转角θ2乘以调节倍数后得出最终后轮转角θ，最终后轮 转角θ输出至后轮主动转向装置，后轮主动转向装置运行，汽车后轮旋转θ角度后与汽车前轮逆向。
  6. 根据权利要5所述的车辆后轮辅助转向的控制方法，其特征在于：在步骤二中，若v1＞1.5倍的v0且1.5倍的r1＜r0，则控制器输出控制信号至转向侧的起爆气囊，转向侧的起爆气囊起爆。
  7. 根据权利要5所述的车辆后轮辅助转向的控制方法，其特征在于：所述步骤五中的调节倍数为控制器根据倍数调节按钮输入得出的调节倍数。
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CN104709341A (zh) * 2015-01-19 2015-06-17 盐城工学院 车辆后轮辅助转向的控制系统及其控制方法

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