CN110481636A - Vehicle steering control method and device, wheel steering system, vehicle - Google Patents
Vehicle steering control method and device, wheel steering system, vehicle Download PDFInfo
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- CN110481636A CN110481636A CN201910832186.XA CN201910832186A CN110481636A CN 110481636 A CN110481636 A CN 110481636A CN 201910832186 A CN201910832186 A CN 201910832186A CN 110481636 A CN110481636 A CN 110481636A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000000875 corresponding effect Effects 0.000 claims abstract description 22
- 238000003860 storage Methods 0.000 claims abstract description 13
- 230000002596 correlated effect Effects 0.000 claims abstract description 7
- 230000003447 ipsilateral effect Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000007689 inspection Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004590 computer program Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 description 6
- 230000035945 sensitivity Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 239000003921 oil Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- 230000001737 promoting effect Effects 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
- 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
- B62D7/1554—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 comprising a fluid interconnecting system between the steering control means of the different axles
- B62D7/1572—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 comprising a fluid interconnecting system between the steering control means of the different axles provided with electro-hydraulic control means
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
This disclosure relates to a kind of vehicle steering control method and device, wheel steering system, vehicle and computer readable storage medium.Vehicle steering control method, comprising: obtain steering wheel angle；The corresponding relationship that corner is respectively taken turns according to steering wheel angle under steering wheel angle, corner coefficient and current steering pattern and vehicle, determines the target rotation angle that vehicle is respectively taken turns, wherein the ratio of corner coefficient and steering wheel hard-over and wheel hard-over is positively correlated；The target rotation angle respectively taken turns according to vehicle controls Vehicular turn.
Description
Technical field
This disclosure relates to technical field of vehicle, in particular to a kind of vehicle steering control method and device, vehicle steering system
System, vehicle and computer readable storage medium.
Background technique
Four big systems one of of the steering system as vehicle chassis are to influence vehicle to exercise safety and control stability
Key factor.Currently, city is increasingly crowded with the increase of common people's car ownership, vehicle is when parking, turning and moving backward
Space it is more and more narrower.The manipulation sensitivity for how promoting wheel steering system is that a technology urgently to be resolved at present is asked
Topic.
Summary of the invention
Present disclose provides a kind of vehicle steering control methods and device, wheel steering system, vehicle and computer can
Read storage medium.
According to one aspect of the disclosure, a kind of vehicle steering control method is provided, comprising:
Obtain steering wheel angle；
Pair of corner is respectively taken turns according to steering wheel angle under steering wheel angle, corner coefficient and current steering pattern and vehicle
It should be related to, determine the target rotation angle that vehicle is respectively taken turns, wherein the ratio of corner coefficient and steering wheel hard-over and wheel hard-over
Value is positively correlated；
The target rotation angle respectively taken turns according to vehicle controls Vehicular turn.
A kind of Vehicular steering control apparatus another aspect of the present disclosure provides, comprising:
Acquiring unit, for obtaining steering wheel angle；
Determination unit, for according to steering wheel angle and vehicle under steering wheel angle, corner coefficient and current steering pattern
The corresponding relationship of each wheel corner, determines the target rotation angle that vehicle is respectively taken turns, wherein corner coefficient and steering wheel hard-over and vehicle
The ratio for taking turns hard-over is positively correlated；
Control unit, the target rotation angle for respectively being taken turns according to vehicle control Vehicular turn.
According to the another aspect of the disclosure, a kind of Vehicular steering control apparatus is provided, comprising:
Memory；With the processor for being coupled to the memory, the processor is configured to based on described deposit is stored in
Instruction in reservoir executes the vehicle steering control method as described in preceding solution.
Still another aspect of the present disclosure provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes vehicle steering control method described in preceding solution when the program is executed by processor.
Still another aspect of the present disclosure provides a kind of wheel steering systems, comprising:
Steering wheel；
Steering pattern input equipment, the selection for providing at least two steering patterns input；
Roll angle inspection equipment is used for detection direction disk corner；
Steering driving mechanism is arranged in a one-to-one correspondence with wheel；And
Central processing unit is set for receiving the current steering pattern of steering pattern input equipment transmission and receiving roll angle inspection
The steering wheel angle that preparation is sent controls each steering driving mechanism driving wheel corresponding to steering wheel angle under current steering pattern
Target rotation angle rotation.
Still another aspect of the present disclosure provides a kind of vehicles, including Vehicular turn described in preceding solution
System.
Using the vehicle of disclosure above-mentioned technical proposal, turns to freedom degree and maneuverability is promoted, vehicle drive
Sensitivity and operation sense are promoted, to efficiently solve difficult technical problem of turning round, park and move backward in a limited space.
By the way that the detailed description of embodiment of the disclosure, the other feature and its advantage of the disclosure will referring to the drawings
It can become apparent.
Detailed description of the invention
The attached drawing for constituting part of specification describes embodiment of the disclosure, and together with the description for solving
Release the principle of the disclosure.
The disclosure can be more clearly understood according to following detailed description referring to attached drawing, in which:
Fig. 1 is the flow chart of some embodiment vehicle steering control methods of the disclosure；
Fig. 2 a to Fig. 2 e is the different steering pattern schematic diagrames in some embodiments of the disclosure；
Fig. 3 is the block diagram of some embodiment Vehicular steering control apparatus of the disclosure；
Fig. 4 is the block diagram of other embodiment Vehicular steering control apparatus of the disclosure；
Fig. 5 is the block diagram of some embodiment computer systems of the disclosure；
Fig. 6 is the schematic diagram of some embodiment wheel steering systems of the disclosure.
It should be understood that the size of various pieces shown in attached drawing is not to draw according to actual proportionate relationship.
In addition, same or similar reference label indicates same or similar component.
Specific embodiment
The various exemplary embodiments of the disclosure are described in detail now with reference to attached drawing.Description to exemplary embodiment
It is merely illustrative, never as to the disclosure and its application or any restrictions used.The disclosure can be with many differences
Form realize, be not limited to the embodiments described herein.These embodiments are provided so that the disclosure is thorough and complete, and
The scope of the present disclosure is given full expression to those skilled in the art.It should also be noted that unless specifically stated otherwise, otherwise in these implementations
Component described in example and the positioned opposite of step should be construed as merely illustrative, not as limitation.
All terms (including technical term or scientific term) that the disclosure uses are common with disclosure fields
The meaning that technical staff understands is identical, unless otherwise specifically defined.It is also understood that in term such as defined in the general dictionary
The meaning consistent with their meanings in the context of the relevant technologies should be interpreted as having, without application idealization or
The meaning of extremely formalization explains, unless being clearly defined herein.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
Traditional wheel steering system is that mechanical steering system, steering wheel and wheel are mechanically connected by transmission mechanism.
Structure is complicated for mechanical steering system, and transmission ratio is fixed, and manufacturing cost is higher, this is unfavorable for realizing that the lightweight of vehicle is set
The safety and stability of meter and driver drive.
A kind of wheel steering system that the relevant technologies use is wire-controlled steering system.Wire-controlled steering system is adopted using sensor
The steering for collecting driver is intended to, and is intended to according to the steering of driver to the corresponding control command of actuator transmission is turned to, thus complete
At steering operation.Wire-controlled steering system is rapid with response, it is flexible to turn to, can reduce car weight and save space-efficient advantage.
However, present inventor has found during realizing the embodiment of the present disclosure, the steering-by-wire of the relevant technologies
System, steering pattern is relatively simple, this is unfavorable for driver and manipulates in narrow space to vehicle, to can not fill
The advantage of wire-controlled steering system is waved in distribution.
In order to solve the above technical problems, the embodiment of the present disclosure provides a kind of vehicle steering control method and device, vehicle
Steering system, vehicle and computer readable storage medium.
As shown in Figure 1, the vehicle steering control method of some embodiments of the disclosure, includes the following steps S101-S103.
Step S101: steering wheel angle is obtained；
Step S102: each according to steering wheel angle and vehicle under steering wheel angle, corner coefficient and current steering pattern
The corresponding relationship for taking turns corner, determines the target rotation angle that vehicle is respectively taken turns, wherein corner coefficient and steering wheel hard-over and wheel are most
The ratio of big corner is positively correlated；
Step S103: the target rotation angle respectively taken turns according to vehicle controls Vehicular turn.
In some embodiments of the present disclosure, vehicle can provide a variety of steering patterns and select for driver.When front steering mould
Formula can be front-wheel steer mode, rear-axle steering pattern, four-wheel steering pattern, crab row steering pattern and pivot stud mode
In any one.
For example, in one embodiment, there is vehicle aforementioned five kinds of steering patterns to select for driver, different steering patterns
Under, the corresponding relationship that steering wheel angle respectively takes turns corner with vehicle is not also identical.
When Vehicular turn, using inboard wheel as benchmark deflecting roller, for any rotation angle θ of steering wheel, benchmark deflecting roller
Correspondence corner α=θ/k.According to Ackermann steering principle, the corner of other wheels can be derived, it is consistent with wheel steering
Wheel steering angle be positive, inconsistent wheel steering angle is negative with wheel steering.
Ackermann steering principle is a kind of to solve Ackermann steer angle, different several in the center of circle that interior outboard wheels path is directed toward
He Xue.According to the vehicle that Ackermann steering principle designs, when turning along bend, make inside vehicle using the equal crank of double leval jib
The steering angle of wheel goes out greatly about 2~4 degree than the steering angle of outboard wheels, and the center of circle in wheel path each so substantially intersects at rear axle and prolongs
Instantaneous center of turn on long line, so that vehicle can smoothly be turned.
Referring to figure 2. shown in a, when current steering pattern is front-wheel steer mode, using the first front-wheel as benchmark deflecting roller,
Steering wheel angle and vehicle respectively take turns the corresponding relationship of corner are as follows:
Referring to figure 2. shown in b, when current steering pattern is rear-axle steering pattern, using the first rear-wheel as benchmark deflecting roller,
Steering wheel angle and vehicle respectively take turns the corresponding relationship of corner are as follows:
Referring to figure 2. shown in c, when current steering pattern is four-wheel steering pattern, using the second front-wheel as benchmark deflecting roller,
Steering wheel angle and vehicle respectively take turns the corresponding relationship of corner are as follows:
Referring to figure 2. shown in d, when current steering pattern is crab row steering pattern, using the first front-wheel as benchmark deflecting roller,
Steering wheel angle and vehicle respectively take turns the corresponding relationship of corner are as follows:
α1=α2=α3=α4=θ/k
Referring to figure 2. shown in e, when current steering pattern is pivot stud mode, vehicle respectively takes turns the wheelbase of corner and wheel
Related with wheelspan, vehicle respectively takes turns corner are as follows:
In the above correspondence relationship, each meaning of parameters is as follows: α1For the corner of the first front-wheel, α2For the corner of the second front-wheel,
α3For the corner of first rear-wheel ipsilateral with the second front-wheel, α4For the corner of second rear-wheel ipsilateral with the first front-wheel, θ is direction
Disk corner, k are corner coefficient, and L is vehicle wheelbase, and B is car gage.Wherein, the first front-wheel can be off-front wheel, then before second
Wheel is the near front wheel；Alternatively, the first front-wheel is the near front wheel, then the second front-wheel is off-front wheel.
Corner coefficient k can be according to relational expression k=θDisk max/θTake turns maxIt determines, wherein θDisk maxFor steering wheel hard-over, θTake turns max
It is known quantity for wheel hard-over.
The vehicle steering control method of some embodiments of the disclosure, can with the following steps are included:
Receive the current steering pattern selected at least two steering patterns of vehicle；
When not receiving the current steering pattern selected at least two steering patterns of vehicle, front-wheel is determined
Steering pattern is current steering pattern.
That is: when driver does not make a choice to steering pattern, it is current steering pattern that vehicle, which defaults front-wheel steer mode,.
The program makes wheel steering system more humanized.
In embodiment of the present disclosure technical solution, the ratio of corner coefficient and steering wheel hard-over and wheel hard-over
It is positively correlated, so as to effectively simplify computational processing, improves the sensitivity of steering response.The steering pattern of vehicle can be by driving
The person of sailing selects as needed, and therefore, the steering freedom degree and maneuverability of vehicle are promoted, the sensitivity and operation of vehicle drive
Sense is promoted.Driver can select more suitable steering pattern according to environmental condition and steering demand, to efficiently solve
Turn, the problem parked and move backward hardly possible in the confined space.
As shown in figure 3, some embodiments of the present disclosure also provide a kind of Vehicular steering control apparatus, comprising:
Acquiring unit 31, for obtaining steering wheel angle；
Determination unit 32, for according to steering wheel angle under steering wheel angle, corner coefficient and current steering pattern with
Vehicle respectively takes turns the corresponding relationship of corner, determines the target rotation angle that vehicle is respectively taken turns, wherein corner coefficient and steering wheel hard-over and
The ratio of wheel hard-over is positively correlated；
Control unit 33, the target rotation angle for respectively being taken turns according to vehicle control Vehicular turn.
Similarly, it using the vehicle of the Vehicular steering control apparatus, turns to freedom degree and maneuverability is promoted, vehicle is driven
The sensitivity and operation sense sailed are promoted, to efficiently solve the problems, such as hardly possible of turning round, park and move backward in a limited space.
As shown in figure 4, some embodiments of the disclosure additionally provide a kind of Vehicular steering control apparatus, comprising: memory 41
With the processor 42 for being coupled to memory 41, processor 42 is configured as executing such as based on the instruction being stored in memory 41
The vehicle steering control method of aforementioned any embodiment.
It should be appreciated that each step in aforementioned vehicle rotating direction control method can be realized by processor, and
It can be realized by software, hardware, firmware or its any mode combined.
Other than above-mentioned vehicle steering control method, device, the embodiment of the present disclosure also can be used wraps in one or more
The form for the computer program product implemented on non-volatile memory medium containing computer program instructions.Therefore, the disclosure
Some embodiments additionally provide a kind of computer readable storage medium, are stored thereon with computer program, and the program is by processor
The vehicle steering control method such as aforementioned any technical solution is realized when execution.
As shown in figure 5, some embodiments of the disclosure additionally provide a kind of computer system.The computer system can be used logical
With the form performance for calculating equipment, which can be used to realize the vehicle steering control method of above-described embodiment.Meter
Calculation machine system includes the bus 50 of memory 51, processor 52 and the different system components of connection.
Memory 51 is such as may include system storage, non-volatile memory medium.System storage for example stores
There are operating system, application program, Boot loader (Boot Loader) and other programs etc..System storage can wrap
Include volatile storage medium, such as random access memory (RAM) and/or cache memory.Non-volatile memory medium
Such as it is stored with the instruction for executing the corresponding embodiment of display methods.Non-volatile memory medium includes but is not limited to disk storage
Device, optical memory, flash memory etc..
Processor 52 can with general processor, digital signal processor (DSP), application specific integrated circuit (ASIC),
The discrete hardware components mode such as field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor is come
It realizes.Correspondingly, each module of such as judgment module and determining module can be run by central processing unit (CPU) and be stored
The instruction of corresponding steps is executed in device to realize, can also be realized by executing the special circuit of corresponding steps.
Any bus structures in a variety of bus structures can be used in bus 50.For example, bus structures include but is not limited to
Industry standard architecture (ISA) bus, microchannel architecture (MCA) bus, peripheral component interconnection (PCI) bus.
Computer system can also include input/output interface 53, network interface 54, memory interface 55 etc..Input and output connect
It can be connected by bus 50 between mouth 53, network interface 54, memory interface 55 and memory 51 and processor 52.It inputs defeated
Outgoing interface 53 can provide connecting interface for input-output equipment such as display, mouse, keyboards.Network interface 54 is various networkings
Equipment provides connecting interface.The External memory equipments such as memory interface 55 is floppy disk, USB flash disk, SD card provide connecting interface.
As shown in fig. 6, some embodiments of the disclosure additionally provide a kind of wheel steering system, comprising:
Steering wheel 61；
Steering pattern input equipment 62, the selection for providing at least two steering patterns input；
Roll angle inspection equipment 63 is used for detection direction disk corner；
Steering driving mechanism 64, is arranged in a one-to-one correspondence with wheel；And
Central processing unit 65, for receiving the current steering pattern of the transmission of steering pattern input equipment 62 and receiving corner inspection
The steering wheel angle that measurement equipment 63 is sent is controlled each steering driving mechanism 64 and wheel is driven to be turned with steering wheel under current steering pattern
The rotation of target rotation angle corresponding to angle.
Wherein, the concrete type of steering pattern input equipment 62 is unlimited, for example, can be keying type inputting equipment, bar
Formula input equipment, touch input device or voice-control input equipment, etc..Different types of vehicle can according to need design
Different types of steering pattern input equipment.
The concrete type of roll angle inspection equipment 63 is unlimited.It such as can be the corner volume for being set to the steering column of steering wheel
Code device.The analog quantity of angular displacement is changed into digital output by angle-position encoder, has high-precision, and wide range, detection speed is fast,
Reliable and stable advantage.The concrete type of angle-position encoder is unlimited, such as can be mechanical angle-position encoder, photo-electric corner
Encoder or magnetic angle-position encoder etc..
In some embodiments of the present disclosure, steering driving mechanism 64 includes course changing control valve group 641 and steering cylinder
642, course changing control valve group 641 based on the received from central processing unit 65 signal adjustment steering cylinder 642 rotation direction
And rotational angle, the rotation band motor car wheel 10 of steering cylinder 642 rotate.
The steering control valve of course changing control valve group 641 can use solenoid directional control valve.Steering control valve receives central processing
The voltage or current signal that device 65 is sent, flow and the direction of hydraulic oil are controlled by valve core movement, and then control steering cylinder
642 rotation direction and rotational angle.Steering cylinder 642 can use oscillating oil cylinder, the swinging end band motor car wheel of oscillating oil cylinder
10 rotations.
It should be understood that two front-wheels of vehicle or whole wheels are also correspondingly arranged on for the driving functions for realizing wheel
The power drive units such as hydraulic motor or driving motor, the power drive unit are controlled by central processing unit, with steering driving machine
Structure cooperation, reversing and turn etc. so as to complete vehicle act.
In some embodiments of the present disclosure, the alternative steering pattern of steering pattern input equipment 62 includes: front-wheel
At least two in steering pattern, rear-axle steering pattern, four-wheel steering pattern, crab row steering pattern and pivot stud mode.
In one embodiment, steering pattern input equipment 62 provides aforementioned five kinds of steering patterns and selects for driver.
In addition, central processing unit 65 is not receiving steering pattern input equipment 62 in some embodiments of the present disclosure
When the current steering pattern sent, determine that front-wheel steer mode is current steering pattern.That is: before the steering pattern of vehicle default is
Take turns steering pattern.When driver not to steering pattern input equipment 62 carry out operating interactive when, vehicle according to default preceding rotation
It is turned to mode.
The embodiment of the present disclosure also provides a kind of vehicle, the wheel steering system including aforementioned any embodiment.Ditto, the vehicle
Steering freedom degree and maneuverability promoted, the sensitivity and operation sense of vehicle drive are promoted, so that the confined space
Interior turn is parked and difficult problem of moving backward is readily solved.
The concrete type of embodiment of the present disclosure vehicle is unlimited, such as can be car, offroad vehicle, minibus, sport car or special
With automobile, etc..
So far, the various embodiments of the disclosure are described in detail.In order to avoid covering the design of the disclosure, do not retouch
State some details known in the field.Those skilled in the art as described above, completely it can be appreciated how implementing this
In disclosed technical solution.
Although being described in detail by some specific embodiments of the example to the disclosure, the skill of this field
Art personnel it should be understood that above example merely to be illustrated, rather than in order to limit the scope of the present disclosure.The skill of this field
Art personnel it should be understood that can not depart from the scope of the present disclosure and spirit in the case where, modify to above embodiments or
Some technical features can be equivalently replaced.The scope of the present disclosure is defined by the following claims.
Claims (18)
1. a kind of vehicle steering control method, comprising:
Obtain steering wheel angle；
The corresponding pass of corner is respectively taken turns with vehicle according to steering wheel angle under steering wheel angle, corner coefficient and current steering pattern
System, determines the target rotation angle that vehicle is respectively taken turns, wherein the ratio of corner coefficient and steering wheel hard-over and wheel hard-over is just
It is related；
The target rotation angle respectively taken turns according to vehicle controls Vehicular turn.
2. vehicle steering control method according to claim 1, wherein the current steering pattern is front-wheel steer mould
Any one in formula, rear-axle steering pattern, four-wheel steering pattern and crab row steering pattern.
3. vehicle steering control method according to claim 2, in which:
When current steering pattern is front-wheel steer mode, steering wheel angle respectively takes turns the corresponding relationship of corner with vehicle are as follows:
Wherein, α1For the corner of the first front-wheel, α2For the corner of the second front-wheel, α3For first rear-wheel ipsilateral with the second front-wheel
Corner, α4For the corner of second rear-wheel ipsilateral with the first front-wheel, θ is steering wheel angle, and k is corner coefficient, and L is axle for vehicle
Away from B is car gage.
4. vehicle steering control method according to claim 2, in which:
When current steering pattern is rear-axle steering pattern, steering wheel angle respectively takes turns the corresponding relationship of corner with vehicle are as follows:
Wherein, α1For the corner of the first front-wheel, α2For the corner of the second front-wheel, α3For first rear-wheel ipsilateral with the second front-wheel
Corner, α4For the corner of second rear-wheel ipsilateral with the first front-wheel, θ is steering wheel angle, and k is corner coefficient, and L is axle for vehicle
Away from B is car gage.
5. vehicle steering control method according to claim 2, in which:
When current steering pattern is four-wheel steering pattern, steering wheel angle respectively takes turns the corresponding relationship of corner with vehicle are as follows:
Wherein, α1For the corner of the first front-wheel, α2For the corner of the second front-wheel, α3For first rear-wheel ipsilateral with the second front-wheel
Corner, α4For the corner of second rear-wheel ipsilateral with the first front-wheel, θ is steering wheel angle, and k is corner coefficient, and L is axle for vehicle
Away from B is car gage.
6. vehicle steering control method according to claim 2, in which:
When current steering pattern is crab row steering pattern, steering wheel angle respectively takes turns the corresponding relationship of corner with vehicle are as follows:
α1=α2=α3=α4=θ/k
Wherein, α1For the corner of the first front-wheel, α2For the corner of the second front-wheel, α3For first rear-wheel ipsilateral with the second front-wheel
Corner, α4For the corner of second rear-wheel ipsilateral with the first front-wheel, θ is steering wheel angle, and k is corner coefficient.
7. the vehicle steering control method according to any one of claim 2-6, the vehicle further includes pivot stud mould
Formula；
When current steering pattern is pivot stud mode, vehicle respectively takes turns corner are as follows:
Wherein, α1For the corner of the first front-wheel, α2For the corner of the second front-wheel, α3For first rear-wheel ipsilateral with the second front-wheel
Corner, α4For the corner of second rear-wheel ipsilateral with the first front-wheel, L is vehicle wheelbase, and B is car gage.
8. vehicle steering control method according to claim 7, further includes:
Receive the current steering pattern selected at least two steering patterns of vehicle；
When not receiving the current steering pattern selected at least two steering patterns of vehicle, front-wheel steer is determined
Mode is current steering pattern.
9. a kind of Vehicular steering control apparatus, comprising:
Acquiring unit, for obtaining steering wheel angle；
Determination unit, for each according to steering wheel angle and vehicle under steering wheel angle, corner coefficient and current steering pattern
The corresponding relationship for taking turns corner, determines the target rotation angle that vehicle is respectively taken turns, wherein corner coefficient and steering wheel hard-over and wheel are most
The ratio of big corner is positively correlated；
Control unit, the target rotation angle for respectively being taken turns according to vehicle control Vehicular turn.
10. a kind of Vehicular steering control apparatus, comprising:
Memory；With
It is coupled to the processor of the memory, the processor is configured to the instruction based on storage in the memory,
Execute such as vehicle steering control method of any of claims 1-8.
11. a kind of computer readable storage medium, is stored thereon with computer program, realized such as when which is executed by processor
Vehicle steering control method of any of claims 1-8.
12. a kind of wheel steering system, comprising:
Steering wheel；
Steering pattern input equipment, the selection for providing at least two steering patterns input；
Roll angle inspection equipment is used for detection direction disk corner；
Steering driving mechanism is arranged in a one-to-one correspondence with wheel；And
Central processing unit, for receiving the current steering pattern of steering pattern input equipment transmission and receiving roll angle inspection equipment hair
The steering wheel angle sent controls each steering driving mechanism driving wheel with mesh corresponding to steering wheel angle under current steering pattern
Mark corner rotation.
13. wheel steering system according to claim 12, wherein alternative turn of the steering pattern input equipment
It include: front-wheel steer mode, rear-axle steering pattern, four-wheel steering pattern, crab row steering pattern and pivot stud mould to mode
At least two in formula.
14. wheel steering system according to claim 12, wherein the central processing unit is also used to do not receiving
When the current steering pattern that steering pattern input equipment is sent, determine that front-wheel steer mode is current steering pattern.
15. the described in any item wheel steering systems of 2-14 according to claim 1, wherein the steering pattern input equipment packet
Include keying type inputting equipment, catch pin type input equipment, touch input device or voice-control input equipment.
16. the described in any item wheel steering systems of 2-14 according to claim 1, wherein the steering driving mechanism includes turning
To control valve group and steering cylinder, the signal from central processing unit adjusts steering oil to the course changing control valve group based on the received
The rotation of the rotation direction and rotational angle of cylinder, the steering cylinder drives vehicle wheel rotation.
17. the described in any item wheel steering systems of 2-14 according to claim 1, wherein the roll angle inspection equipment is setting
In the angle-position encoder of the steering column of steering wheel.
18. a kind of vehicle, including the described in any item wheel steering systems of 2-17 according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110864920A (en) * | 2019-11-30 | 2020-03-06 | 的卢技术有限公司 | Visual sense-based automatic angle relation determination method and system |
| CN113120077A (en) * | 2019-12-31 | 2021-07-16 | 瑞维安知识产权控股有限责任公司 | System and method for providing torque vectoring, K, steering mode for a vehicle |
| CN113635965A (en) * | 2021-08-27 | 2021-11-12 | 一汽解放汽车有限公司 | Full hydraulic steering control system, method, vehicle and storage medium |
| CN114061968A (en) * | 2020-08-05 | 2022-02-18 | 东芝三菱电机产业***株式会社 | Chassis dynamometer and conversion table manufacturing method |
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