CN108609047A - Vehicle all-wheel control system, method and vehicle - Google Patents
Vehicle all-wheel control system, method and vehicle Download PDFInfo
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- CN108609047A CN108609047A CN201810183324.1A CN201810183324A CN108609047A CN 108609047 A CN108609047 A CN 108609047A CN 201810183324 A CN201810183324 A CN 201810183324A CN 108609047 A CN108609047 A CN 108609047A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000005461 lubrication Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000012067 mathematical method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- 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
- B62D7/142—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 specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks
- B62D7/144—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 specially adapted for particular vehicles, e.g. tractors, carts, earth-moving vehicles, trucks for vehicles with more than two axles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of vehicle all-wheel control systems, method and vehicle, including the near front wheel, off-front wheel, an at least one set of left side follows wheel and at least one set of right side to follow wheel, the system further includes wheel position positioning unit, wheel trajectories operation processing unit, follow wheel steering control unit and wheel steering actuator, each group is left, the right side follows wheel to be corresponding with the wheel steering actuator respectively, the wheel position positioning unit acquires the left side in real time, the geographical location information of off-front wheel, the wheel trajectories operation processing unit determines the left side according to the geographical location information, the driving trace of off-front wheel, the driving trace for following wheel steering control unit that the left Following Car wheel is made the to follow described the near front wheel movement, the right Following Car wheel is set to follow the driving trace movement of the off-front wheel.The system can realize the all-wheel steerings of more wheel long vehicles, and lubrication groove when reducing Vehicular turn is poor, reduces turning radius, improve vehicle safety when driving and passability.
Description
Technical field
The present invention relates to a kind of vehicle all-wheel control system and vehicles.
Background technology
All-wheel steering is to solve the problems, such as that vehicle (containing trailer, tablet transfer car(buggy)) steering lubrication groove is poor, improve vehicle traveling peace
The effective ways of full property and passability.However, up to the present, all-wheel steering all relies on mechanical linkage to realize, this
The lubrication groove that method reduces steering to a certain extent is poor, but due to complicated, it is difficult to promote and apply.
For integrated long vehicle, tradition machinery link mechanism is designed according to Ackermann steering principle and is calculated, theoretically should be by
It moves in a circle according to a turning center, but during actual steering, since heavy vehicle quality is big, the moment of inertia is big, barycenter
Height, the number of axle is more, often has larger difference with Ackermann steering theory for different turning velocity and steering angle.
For pulling, partly pull, the atypical long vehicle such as truck combination, mechanical linkage then completely can not to front truck and after
Control is implemented in the steering of vehicle.Because it is that vehicle is turned to around same turning center that mechanical linkage formula, which turns to theoretical premise,
And in actual travel, since vehicle is longer, many times the bend residing for front truck and rear car and it is not belonging to the same circumference, sometimes
Even direction is completely opposite.
It follows that with the development of transport service, Vehicle length is increasingly longer so that the turning of vehicle is more and more difficult,
Lubrication groove difference is big when turning, seriously threatens the security of the lives and property of other roads participant, and the traffic accident of initiation is continuously increased, because
This, it is desirable to provide a kind of new vehicle all-wheel control system.
Invention content
The present invention provides a kind of new vehicle all-wheel control system and vehicle.
The present invention provides a kind of vehicle all-wheel control system, including the near front wheel, off-front wheel, an at least one set of left side follow wheel and
At least one set of right side follows wheel, which further includes wheel position positioning unit, wheel trajectories operation processing unit, follows wheel
Turning control cell and wheel steering actuator, each group is left and right to follow wheel to be corresponding with the wheel steering actuator, institute respectively
State the geographical location information that wheel position positioning unit acquires the left and right front-wheel in real time, the wheel trajectories calculation process list
Member determines the driving trace of the left and right front-wheel according to the geographical location information, described to follow wheel steering control unit
The wheel steering actuator is controlled, so that the left Following Car wheel is follow the driving trace movement of described the near front wheel, makes the right side
Following Car wheel follows the driving trace movement of the off-front wheel.
It refers to the wheel for the driving trace movement that follow corresponding front-wheel to follow wheel.
Left and right front-wheel can there are one or at least two wheels coaxial and that steering can be synchronized.Every group follows wheel
Can there are one or at least two wheels coaxial and that steering can be synchronized.Each group follows wheel to be respectively corresponding with wheel steering
Controller, i.e., each wheel steering actuator can correspond to independent wheel, can also correspond to one group of wheel on same axis,
To realize that each group follows the independent steering of wheel to control.
The wheel steering actuator includes driving mechanism and deceleration mechanism, and the driving mechanism passes through the deceleration mechanism
It drives and corresponding follows wheel steering.
Left and right follow is equipped with steering angle of wheel sensor on wheel, the steering angle of wheel sensor with
It is described that wheel steering control unit signal is followed to connect.This wheel actual steering angle can be detected constantly by the sensor,
The deviation for calculating and setting steering angle, constantly corrects steering angle by independent wheel steering actuator, its pair is kept to set
Fixed track follows.
Left and right follow is also provided with wheel position positioning unit on wheel.This vehicle is fed back by the positioning unit moment
Physical location is taken turns, so as to keep this wheel to follow planned trajectory.
A kind of vehicle, including the vehicle all-wheel control system.
A kind of vehicle, including the near front wheel, off-front wheel, left rear wheel, off hind wheel, between described the near front wheel and left rear wheel
At least one set of left intermediate wheel and the right intermediate wheel of at least one set between the off-front wheel and off hind wheel, the vehicle is also
Including wheel position positioning unit, wheel trajectories operation processing unit, wheel steering control unit and wheel steering is followed to execute
Device, the left rear wheel, off hind wheel and left and right intermediate wheel respectively correspond to the wheel steering actuator, the wheel position
Positioning unit acquires the geographical location information of the left and right front-wheel in real time, and the wheel trajectories operation processing unit is according to
Geographical location information determines the driving trace of the left and right front-wheel, described that wheel steering control unit is followed to control the vehicle
The driving trace movement for making the left rear wheel follow described the near front wheel to actuator is rotated, the off hind wheel is made to follow the right side
The driving trace of front-wheel moves.
At least three axles can be arranged in vehicle, wherein most front axle corresponds to left and right front-wheel, jackshaft corresponds to the intermediate vehicle in left and right
Wheel and most rear axle correspond to left and right trailing wheel, and vehicle can be a rigid body.Every group of intermediate wheel corresponds to a jackshaft.Certainly,
Axle can not also be set.
A kind of vehicle, including main vehicle and trailer, the rear portion of the main vehicle and the front of trailer connect, and the main vehicle includes
Left and right front-wheel and left and right trailing wheel, follow-up steering wheel after the trailer includes left front, right preceding follow-up steering wheel and is left back, right, institute
Vehicle is stated to further include wheel position positioning unit, wheel trajectories operation processing unit, follow wheel steering control unit and wheel
Turn to actuator, the left and right trailing wheel is corresponding with the wheel steering actuator respectively, the left front follow-up steering wheel, it is right before
Follow-up steering wheel is respectively corresponding with the wheel steering actuator, the vehicle behind follow-up steering wheel, left back follow-up steering wheel, the right side
Wheel position positioning unit acquires the geographical location information of the left and right front-wheel, the wheel trajectories operation processing unit root in real time
The driving trace of the left and right front-wheel is determined according to the geographical location information, it is described that wheel steering control unit is followed to control
The wheel steering actuator makes the left rear wheel, left front follow-up steering wheel, left back follow-up steering wheel follow described the near front wheel
Driving trace moves, make the off hind wheel, it is right before follow-up steering wheel, it is right after follow-up steering wheel follow the traveling rail of the off-front wheel
Mark moves.
A kind of vehicle all-wheel steering method, including：
The step of geographical location information for the left and right front-wheel of real-time collection vehicle；
For the step of determining the left and right front-wheel driving trace according to the geographical location information；
For determining left and right the step of following steering angle of wheel according to the left and right front-wheel driving trace；
It described left and right follow wheel to be turned to according to the steering angle for controlling and makes the left and right wheel point of following
The step of not following the driving trace movement of the left and right front-wheel.
A kind of vehicle all-wheel steering method, vehicle include left and right front-wheel and it is left and right follow wheel, so that a left side is followed wheel
The driving trace movement for following the near front wheel makes the right driving trace for following wheel to follow off-front wheel movement.
Vehicle can be diesel engine automobiles, motor vehicle with gasoline engine, electric vehicle, new energy vehicle or it is other by
Power plant driving, the vehicle of traction and trailer and trailer.
The beneficial effects of the invention are as follows：It can realize the all-wheel steering of more wheel long vehicles, lubrication groove when reducing Vehicular turn is poor,
Turning radius is reduced, vehicle safety when driving and passability are improved.
Description of the drawings
Fig. 1 is the flow diagram of present embodiment vehicle all-wheel steering method；
Fig. 2 is the structure diagram of present embodiment vehicle all-wheel control system；
Fig. 3 is schematic diagram of the present embodiment vehicle all-wheel control system when turning to；
Fig. 4 is the structural schematic diagram of the wheel steering actuator of present embodiment vehicle all-wheel control system.
Specific implementation mode
Below by specific implementation mode combination attached drawing, invention is further described in detail.
As shown in Figure 1, present embodiment vehicle all-wheel steering method comprising following steps：1) each wheel is acquired in real time
Geographical location information；2) driving trace for calculating active steering wheel, that is, determine the driving trace of left and right front-wheel；3) it counts
The travel route for respectively following wheel is calculated, which determines according to the driving trace of left and right front-wheel；4) each Following Car is controlled
Wheel is mainly used for the steering angle that control respectively follows wheel according to respective route Turning travel, and make left side follows wheel to follow
The driving trace of the near front wheel moves, and makes the driving trace movement for following wheel to follow off-front wheel on right side.
The geographical location information of left and right front-wheel is determined for the driving trace of left and right front-wheel.Respectively follow the ground of wheel
Reason location information can be used for the physical location that Real-time Feedback follows wheel, so as to be adjusted in real time to its steering angle
It is whole.
As shown in Fig. 2, present embodiment vehicle all-wheel control system, including wheel position positioning unit, vehicle speed sensor,
Steering angle of wheel sensor, wheel trajectories operation processing unit follow wheel steering control unit and wheel steering actuator.
Wheel position positioning unit, vehicle speed sensor and steering angle of wheel sensor are connect with wheel trajectories operation processing unit,
Wheel trajectories operation processing unit follows wheel steering control unit and wheel steering actuator to be sequentially connected with, and wheel steering is held
Row device controls the steering angle for following wheel.
Wheel position positioning unit acquires the geographical location information of each wheel in real time, is carried for each wheels travel track of determination
For initial data.Vehicle speed sensor and steering angle of wheel sensor provide vehicle traveling speed for wheel trajectories operation processing unit
Degree and each steering angle of wheel information, convenient for calculating and planning the travel route for following wheel estimated.Steering angle of wheel senses
The feedback element that device is also used as that wheel steering is respectively followed to control respectively follows the real-time steering angle information of wheel to provide.
Wheel trajectories operation processing unit is according to each wheel geographical location, the steering angle of speed and each wheel, to be responsible for
Calculation process is carried out to the driving trace of each wheel and the track for respectively following wheel that will pass through is subjected to operation and planning.
Follow the programme path of wheel steering control unit according to wheel trajectories operation processing unit, export control parameter to
Each wheel steering actuator realizes the corresponding different steering angles for following wheel by each wheel steering actuator.
Wheel steering actuator is the mechanism that above-mentioned control parameter can be converted into steering angle, which executes
Electric drive or hydraulic-driven may be used in device, and the purpose is to realize to travel by track.As shown in figure 4, wheel steering actuator 3
May include driving mechanism 31 and deceleration mechanism 32, driving mechanism 31 is driven by deceleration mechanism 32 and corresponding follows wheel
33 turn to.
Wheel trajectories operation processing unit determines the driving trace of vehicle the near front wheel and off-front wheel, before the near front wheel and the right side
The driving trace of wheel is the left planned trajectory for following wheel to follow wheel with the right side respectively.Follow wheel steering control unit control with
With the steering angle of wheel, makes each left side that wheel be followed to be moved according to the driving trace of the near front wheel, each right side is made to follow wheel according to the right side
The driving trace of front-wheel moves, that is, left Following Car wheel follows the driving trace movement of the near front wheel, and right Following Car wheel follows off-front wheel
Driving trace movement.
In the another embodiment of vehicle all-wheel control system, vehicle all-wheel control system includes wheel position positioning
Unit, wheel trajectories operation processing unit follow wheel steering control unit and wheel steering actuator, wheel position positioning single
Member is connect with wheel trajectories operation processing unit, and wheel trajectories operation processing unit follows wheel steering control unit and wheel
Actuator is turned to be sequentially connected with.
There is vehicle the near front wheel, off-front wheel, a left side wheel and the right side to be followed to follow wheel, the near front wheel and a left side that wheel is followed to be respectively positioned on
The left side of vehicle, off-front wheel and the right right side for following wheel to be respectively positioned on vehicle.The near front wheel can only there are one；Can also have coaxial
And one group of wheel of steering can be synchronized.A left side follow wheel can only there are one, it is possibility to have at least one set of wheel, the vehicle of each group
Wheel is coaxial and can synchronize steering.Off-front wheel can only there are one, it is possibility to have one group of wheel coaxial and that steering can be synchronized.
The right side follow wheel can only there are one, it is possibility to have at least one set of wheel, the wheel of each group is coaxial and can synchronize steering.
Wheel position positioning unit acquires the geographical location information of left and right front-wheel in real time.Wheel trajectories operation processing unit
According to the real-time geographical locations of left and right front-wheel, the driving trace of left and right front-wheel is obtained.Follow wheel steering control unit according to
The driving trace exports control parameter and wheel steering actuator, wheel steering actuator is given to change the corresponding steering for following wheel
Angle makes its holding follow left and right front-wheel driving trace.It is each that wheel is followed to be executed by corresponding wheel steering
Device controls, to realize respective independent steering.
In present embodiment, wheel is each followed to correspond to a wheel steering actuator respectively, can also be coaxial it is multiple
Wheel is followed to correspond to the same wheel steering actuator.
As shown in figure 3, it is embodiment of the present invention applied to the steering of main back wheels of vehicle and trailer all-wheel steering.Vehicle is vapour
Car team vehicle comprising two rigid bodies, are main vehicle 1 and trailer 2 respectively, and the rear portion of main vehicle and the front of trailer connect.Main vehicle
Including left and right front-wheel 11,12 and left and right trailing wheel 13,14, trailer 2 includes left front, right preceding follow-up steering wheel 21,22 and left back, right
Follow-up steering wheel 23,24 afterwards, left and right front-wheel are located at the front of main vehicle, and left and right trailing wheel is located at the rear portion of main vehicle, it is left front, right before with
Dynamic deflecting roller is located at the front of trailer, it is left back, right after follow-up steering wheel be located at the rear portion of trailer.It is left rear wheel 13, left front with turn
It is that a left side above-mentioned follows wheel, i.e. a left side that wheel is followed to have three groups of (three) wheels to wheel 21, left back follow-up steering wheel 23；Behind the right side
Follow-up steering wheel 24 is that the right side above-mentioned follows wheel, the i.e. right side that wheel is followed to have three groups behind follow-up steering wheel 22, the right side before wheel 14, the right side
(three) wheel.Vehicle cross S types it is curved when, when main vehicle and trailer are located at antipodal two bends in direction, main vehicle
Each wheel is turned to around turning center O1, and each wheel of trailer is turned to around turning center O2, and an each group left side follows wheel to follow a left side
Front-wheel driving trace, each group right side follow wheel to follow off-front wheel driving trace, to substantially reduce the turning of truck combination
Radius and lubrication groove are poor, and while improving trafficability, reducing big lubrication groove difference leads to the risk of traffic accident.
For vehicle all-wheel control system, left and right front-wheel is active steering wheel, passes through steering wheel or other intelligence by driver
Mechanism operates, and wheel position positioning unit acquires each wheel position information in real time, and wheel trajectories operation processing unit records operation
Go out the driving trace of left and right front-wheel, and calculates and respectively follow wheel in the corresponding steering angle in each position, Following Car with designing
Wheel control unit respectively follows wheel to be travelled by programme path according to the operation result control of track of vehicle operation processing unit, wheel
It turns to actuator and executes running with what power (hydraulic pressure is electronic) was completed to follow steering angle of wheel.
Aforementioned track or route can refer to the data combination indicated with longitude and latitude parameter, similar existing electronic map and
Satellite positioning navigation.The data can be directly obtained by existing positioning and navigation through electronic module.
The driving trace of wheel can be obtained by wheel position positioning unit, as long as theoretically the sampling time is short enough, each point
Line can be used as its track crossed.In general, considering cost problem, less point can be taken, with Difference Calculation
Or the mathematical methods such as curve matching calculate the track that wheel crosses.For example existing high-precision Big Dipper of wheel position positioning unit is fixed
Position chip or high-precision GPS positioning chip (alignment sensor), or combine difference method etc., it can get the wheel all the time
Geographic coordinate data.The sampling time of location data can be designed as needed, such as：Setting acquires one group of data per 10ms,
The connection of these longitude and latitude degrees of data just constitutes the driving trace of this wheel.For a rigid body, (main vehicle and trailer are respectively one
A rigid body), the mode that each wheel installs one group of alignment sensor may be used, can also be sensed by inertial gyroscope
The vehicle body angle-data that device device is provided, by the position of a wheel, the position in conjunction with where body construction calculates other wheels
The track set and crossed.
For the advance travel route of each wheel, if vehicle only has former and later two axis, it need to only control a left side and follow wheel
Follow the near front wheel track traveling, the right side follows wheel to follow off-front wheel track traveling.For vehicle there are three or more axis
Situation, can first pressing Rigid Body in Rotation With principle, (each wheel is around same turn when Vehicular turn is according to Ackermann steering principle — that is, steering
Rotated to center) position that each intermediate wheel should reach all the time is calculated, then executed by respectively independently arranged steering
Device control intermediate wheel turn to, should by Rigid Body in Rotation With principle calculating can by follow wheel steering control unit carry out, or
It is carried out by wheel trajectories operation processing unit.
After making the track for respectively following wheel that should follow, tracking Turning travel can be realized by existing technology.
Most simple approach uses feedback, that is, moment detection originally follows wheel physical location, calculates inclined with setting track
Difference constantly corrects steering angle by independent steering actuator, it is kept to follow setting track.
For vehicle all-wheel control system, the most direct purpose of control parameter be follow by longitude and latitude determine it is left and right before
The driving trace of wheel, then it is exactly respectively to follow the steering angle of wheel all the time up to trace, specific control parameter generally according to
Different driving power source determines that e.g., parameters of electric power generally includes electric current, voltage, direction, and hydraulic parameters generally include flow, pressure
Power, direction.The different steering angles of each wheel are realized by steering actuator.
For vehicle all-wheel control system, the driving mechanism of wheel steering actuator can be motor or hydraulic motor.This
Each mode for following one group of actuator of wheel may be used in system, and the one group of execution of each axle can be designed in practical application
The mode of device, or several axles are designed to one group of bogie, by the way of one group of actuator.
In vehicle advance driving process, the track of front-wheel is similar to track described on conversational implication, and subsequent wheel is only
Need the track tracking traveling by front-wheel.Left side follows wheel to be travelled along the near front wheel track, and right side follows wheel edge
Off-front wheel track travels.If each car body only has former and later two axles, only need to control a left side follows wheel by the near front wheel track row
It sails, the right side follows wheel to be travelled by off-front wheel track.There is the case where at least three axles for a car body, most front axle and most
The wheel of rear axle follows the driving trace of left and right front-wheel, and each intermediate wheel of jackshaft, cannot be along respective due to being restrained by car body
Front wheel trajectories traveling can first press Rigid Body in Rotation With principle (Vehicular turn each vehicle according to Ackermann steering principle — that is, when turning to
Take turns and rotated around the same turning center) position that each intermediate wheel should reach all the time is calculated, then by respectively independently setting
The steering actuator control intermediate wheel set turns to realize that tracking travels.In reverse travel, it is manually operable last group
The steering angle of wheel, other wheels are by control system control come with last group of wheel movement.
The above content is combining, specific embodiment is made for the present invention to be further described, and it cannot be said that this hair
Bright specific implementation is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, it is not taking off
Under the premise of from present inventive concept, a number of simple deductions or replacements can also be made.
Claims (8)
1. a kind of vehicle all-wheel control system, including the near front wheel, off-front wheel, an at least one set of left side follow wheel and it is at least one set of it is right with
With wheel, which is characterized in that further include wheel position positioning unit, wheel trajectories operation processing unit, follow wheel steering control
Unit and wheel steering actuator processed, each group is left and right to follow wheel to be respectively corresponding with the wheel steering actuator, the vehicle
Wheel position positioning unit acquires the geographical location information of the left and right front-wheel, the wheel trajectories operation processing unit root in real time
The driving trace of the left and right front-wheel is determined according to the geographical location information, it is described that wheel steering control unit is followed to control
The wheel steering actuator makes the left Following Car wheel follow the driving trace movement of described the near front wheel, the right side is made to follow
Wheel follows the driving trace movement of the off-front wheel.
2. vehicle all-wheel control system as described in claim 1, which is characterized in that the wheel steering actuator includes driving
Mechanism and deceleration mechanism, the driving mechanism are driven by the deceleration mechanism and corresponding follow wheel steering.
3. vehicle all-wheel control system as claimed in claim 2, which is characterized in that left and right follow is equipped on wheel
Steering angle of wheel sensor, the steering angle of wheel sensor follow wheel steering control unit signal to connect with described.
4. a kind of vehicle, which is characterized in that including the vehicle all-wheel control system described in any one of claim 1-3.
5. a kind of vehicle, including the near front wheel, off-front wheel, left rear wheel, off hind wheel, between described the near front wheel and left rear wheel extremely
Few one group of left intermediate wheel and the right intermediate wheel of at least one set between the off-front wheel and off hind wheel, which is characterized in that
Further include wheel position positioning unit, wheel trajectories operation processing unit, wheel steering control unit and wheel steering followed to hold
Row device, the left rear wheel, off hind wheel and left and right intermediate wheel respectively correspond to the wheel steering actuator, the wheel position
The geographical location information that positioning unit acquires the left and right front-wheel in real time is set, the wheel trajectories operation processing unit is according to institute
The driving trace that geographical location information determines the left and right front-wheel is stated, it is described to follow described in the control of wheel steering control unit
Wheel steering actuator makes the left rear wheel follow the driving trace movement of described the near front wheel, so that the off hind wheel is follow described
The driving trace of off-front wheel moves.
6. a kind of vehicle, including main vehicle and trailer, the rear portion of the main vehicle and the front of trailer connect, the main vehicle include it is left,
Off-front wheel and left and right trailing wheel, follow-up steering wheel after the trailer includes left front, right preceding follow-up steering wheel and is left back, right, feature
It is, further includes wheel position positioning unit, wheel trajectories operation processing unit, wheel steering control unit and wheel is followed to turn
To actuator, the left and right trailing wheel is corresponding with the wheel steering actuator respectively, the left front follow-up steering wheel, it is right before with
Follow-up steering wheel is respectively corresponding with the wheel steering actuator, the wheel behind dynamic deflecting roller, left back follow-up steering wheel, the right side
Position positioning unit acquires the geographical location information of the left and right front-wheel in real time, the wheel trajectories operation processing unit according to
The geographical location information determines the driving trace of the left and right front-wheel, described that wheel steering control unit is followed to control institute
Wheel steering actuator is stated, the left rear wheel, left front follow-up steering wheel, left back follow-up steering wheel is made to follow the row of described the near front wheel
Sail track movement, make the off hind wheel, it is right before follow-up steering wheel, it is right after follow-up steering wheel follow the driving trace of the off-front wheel
Movement.
7. a kind of vehicle all-wheel steering method, which is characterized in that including：
The step of geographical location information for the left and right front-wheel of real-time collection vehicle；
For the step of determining the left and right front-wheel driving trace according to the geographical location information；
For determining left and right the step of following steering angle of wheel according to the left and right front-wheel driving trace；
It described left and right follow wheel to be turned to according to the steering angle for controlling and makes described left and right wheel to be followed to chase after respectively
The step of following the driving trace movement of the left and right front-wheel.
8. a kind of vehicle all-wheel steering method, vehicle includes left and right front-wheel and left and right follows wheel, which is characterized in that make it is left with
The driving trace movement that the near front wheel is followed with wheel makes the right driving trace for following wheel to follow off-front wheel movement.
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| CN201810183324.1A CN108609047A (en) | 2018-03-06 | 2018-03-06 | Vehicle all-wheel control system, method and vehicle |
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| CN201810183324.1A CN108609047A (en) | 2018-03-06 | 2018-03-06 | Vehicle all-wheel control system, method and vehicle |
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| CN108609047A true CN108609047A (en) | 2018-10-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114397883A (en) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions |
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| CN203047345U (en) * | 2013-01-28 | 2013-07-10 | 中联重科股份有限公司 | Steering system, combined vehicle steering system and vehicle |
| CN207916960U (en) * | 2018-03-06 | 2018-09-28 | 深圳智慧车联科技有限公司 | Vehicle all-wheel control system and vehicle |
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| CN103057586A (en) * | 2013-01-28 | 2013-04-24 | 中联重科股份有限公司 | trailer steering control method, controller, trailer steering system and trailer |
| CN203047345U (en) * | 2013-01-28 | 2013-07-10 | 中联重科股份有限公司 | Steering system, combined vehicle steering system and vehicle |
| CN207916960U (en) * | 2018-03-06 | 2018-09-28 | 深圳智慧车联科技有限公司 | Vehicle all-wheel control system and vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114397883A (en) * | 2021-11-11 | 2022-04-26 | 安徽昌永得机械有限公司 | Control system of multi-axis heavy-load AGV (automatic guided vehicle) trolley of all directions |
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Application publication date: 20181002 |