CN114572306A - Method and equipment for calculating understeer gradient of vehicle during equidirectional steering of rear wheels - Google Patents
Method and equipment for calculating understeer gradient of vehicle during equidirectional steering of rear wheels Download PDFInfo
- Publication number
- CN114572306A CN114572306A CN202210179118.XA CN202210179118A CN114572306A CN 114572306 A CN114572306 A CN 114572306A CN 202210179118 A CN202210179118 A CN 202210179118A CN 114572306 A CN114572306 A CN 114572306A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- wheel
- steering
- turning
- center
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention aims to provide a method and equipment for calculating the understeer gradient of a vehicle during the equidirectional steering of rear wheels. The understeer gradient of the vehicle can be obtained based on calculation, and the influence of the matched rear wheel steering on the whole vehicle operation stability performance is evaluated in the early development stage, so that the risk is avoided earlier.
Description
Technical Field
The invention relates to a method and equipment for calculating the gradient of understeer of a vehicle during equidirectional steering of rear wheels.
Background
The steering stability of a motor vehicle, which is directly related to the driving safety of the motor vehicle, includes directional stability, wherein, in three turning characteristics of the motor vehicle: neutral steering, understeer and oversteer, neutral steering, corresponds to an ideal turning characteristic, i.e. the vehicle is steered at the angle given by the driver without deflection. However, neutral steering is difficult to realize, and the actual turning process is mostly understeer and oversteer; understeer may be understood as a deviation to the outside of the ideal turning circle; the oversteer is then shifted to the inside.
In the actual turning process, if understeer occurs, the driver can correct the understeer by continuously rotating the steering wheel, so that the problem is not serious; when oversteer occurs, it is difficult to restore normal driving by turning the steering wheel, and especially when driving at high speed, the steering wheel is easy to destabilize and dangerous.
When the automobile turns at high speed (such as doubling, sharp turning and the like), the automobile is easy to oversteer, so that the automobile is unstable, and at the moment, the rear wheel generates a corner in the same direction as the front wheel, so that the oversteer can be weakened, and the safety of the automobile is improved.
The application of the rear wheel steering technology in the current market is gradually increased, so that the rear wheel generates a steering angle the same as that of the front wheel during high-speed running, the operation stability and the safety of the automobile are improved, and meanwhile, the steering deficiency gradient in the dynamic performance of the automobile can be influenced to different degrees.
The steering working condition can be used for compensating the tendency of over-steering by generating a corner in the same direction with the front wheel through the rear wheel to keep the balance of the vehicle when the vehicle is driven at high speed. At the moment, the corresponding understeer gradient also increases, but at present, no effective method is available for calculating the influence of the rear wheel steering system on the overall understeer gradient.
Disclosure of Invention
The invention provides a method and equipment for calculating the understeer gradient of a vehicle during equidirectional steering of rear wheels.
The invention provides a method for calculating a vehicle understeer gradient during equidirectional steering of a rear wheel, which comprises the following steps:
determining the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel;
acquiring a rear wheel steering angle of the vehicle, and determining a front wheel steering radius of the vehicle when the vehicle is in the same-direction steering with rear wheels on the basis of the rear wheel steering angle of the vehicle and the front wheel steering radius of the vehicle when the vehicle is not in the same-direction steering with the rear wheels;
and determining the understeer gradient of the vehicle when the belt rear wheels steer in the same direction based on the turning radius of the front wheels of the vehicle when the belt rear wheels steer in the same direction.
Further, the method for determining the turning radius of the front wheel of the vehicle without the co-steering of the rear wheel based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel comprises the following steps:
the dimensional parameters of the front wheel include: a tread between a front inner one of the front wheels and a front outer one of the front wheels and a tire width of a vehicle;
the corner of the front wheel is the corner of a front inner wheel in the front wheel or the corner of a front outer wheel in the front wheel;
and determining the front wheel turning radius of the vehicle without the rear wheel in the same-direction steering based on the wheel track between the front inner wheel and the front outer wheel, the tire width of the vehicle and the corner of the front inner wheel, or based on the wheel track between the front inner wheel and the front outer wheel, the tire width of the vehicle and the corner of the front outer wheel.
Further, the method for determining the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering based on the track width between the front inner wheel and the front outer wheel, the tread width of the vehicle and the turning angle of the front inner wheel, or based on the track width between the front inner wheel and the front outer wheel, the tread width of the vehicle and the turning angle of the front outer wheel, comprises the following steps:
calculating the distance from the turning circle center of the vehicle to the middle point of the rear axle of the vehicle body based on the wheel base between the front inner wheel and the front outer wheel, the corner of the front inner wheel and the wheel base of the vehicle;
calculating the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle based on the distance from the turning circle center of the vehicle to the middle point of the rear axle of the vehicle body and the wheel track between the front inner wheel and the front outer wheel;
calculating the distance from the turning circle center to the axis of a front outer wheel based on the distance from the turning circle center to the axis of the rear outer wheel of the vehicle and the wheelbase of the vehicle;
and calculating the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering based on the distance from the turning circle center to the axle center of the front outer wheel of the vehicle and the tire width of the vehicle, wherein the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering is the distance from the turning circle center to the outer side of the front outer wheel.
Further, in the above method, calculating a distance from a center of a turning circle of the vehicle to a midpoint of a rear axle of the vehicle body based on a wheel base between the front inner wheel and the front outer wheel, a corner of the front inner wheel, and a wheel base of the vehicle, includes:
calculating the distance from the turning circle center O of the vehicle to the midpoint of the rear axle of the vehicle body based on the following formula
：
Wherein the content of the first and second substances,Tis the wheel track between the front inner wheel and the front outer wheel,Lthe wheelbase of the vehicle and the angle of the front inner wheel are
。
Further, in the above method, calculating a distance from a center of a turning circle of the vehicle to an axis of a rear outer wheel of the vehicle based on a distance from the center of the turning circle to a midpoint of a rear axle of the vehicle body and a track between the front inner wheel and the front outer wheel, includes:
calculating the center of the turning circle according to the following formulaODistance to axle center of rear outer wheel of vehicle
：
Further, in the above method, calculating the distance from the turning circle center to the axis center of the front outer wheel based on the distance from the turning circle center to the axis center of the rear outer wheel of the vehicle and the wheelbase of the vehicle includes:
calculating the distance from the circle center of the turning circle to the axle center of the front outer wheel based on the following formula
：
Further, in the above method, calculating a front wheel turning radius of the vehicle without the rear wheel in the same direction based on a distance from the turning circle center to the center of the front outer wheel and a tire width of the vehicle, the method includes:
calculating the front wheel turning radius of the vehicle without the rear wheel in the same-direction steering based on the following formula
：
Wherein the content of the first and second substances,wthe tire width of the vehicle.
Further, in the above method, obtaining a rear wheel turning angle of the vehicle, and determining a front wheel turning radius of the vehicle with rear wheel steer in the same direction based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle without rear wheel steer in the same direction, includes:
based on the included angle between the connecting line of the axle center of the front outer wheel of the vehicle and the turning circle center and the rear wheel axle of the vehicle
Rear wheel steering angle of vehicle
And the distance from the center of the turn circle to the outer side of the rear outer wheel of the vehicle
Calculating an auxiliary lineXLength of the auxiliary line
The length of the angle between the center of the turning circle and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the center of the turning circle as an original point and is parallel to the axis of the vehicle, and an included angle between a connecting line between the auxiliary point and the axis of a rear outer wheel of the vehicle and a rear wheel shaft of the vehicle is a rear wheel steering angle of the vehicle
；
Based on auxiliary lines
Calculating the amount of increased turn radiusZ；
Based on increased amount of radius of turnZAnd the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering, and determining the turning radius of the front wheel of the vehicle with the rear wheel in the same-direction steering.
Further, in the above method, the angle between the line connecting the axis of the front outer wheel of the vehicle and the center of the turning circle and the rear wheel shaft of the vehicle is based on
Rear wheel steering angle of vehicle
And the distance from the center of the turn circle to the outer side of the rear outer wheel of the vehicle
Calculating an auxiliary lineXLength of the auxiliary lineXThe length of the angle between the center of the turning circle and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the center of the turning circle as an original point and is parallel to the axis of the vehicle, and an included angle between a connecting line between the auxiliary point and the axis of a rear outer wheel of the vehicle and a rear wheel shaft of the vehicle is a rear wheel steering angle of the vehicle
The method comprises the following steps:
calculating an auxiliary line based on the following formulaXLength of (d):
based on the following formula, calculateYLength of (d):
further, in the above method, the auxiliary lines are based onXCalculating the amount of increased turn radiusZThe method comprises the following steps:
calculating the increased turning radius amount according to the following formulaZ：
Further, in the above method, the amount of radius of the turn is increasedZAnd a front wheel turning radius of the vehicle without rear wheel steer in the same direction, determining the front wheel turning radius of the vehicle with rear wheel steer in the same direction, comprising:
determining the front wheel turning radius of the vehicle when the belt rear wheels are steered in the same direction based on the following formula:
further, in the above method, determining an understeer gradient of the vehicle when the vehicle is steered with the rear wheels in the same direction based on a turning radius of the front wheels of the vehicle when the vehicle is steered with the rear wheels in the same direction, includes:
determining an understeer gradient for said vehicle without rear wheel co-steering based on the following formula
：
Wherein the content of the first and second substances,
steering wheel angle gradient for a vehicle without rear wheels steering in the same direction;SRis the steering ratio of the vehicle;vis the movement of a vehicleDriving speed;Lis the wheelbase of the vehicle.
Determining the steering wheel angle gradient when the rear wheels are steered in the same direction based on the following formula
：
Determining an understeer gradient of the vehicle when the rear wheels are turned in the same direction based on the following formula
：
According to another aspect of the present invention, there is also provided a computer readable medium having computer readable instructions stored thereon, the computer readable instructions being executable by a processor to implement the method of any one of the above.
According to another aspect of the present invention, there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform any of the methods described above.
The invention further infers the variable quantity of the understeer gradient through the change of the turning radius by calculating the method for calculating the turning radius of the front wheels of the vehicle with the rear wheels steering in the same direction. The understeer gradient of the vehicle can be obtained based on calculation, and the influence of the matched rear wheel steering on the whole vehicle operation stability performance is evaluated in the early development stage, so that the risk is avoided earlier.
In addition, the turning radius of the front wheel of the vehicle without the rear wheel during the same-direction steering is determined based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel; the method comprises the steps of obtaining the rear wheel turning angle of the vehicle, determining the front wheel turning radius of the vehicle when the vehicle is in the same-direction steering with the rear wheel based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle is not in the same-direction steering with the rear wheel, and effectively calculating the front wheel turning radius of the vehicle after the front wheel and the rear wheel are combined without performing actual measurement.
Drawings
FIG. 1 illustrates a flow chart of a method of calculating an understeer gradient for a vehicle with a rear wheel in a co-directional turn in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a wheel over-steer condition without rear wheel co-steering in accordance with an embodiment of the present invention;
FIG. 3 shows a schematic view of a vehicle cornering situation with co-directional rear wheel steering according to an embodiment of the invention;
FIG. 4 shows a schematic diagram of a simplified triangle model of an embodiment of the invention;
fig. 5 shows a schematic diagram of a mathematical model of the turning radius of a front wheel of a vehicle with rear wheel co-steering built in Excel according to an embodiment of the invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawing figures.
In a typical configuration of the present application, the terminal, the device serving the network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include non-transitory computer readable media (transient media), such as modulated data signals and carrier waves.
As shown in FIG. 1, the present invention provides a method of calculating an understeer gradient for a vehicle with rear wheels steered in the same direction, the method comprising:
step S1, determining the turning radius of the front wheel of the vehicle without the rear wheel during the same-direction steering based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel;
step S2, obtaining a rear wheel steering angle of the vehicle, and determining a front wheel steering radius of the vehicle when the vehicle is in the same-direction steering with the rear wheels based on the rear wheel steering angle of the vehicle and the front wheel steering radius of the vehicle when the vehicle is in the same-direction steering without the rear wheels;
and step S3, determining the understeer gradient of the vehicle when the vehicle is in the same-direction steering with the rear wheels based on the front wheel turning radius of the vehicle when the vehicle is in the same-direction steering with the rear wheels.
The present invention provides a method for calculating an understeer gradient of a vehicle based on the rear-wheel co-steering, which calculates a turning radius of the vehicle with the rear-wheel co-steering, and further infers a change amount of the understeer gradient from a change in the turning radius. The understeer gradient of the vehicle can be obtained based on calculation, and the influence of the matched rear wheel steering on the whole vehicle operation stability performance is evaluated in the early stage of development, so that the risk is avoided earlier.
In addition, the turning radius of the front wheel of the vehicle without the rear wheel during the same-direction steering is determined based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel; the method comprises the steps of obtaining the rear wheel turning angle of the vehicle, determining the front wheel turning radius of the vehicle when the vehicle is in the same-direction steering with the rear wheel based on the rear wheel turning angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle is not in the same-direction steering with the rear wheel, and effectively calculating the front wheel turning radius of the vehicle after the front wheel and the rear wheel are combined without performing actual measurement.
In an embodiment of the method for calculating the understeer gradient of a vehicle with rear-wheel co-steering of the present invention, step S1, determining the turning radius of the front wheel of the vehicle without rear-wheel co-steering based on the turning angle of the front wheel and the size parameter of the front wheel, includes:
step S11, the dimension parameters of the front wheel include: a tread between a front inner one of the front wheels and a front outer one of the front wheels and a tire width of a vehicle;
here, as shown in fig. 2 and 3, the front wheel of the vehicle includes: a front inner wheel and a front outer wheel, wherein the center of the turning circle of the vehicle is closerOThe front wheel is a front inner wheel far away from the circle center of a turnOThe front wheel is a front outer wheel;
the rear wheel of the vehicle includes: the wheel track between the front inner wheel and the front outer wheel is equal to the wheel track between the rear inner wheel and the rear outer wheel;
step S12, the corner of the front wheel is the corner of the front inner wheel in the front wheel or the corner of the front outer wheel in the front wheel;
step S13, determining a front wheel turning radius of the vehicle without rear wheel co-steering based on a track between the front inner wheel and the front outer wheel and a corner of the front inner wheel, or based on a track between the front inner wheel and the front outer wheel and a corner of the front outer wheel.
Here, in the present embodiment, the front wheel turning radius of the vehicle without the rear wheel in the same direction turning can be accurately determined by the track width between the front inner wheel and the front outer wheel, the tread width of the vehicle, and the corner of the front inner wheel, or based on the track width between the front inner wheel and the front outer wheel, the tread width of the vehicle, and the corner of the front outer wheel.
In one embodiment of the method for calculating an understeer gradient of a vehicle with rear-wheel co-steering of the present invention, the step S13 of determining a front-wheel turning radius of the vehicle without rear-wheel co-steering based on a track width between the front inner wheel and the front outer wheel and a turning angle of the front inner wheel, or based on a track width between the front inner wheel and the front outer wheel and a turning angle of the front outer wheel, includes:
step S131, calculating the distance from the circle center of the turning circle of the vehicle to the middle point of the rear axle of the vehicle body based on the wheel base between the front inner wheel and the front outer wheel, the corner of the front inner wheel and the wheel base of the vehicle;
step S132, calculating the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle based on the distance from the turning circle center of the vehicle to the middle point of the rear axle of the vehicle body and the wheel track between the front inner wheel and the front outer wheel;
step S133, calculating the distance from the turning circle center to the axis of the front outer wheel based on the distance from the turning circle center to the axis of the rear outer wheel of the vehicle and the wheel base of the vehicle;
and step S134, calculating the turning radius of the front wheel of the vehicle without the rear wheel during the same-direction steering based on the distance from the turning circle center to the axle center of the front outer wheel and the tire width of the vehicle, wherein the turning radius of the front wheel of the vehicle without the rear wheel during the same-direction steering is the distance from the turning circle center to the outer side of the front outer wheel.
Here, in the present embodiment, the front wheel turning radius of the vehicle when the vehicle turns in the same direction without the rear wheel can be accurately calculated based on the distance from the turning circle center to the center of the front outer wheel and the tire width of the vehicle.
As shown in fig. 2, in an embodiment of the method for calculating the understeer gradient of a vehicle with rear wheels steering in the same direction according to the present invention, step S131 calculates the distance from the center of the turning circle of the vehicle to the midpoint of the rear axle of the vehicle body based on the wheel base between the front inner wheel and the front outer wheel, the turning angle of the front inner wheel and the wheel base of the vehicle, and includes:
calculating the turning circle center of the vehicle based on the following formulaODistance to midpoint of rear axle of vehicle body
：
Wherein the content of the first and second substances,T（Track，T) Is the wheel track between the front inner wheel and the front outer wheel,L（Wheelbase，L) Is the wheel base of the vehicle,
is the corner of the front inner wheel.
In one embodiment of the method for calculating the understeer gradient of a vehicle during a equidirectional steering with rear wheels, step S132 is to calculate the distance from the center of a turning circle of the vehicle to the axis of the rear outer wheel of the vehicle based on the distance from the center of the turning circle to the midpoint of the rear axle of the vehicle body and the wheel track between the front inner wheel and the front outer wheel, and includes:
calculating the distance from the turning circle center O to the axle center of the rear outer wheel of the vehicle according to the following formula
：
Here, the wheel turning over condition without the same direction of the rear wheel is shown in FIG. 2, and the distance from the turning circle center O to the middle point of the rear axle of the vehicle body
Can be calculated as:
can further obtain:
further, the corner of the front inner wheel is
The corner of the front outer wheel is
. Because of the ackermann geometry of the vehicle front axle during steering, there is a difference between the corners of the inner and outer wheels when they are over-bent, i.e. the inner wheel corner is larger than the outer wheel corner, but the calculation method in the present invention only uses the front inner wheel corner as input.
The embodiment can accurately calculate the turning circle center of the vehicle through the calculation formulaODistance to midpoint of rear axle of vehicle body
。
As shown in fig. 2, in an embodiment of the method for calculating a vehicle understeer gradient during equidirectional steering with rear wheels, step S133 is performed to calculate a distance from a turning center to an axis of a front outer wheel based on a distance from the turning center to an axis of a rear outer wheel of a vehicle and an axle distance of the vehicle, and includes:
calculating the circle center of the turning circle based on the following formulaODistance from the axis of the front outer wheel
：
Here, the center of the turning circleODistance from the axis of the front outer wheel
The following can be calculated:
in the embodiment, the circle center of the turning circle can be reliably calculated through a calculation formulaOTo the front outer wheel of the vehicleDistance of axis of
。
In one embodiment of the method for calculating the front wheel turning radius of a vehicle with rear wheel co-steering according to the present invention, S134 calculates the front wheel turning radius of the vehicle without the rear wheel co-steering based on the distance from the turning center to the axis of the front outer wheel and the tread width of the vehicle, including:
calculating the front wheel turning radius of the vehicle without rear wheel in the same direction steering based on the following formula
：
Whereinw(Type Width) is the tire Width of the vehicle.
Front wheel turning radius of a vehicle without rear wheel steering in the same direction
The following can be calculated:
according to the embodiment, the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering can be reliably calculated through a calculation formula
。
In one embodiment of the method for calculating the understeer gradient of a vehicle with rear-wheel co-steering according to the present invention, in step S2, obtaining a rear-wheel steering angle of the vehicle, and determining a front-wheel turning radius of the vehicle with rear-wheel co-steering based on the rear-wheel steering angle of the vehicle and the front-wheel turning radius of the vehicle without rear-wheel co-steering, the method includes:
step S21, based on the included angle between the connecting line of the axle center of the front outer wheel of the vehicle and the circle center of the turning circle and the rear wheel axle of the vehicle
Rear wheel steering angle of vehicle
And the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle
Calculating an auxiliary lineXLength of (2), as shown in fig. 4, the auxiliary lineXThe length of the center of the turn is the distance between the center of the turn and an auxiliary point on a longitudinal axis, the transverse axis is a rear wheel shaft of the vehicle, the longitudinal axis is an axis which takes the center of the turn as an origin and is parallel to the axis of the vehicle, and the included angle between a connecting line between the auxiliary point and the axis of the rear outer wheel of the vehicle and the rear wheel shaft of the vehicle is the rear wheel turning angle of the vehicle
；
Step S22, based on the auxiliary lineXCalculating the amount of increased turn radiusZ；
Step S23, based on the increased turning radiusZAnd the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering, and determining the turning radius of the front wheel of the vehicle with the rear wheel in the same-direction steering.
The auxiliary point can be defined as a perpendicular line which is drawn from the turning circle center of the vehicle without the rear wheel steering in the same direction to the intersection line of the axis of the rear outer wheel of the vehicle and the turning circle center of the vehicle with the rear wheel steering in the same direction, the foot is the auxiliary point, and the position of the foot is the position of the auxiliary point. By using the position of the auxiliary point and the geometric relation, the increased turning radius is effectively calculatedZ。
Here, the present embodiment relates the front-wheel turning radius of the vehicle without the rear-wheel co-steering to the increased turning radius amount by means of the assist point and the assist line, and obtains the front-wheel turning radius of the vehicle with the rear-wheel co-steering.
In an embodiment of the method for calculating the understeer gradient of the vehicle with the rear wheels steered in the same direction, step S21 is performed based on an included angle between a connecting line between the axis of the front outer wheel of the vehicle and the center of the turn circle and the rear wheel shaft of the vehicle
Rear wheel steering angle of vehicle
And the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle
Calculating an auxiliary lineXLength of the auxiliary lineXThe length of the angle between the center of the turning circle and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the center of the turning circle as an original point and is parallel to the axis of the vehicle, and an included angle between a connecting line between the auxiliary point and the axis of a rear outer wheel of the vehicle and a rear wheel shaft of the vehicle is a rear wheel steering angle of the vehicle
。
Further, as with the front wheels, the rear axle of the vehicle is also designed with ackermann geometry, but since the steering angle for steering the rear wheels in the same direction is small, the difference in steering angle between the rear inner wheel and the rear outer wheel is negligible.
Step S211, calculating an auxiliary line based on the following formulaXLength of (d):
step S212, based on the similar triangle theorem and the Pythagorean theorem, calculatingYLength of (d):
in this case, the amount of the solvent to be used,
is an included angle between a connecting line of the axle center of a front outer wheel of the vehicle and the turning circle center and a rear wheel axle of the vehicle,
is the corner of the rear outer wheel or rear inner wheel, saidYIs the turning circle center of the vehicleOThe vertical distance to the line between the auxiliary point and the axle centre of the rear outer wheel of the vehicle.
In this way, the embodiment can effectively calculateYLength of (d).
In one embodiment of the method for calculating the understeer gradient of the vehicle during the equidirectional steering with the rear wheels, step S22 is performed based on the auxiliary lineXCalculating the amount of increased turn radiusZThe method comprises the following steps:
by auxiliary lineXIs calculated to obtainYAccording to a trigonometric function, calculating an increased amount of radius of the turnZ：
In this case, the present embodiment can effectively calculate the amount of turning radius that increases in the same-direction steering with the rear wheelsZFurthermore, the steering stability of the vehicle in high-speed driving is facilitated by increasing the radius of turning of the front wheels in the same-direction steering of the rear wheels of the vehicle.
In one embodiment of the method for calculating the understeer gradient of a vehicle with rear-wheel co-steering of the present invention, the step S23 of determining the front-wheel turning radius of the vehicle with rear-wheel co-steering based on the increased turning radius Z and the front-wheel turning radius of the vehicle without rear-wheel co-steering comprises:
determining the front wheel turning radius of the vehicle when the rear wheels are in the same direction based on the following formula
：
The invention can effectively calculate the front wheel turning radius of the vehicle when the rear wheels are steered in the same direction
。
In an embodiment of the method for calculating the understeer gradient of the vehicle during the equidirectional steering of the rear wheels, step S3 is to determine the understeer gradient of the vehicle during the equidirectional steering of the rear wheels based on the turning radius of the front wheels of the vehicle during the equidirectional steering of the rear wheels, and includes:
step S31, determining an understeer gradient for the vehicle without the rear wheels steering in the same direction based on the following formula
：
Wherein the content of the first and second substances,
steering wheel angle gradient for a vehicle without rear wheels steering in the same direction;SRis the steering ratio of the vehicle;vis the running speed of the vehicle;Lis the wheelbase of the vehicle.
The steering wheel angle gradient is a rate of change, and may be a slope of a curve of the steering wheel angle and the lateral acceleration, and the steering wheel angle gradient is increased correspondingly due to the effect of the rear wheel steering. As the turn diameter increases, the corresponding steering wheel angle gradient increases in equal proportion. In this case, the present exemplary embodiment makes it possible to accurately calculate the understeer gradient of the vehicle without the rear wheels steering in the same direction
。
Step S32, determining the steering wheel angle gradient when the belt rear wheels are steered in the same direction based on the following formula
：
Wherein the content of the first and second substances,
for understeer gradients without co-steering of the rear wheels,
as a percentage of the increased turning radius;
step S33, determining the understeer gradient of the vehicle when the rear wheels are steered in the same direction based on the following formula
：
Here, the understeer gradient is a marker bar index indicating stability of the entire vehicle, the index representing a difference in slip angles of the front and rear axles, and the vehicle shows understeer when the current axle slip angle is larger than the rear axle slip angle. The current axle slip angle is less than the rear axle slip angle and the vehicle exhibits oversteer. Understeer gradient is defined as the steering wheel angle gradient/steering ratio, which is a fixed value, while the steering wheel angle gradient increases in equal proportion as the turn diameter increases. Therefore, after the turning diameter is increased by matching the rear wheel steering under the high-speed condition, the understeer gradient can be increased in a similar way, and the stability of the vehicle is ensured. But the understeer gradient is also undesirably excessive, resulting in excessive vehicle heading. Based on the above explanation, in the design process of the earlier period, the vehicle stability performance can be quickly judged by the method explained in the invention.
According to the method and the device, the change quantity of the understeer gradient caused by the change of the turning radius of the front wheel is effectively inferred through the calculation of the turning angle gradient of the steering wheel with the same-direction turning of the rear wheel, the influence of the matched rear wheel turning on the whole vehicle operation stability can be evaluated at the early stage of development, and therefore risks are avoided early. As shown in fig. 4, a mathematical model of the turning radius of the front wheel of the vehicle with the rear wheel in the same direction steering built in Excel based on the above calculation method is shown. As shown in fig. 4, the Data Input (Input Data) and the Result Output (Output Result) are mainly divided into two parts.
In the data input part, the data input part is mainly divided into three modules (parameters, values and units), which mainly comprise:
1) the inside wheel Angle (Max Inner rotor Angle,
) The unit: deg;
2) outside wheel turn angles (Max Outer lever Angle,
) The unit: deg;
3) the Rear wheel Angle (real Axle lever Angle,
) The unit: deg;
4) the Wheelbase (the Wheelbase,L) The unit: mm;
5) the Track width (Track,T) The unit: mm;
6) the Width of the tire (the tire Width,w) Unit: mm.
In the result output part, the result output part is mainly divided into three modules (parameters, values and units), and mainly comprises the following components:
1) the distance of the midpoint of the rear axle of the body (Radius,
) The unit: mm;
2) co-rotating without rear wheelThe Turn-around Diameter (Turn Diameter,
) The unit: mm;
3) center of turning circle of vehicleODistance to midpoint of rear axle of vehicle body
；
4) The angle between the line connecting the axle center of the front outer wheel of the vehicle and the center of the turn circle and the rear wheel axle of the vehicle (Alpha,
) The unit: deg;
5) distance between the centre of a turn and an auxiliary point on the longitudinal axisXThe unit: mm;
6）Ythe unit: mm;
7) increased amount of radius of turnZThe unit: mm;
8) radius of turning of front wheel of vehicle with rear wheel steering in the same direction
The unit: mm.
Through calculation of actual data, the front wheel turning radius of the vehicle can be effectively calculated when the rear wheels are steered in the same direction.
In a specific embodiment of the present invention, as shown in fig. 1, in the first three steps, a mathematical model for calculating the front wheel turning radius of a front wheel steering system (without rear wheel co-steering) of a vehicle is constructed and the output result is obtained.
The mathematical model constructed in the first step and the second step needs the wheelbase, the wheel base, the tire width and the corner of the front wheel of the vehicle as model input;
step three is an output layer, in the step, the radius from the turning circle center to the outer side of the rear outer wheel of the vehicle is used as the output of the step one and the step two, and as the turning radius of the front wheel of the vehicle without the rear wheel in the same direction is the distance from the turning circle center to the outer side of the front outer wheel, the turning radius of the front wheel of the vehicle without the rear wheel in the same direction can be obtained according to the distance from the turning circle center to the axle center of the front outer wheel and the tire width of the vehicle;
from the fourth step to the fifth step, constructing a system mathematical model with the rear wheel steering in the same direction based on a calculation method of the turning radius of the front wheel without the rear wheel steering in the same direction, and adding a rear wheel steering angle as new input;
in the sixth step, by taking a vertical auxiliary line along the central axis of the rear outer wheel, the turning radius increased by steering the same-direction rear wheel can be obtained by deduction according to a simplified triangular geometrical relationship;
seventhly, calculating the turning radius of the front wheels of the vehicle with the rear wheels steering in the same direction;
and step eight, evaluating the influence of the gradient of the understeer of the whole vehicle based on the increased turning radius.
According to another aspect of the present invention, there is also provided a computing-based device, including:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel;
acquiring a rear wheel steering angle of the vehicle, and determining a front wheel steering radius of the vehicle when the vehicle is in the same-direction steering with rear wheels on the basis of the rear wheel steering angle of the vehicle and the front wheel steering radius of the vehicle when the vehicle is not in the same-direction steering with the rear wheels;
and determining the understeer gradient of the vehicle when the belt rear wheels steer in the same direction based on the turning radius of the front wheels of the vehicle when the belt rear wheels steer in the same direction.
According to another aspect of the present invention, there is also provided a computer-readable storage medium having computer-executable instructions stored thereon, wherein the computer-executable instructions, when executed by a processor, cause the processor to:
determining the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel;
acquiring a rear wheel steering angle of the vehicle, and determining a front wheel steering radius of the vehicle when the vehicle is in the same-direction steering with rear wheels on the basis of the rear wheel steering angle of the vehicle and the front wheel steering radius of the vehicle when the vehicle is not in the same-direction steering with the rear wheels;
and determining the understeer gradient of the vehicle when the belt rear wheels steer in the same direction based on the turning radius of the front wheels of the vehicle when the belt rear wheels steer in the same direction.
According to another aspect of the present invention there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, such that the apparatus is operable to process data comprising:
determining the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel;
the method comprises the steps of obtaining a rear wheel steering angle of the vehicle, and determining a front wheel turning radius of the vehicle when the vehicle is in the same-direction steering with a rear wheel on the basis of the rear wheel steering angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle is not in the same-direction steering with the rear wheel;
and determining the understeer gradient of the vehicle when the belt rear wheels steer in the same direction based on the turning radius of the front wheels of the vehicle when the belt rear wheels steer in the same direction.
The details of each device embodiment of the present invention may specifically refer to the corresponding parts of each method embodiment, and are not described herein again.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
It should be noted that the present invention may be implemented in software and/or in a combination of software and hardware, for example, as an Application Specific Integrated Circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Also, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
In addition, some of the present invention can be applied as a computer program product, such as computer program instructions, which when executed by a computer, can invoke or provide the method and/or technical solution according to the present invention through the operation of the computer. Program instructions which invoke the methods of the present invention may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the invention herein comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or solution according to embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the apparatus claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (15)
1. A method for calculating the understeer gradient of a vehicle during the equidirectional steering of rear wheels comprises the following steps:
determining the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel;
acquiring a rear wheel steering angle of the vehicle, and determining a front wheel steering radius of the vehicle when the vehicle is in the same-direction steering with rear wheels on the basis of the rear wheel steering angle of the vehicle and the front wheel steering radius of the vehicle when the vehicle is not in the same-direction steering with the rear wheels;
and determining the understeer gradient of the vehicle when the belt rear wheels steer in the same direction based on the turning radius of the front wheels of the vehicle when the belt rear wheels steer in the same direction.
2. The method of claim 1, wherein determining a front wheel turning radius of the vehicle without rear wheel co-steering based on a cornering angle of a front wheel of the vehicle, a dimension parameter of the front wheel, comprises:
the dimensional parameters of the front wheel include: a tread between a front inner wheel of the front wheels and a front outer wheel of the front wheels and a tire width of a vehicle;
the corner of the front wheel is the corner of a front inner wheel in the front wheel or the corner of a front outer wheel in the front wheel;
and determining the front wheel turning radius of the vehicle without the rear wheel in the same-direction steering based on the wheel track between the front inner wheel and the front outer wheel, the tire width of the vehicle and the corner of the front inner wheel, or based on the wheel track between the front inner wheel and the front outer wheel, the tire width of the vehicle and the corner of the front outer wheel.
3. The method of claim 2, wherein determining a front wheel turning radius of the vehicle without rear wheel co-steering based on a track width between the front inner wheel and the front outer wheel, a tire width of the vehicle, and a corner of the front inner wheel, or based on a track width between the front inner wheel and the front outer wheel, a tire width of the vehicle, and a corner of the front outer wheel comprises:
calculating the distance from the turning circle center of the vehicle to the middle point of the rear axle of the vehicle body based on the wheel base between the front inner wheel and the front outer wheel, the corner of the front inner wheel and the wheel base of the vehicle;
calculating the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle based on the distance from the turning circle center of the vehicle to the middle point of the rear axle of the vehicle body and the wheel track between the front inner wheel and the front outer wheel;
calculating the distance from the turning circle center to the axis of a front outer wheel based on the distance from the turning circle center to the axis of the rear outer wheel of the vehicle and the wheelbase of the vehicle;
and calculating the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering based on the distance from the turning circle center to the axle center of the front outer wheel of the vehicle and the tire width of the vehicle, wherein the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering is the distance from the turning circle center to the outer side of the front outer wheel.
4. The method of claim 3, wherein calculating a distance from a center of a turn circle of the vehicle to a midpoint of a rear axle of the vehicle body based on a wheel base between the front inner wheel and the front outer wheel, a corner of the front inner wheel, and a wheel base of the vehicle comprises:
calculating the distance from the turning circle center O of the vehicle to the midpoint of the rear axle of the vehicle body based on the following formula
：
Wherein the content of the first and second substances,Tis the wheel track between the front inner wheel and the front outer wheel,
the wheelbase of the vehicle and the angle of the front inner wheel are
。
5. The method of claim 4, wherein calculating the distance from the center of the turn to the axle center of the rear outer wheel of the vehicle based on the distance from the center of the turn to the midpoint of the rear axle of the vehicle body and the wheel base between the front inner wheel and the front outer wheel comprises:
calculating the center of the turning circle according to the following formulaODistance to axle center of rear outer wheel of vehicle
：
6. The method of claim 5, wherein calculating the distance from the center of the turn to the center of the front outer wheel axle based on the distance from the center of the turn to the center of the rear outer wheel axle of the vehicle and the wheelbase of the vehicle comprises:
calculating the distance from the circle center of the turning circle to the axle center of the front outer wheel based on the following formula
：
7. The method of claim 6, wherein calculating a front wheel turning radius of the vehicle without rear wheel co-steering based on a distance of the turn center to a front outer wheel axle center and a tire width of the vehicle comprises:
calculating the front wheel turning radius of the vehicle without rear wheel in the same direction steering based on the following formula
：
Where w is the tire width of the vehicle.
8. The method of claim 7, wherein obtaining a rear wheel steering angle of the vehicle, determining a front wheel steering radius of the vehicle with rear wheel co-steering based on the rear wheel steering angle of the vehicle and the front wheel steering radius of the vehicle without rear wheel co-steering, comprises:
based on the included angle between the connecting line of the axle center of the front outer wheel of the vehicle and the turning circle center and the rear wheel axle of the vehicle
Rear wheel steering angle of vehicle
And the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle
Calculating an auxiliary line
Length of the auxiliary line
The length of the angle between the center of the turning circle and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the center of the turning circle as an original point and is parallel to the axis of the vehicle, and an included angle between a connecting line between the auxiliary point and the axis of a rear outer wheel of the vehicle and a rear wheel shaft of the vehicle is a rear wheel steering angle of the vehicle
；
Based on auxiliary line
Calculating an increased turning radius amount Z;
determining a front wheel turning radius of the vehicle with rear wheel steer in the same direction based on the increased turning radius Z and the front wheel turning radius of the vehicle without rear wheel steer in the same direction.
9. The method of claim 8, wherein the angle is based on a line connecting an axle center of a front outer wheel of the vehicle and the center of the turn circle and a rear wheel axle of the vehicle
Rear wheel steering angle of vehicle
And the distance from the turning circle center to the axle center of the rear outer wheel of the vehicle
Calculating an auxiliary line
Length of the auxiliary line
The length of the angle between the center of the turning circle and an auxiliary point on a longitudinal axis, the longitudinal axis is an axis which takes the center of the turning circle as an original point and is parallel to the axis of the vehicle, and an included angle between a connecting line between the auxiliary point and the axis of a rear outer wheel of the vehicle and a rear wheel shaft of the vehicle is a rear wheel steering angle of the vehicle
The method comprises the following steps:
calculating an auxiliary line based on the following formulaXLength of (d):
based on the following formula, calculateYLength of (d):
10. the method of claim 9, wherein the auxiliary line is based onYCalculating an increased turn radius amount Z, comprising:
the increased turning radius amount Z is calculated according to the following formula:
11. the method of claim 10, wherein determining the front wheel turning radius of the vehicle with rear wheel co-steering based on the increased turning radius Z and the front wheel turning radius of the vehicle without rear wheel co-steering comprises:
determining the front wheel turning radius of the vehicle when the rear wheels are in the same direction based on the following formula
：
12. The method of claim 11, wherein determining an understeer gradient of the vehicle when the vehicle is turning with the rear wheels in the same direction based on a front wheel turning radius of the vehicle when the rear wheels are turning in the same direction comprises:
determining the steering of said vehicle without rear wheel steer in the same direction based on the following formulaDeficient gradient
Wherein the content of the first and second substances,
steering wheel angle gradient for a vehicle without rear wheels steering in the same direction;SRis the steering ratio of the vehicle;
is the running speed of the vehicle;
is the wheelbase of the vehicle;
determining the steering wheel angle gradient when the rear wheels are steered in the same direction based on the following formula
Determining an understeer gradient of the vehicle with the rear wheels steered in the same direction based on the following formula
：
13. A computing-based device, comprising:
a processor; and
a memory arranged to store computer executable instructions that, when executed, cause the processor to:
determining the turning radius of the front wheel of the vehicle without the rear wheel in the same-direction steering based on the turning angle of the front wheel of the vehicle and the size parameter of the front wheel;
the method comprises the steps of obtaining a rear wheel steering angle of the vehicle, and determining a front wheel turning radius of the vehicle when the vehicle is in the same-direction steering with a rear wheel on the basis of the rear wheel steering angle of the vehicle and the front wheel turning radius of the vehicle when the vehicle is not in the same-direction steering with the rear wheel;
and determining the understeer gradient of the vehicle when the belt rear wheels steer in the same direction based on the turning radius of the front wheels of the vehicle when the belt rear wheels steer in the same direction.
14. A computer readable medium having computer readable instructions stored thereon which are executable by a processor to implement the method of any one of claims 1 to 12.
15. An apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any one of claims 1 to 12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210179118.XA CN114572306B (en) | 2022-02-25 | 2022-02-25 | Method and equipment for calculating vehicle understeer gradient during same-direction steering of rear wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210179118.XA CN114572306B (en) | 2022-02-25 | 2022-02-25 | Method and equipment for calculating vehicle understeer gradient during same-direction steering of rear wheels |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114572306A true CN114572306A (en) | 2022-06-03 |
| CN114572306B CN114572306B (en) | 2023-06-02 |
Family
ID=81770272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210179118.XA Active CN114572306B (en) | 2022-02-25 | 2022-02-25 | Method and equipment for calculating vehicle understeer gradient during same-direction steering of rear wheels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114572306B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1787944A (en) * | 2004-04-26 | 2006-06-14 | 株式会社丰田自动织机 | Turning radius calculation method, steering assistance apparatus and parking assistance apparatus employing the turning radius calculation method, turning radius calculation program, and recording med |
| CN102730059A (en) * | 2011-04-13 | 2012-10-17 | 福特全球技术公司 | Method for generating control function of feedforward control steering system of motor-driven vehicle |
| CN104443022A (en) * | 2014-11-11 | 2015-03-25 | 深圳职业技术学院 | Four-wheeled independently-driven electric automobile stability control method and system |
| CN106740866A (en) * | 2016-11-28 | 2017-05-31 | 南京安驾信息科技有限公司 | The computational methods and device of a kind of steering wheel angle |
| CN107702929A (en) * | 2017-08-14 | 2018-02-16 | 宝沃汽车（中国）有限公司 | Detection method, device and the vehicle of vehicle minimum turning diameter |
| CN108944910A (en) * | 2017-05-27 | 2018-12-07 | 长城汽车股份有限公司 | A kind of vehicle stable state intelligent control method and device |
| CN111098916A (en) * | 2018-10-25 | 2020-05-05 | 现代自动车株式会社 | Steering control method and system for rear wheel steering |
| JP2020189609A (en) * | 2019-05-24 | 2020-11-26 | 日立オートモティブシステムズ株式会社 | Steering control device, steering control method, and steering control system |
-
2022
- 2022-02-25 CN CN202210179118.XA patent/CN114572306B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1787944A (en) * | 2004-04-26 | 2006-06-14 | 株式会社丰田自动织机 | Turning radius calculation method, steering assistance apparatus and parking assistance apparatus employing the turning radius calculation method, turning radius calculation program, and recording med |
| CN102730059A (en) * | 2011-04-13 | 2012-10-17 | 福特全球技术公司 | Method for generating control function of feedforward control steering system of motor-driven vehicle |
| CN104443022A (en) * | 2014-11-11 | 2015-03-25 | 深圳职业技术学院 | Four-wheeled independently-driven electric automobile stability control method and system |
| CN106740866A (en) * | 2016-11-28 | 2017-05-31 | 南京安驾信息科技有限公司 | The computational methods and device of a kind of steering wheel angle |
| CN108944910A (en) * | 2017-05-27 | 2018-12-07 | 长城汽车股份有限公司 | A kind of vehicle stable state intelligent control method and device |
| CN107702929A (en) * | 2017-08-14 | 2018-02-16 | 宝沃汽车（中国）有限公司 | Detection method, device and the vehicle of vehicle minimum turning diameter |
| CN111098916A (en) * | 2018-10-25 | 2020-05-05 | 现代自动车株式会社 | Steering control method and system for rear wheel steering |
| JP2020189609A (en) * | 2019-05-24 | 2020-11-26 | 日立オートモティブシステムズ株式会社 | Steering control device, steering control method, and steering control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114572306B (en) | 2023-06-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7913803B2 (en) | Vehicular steering apparatus with capability of providing suitable steering angle correction and power assistance | |
| CN113619584B (en) | Electronic control rear wheel steering method and device, electronic equipment and storage medium | |
| US7575093B2 (en) | Vehicle steering control system | |
| CN104802803B (en) | A kind of automobile characteristic speed measuring method | |
| CN103287435B (en) | Vehicle attitude control apparatus | |
| CN114572305B (en) | Method and equipment for calculating turning radius of vehicle with rear wheels and reversely steered | |
| CN113911107A (en) | Vehicle four-wheel steering control method and device | |
| CN113276862B (en) | Vehicle driving state estimation method | |
| CN114572306A (en) | Method and equipment for calculating understeer gradient of vehicle during equidirectional steering of rear wheels | |
| JP3271945B2 (en) | Road surface friction coefficient estimation device for vehicles | |
| JP4319164B2 (en) | Vehicle behavior state estimation device | |
| US20230202557A1 (en) | Four-wheel steering control apparatus and method | |
| CN116279414A (en) | Control method and device for vehicle, computer equipment and storage medium | |
| CN109808511B (en) | Six-wheel driving force distribution method, device, equipment and medium | |
| Jansen et al. | Development and evaluation of vehicle simulation models for a 4WS application | |
| CN112339508A (en) | Rolling radius compensation method and device based on yaw rate and storage medium | |
| JP2626226B2 (en) | Four-wheel steering control device | |
| CN117341696A (en) | Front and rear axle torque distribution method, device, equipment and medium | |
| JPH10282138A (en) | Slip angular velocity correcting device | |
| JPH1178933A (en) | Method and device for estimating side slip angle of vehicle body | |
| JP2022041619A (en) | Method for evaluating yaw rate gain | |
| JPS624674A (en) | Vehicle movement state estimating apparatus | |
| JPS62184971A (en) | Device for estimating moving condition quantity of vehicle | |
| JP2010105479A (en) | Vehicle ground contact face friction state estimation device and method therefor | |
| KR20240062710A (en) | Apparatus for controlling rear wheel steering and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |