CN116215250B - Steering control system and method for electric differential steering vehicle - Google Patents

Steering control system and method for electric differential steering vehicle Download PDF

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Publication number
CN116215250B
CN116215250B CN202211588924.9A CN202211588924A CN116215250B CN 116215250 B CN116215250 B CN 116215250B CN 202211588924 A CN202211588924 A CN 202211588924A CN 116215250 B CN116215250 B CN 116215250B
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Prior art keywords
steering
vehicle
motor
side wheel
target torque
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CN116215250A (en
Inventor
刘涛
何建清
石秉良
陈思华
朱丽芳
解来卿
王丝丝
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Chongqing Jialing Quanyu Motor Vehicle Co ltd
Pla 63936 Army
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Chongqing Jialing Quanyu Motor Vehicle Co ltd
Pla 63936 Army
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B60L15/2036—Electric differentials, e.g. for supporting steering vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention provides a steering control system and a method of an electric differential steering vehicle, wherein the system comprises the following components: the system comprises an execution module, an acquisition module and a control module; the execution module comprises a steering wheel, a left motor and a right motor, wherein the left motor and the right motor respectively drive wheels on the corresponding sides of the vehicle; the acquisition module comprises a steering sensor, wherein the steering sensor is used for acquiring steering information generated by the rotation of the steering wheel; the control module comprises a whole vehicle controller and a motor controller, wherein the motor controller is respectively connected with the left motor and the right motor, the whole vehicle controller is configured to determine target torque by utilizing the steering information of the acquisition module, then the target torque is sent to the motor controller, and the motor controller is used for outputting the target torque to the left motor and the right motor so as to finish the steering of the current vehicle. The implementation mode provided by the invention is simple to operate and low in cost, and the steering response characteristic of the vehicle can be quickly adjusted by changing the parameters according to the requirements.

Description

Steering control system and method for electric differential steering vehicle
Technical Field
The invention relates to the technical field of differential steering vehicles, in particular to a steering control system and method for an electric differential steering vehicle.
Background
Common home and commercial vehicles typically employ track steering. In this steering mode, the theoretical steering radius of the vehicle is determined by the steering wheel's yaw angle, and the ratio of the steering wheel's yaw angle to the steering wheel's steering angle is determined by the mechanical structure, and is fixed. The steering radius of such vehicles can be controlled directly by the steering wheel via the transmission.
Unlike a track-steered vehicle, a differential steering vehicle is a vehicle in which the steering operation is achieved by controlling the difference in rotational speeds of the left and right wheels of the vehicle. The wheel motor driven vehicle mentioned in this patent belongs to this category. The main characteristics of this type vehicle are: the left and right wheels of the vehicle are driven by a motor through a transmission mechanism respectively, and the rotation speeds of the wheels at the two sides can be controlled independently; all wheels are fixed with the included angle of the vehicle body, cannot deflect and have no steering wheel; the steering operation of the vehicle type cannot be directly controlled by the steering wheel through a mechanical structure, and can only be realized through the rotation speed difference of wheels at two sides.
Based on the characteristics, a set of steering control system which is different from a track steering vehicle is designed according to the requirements of the vehicle, and the control strategy determines the performance of the vehicle such as operability, safety and the like.
Disclosure of Invention
The invention aims to solve the technical problems that in the prior art, a control strategy which is high in safety, low in cost, simple in strategy and adjustable and used for steering a differential steering vehicle is lacked. In view of the above, the present invention provides a steering control system and method for an electric differential steering vehicle and an electronic device.
The invention adopts the technical scheme that the steering control system of the electric differential steering vehicle comprises:
The execution module comprises a steering wheel, a left motor and a right motor, wherein the left motor and the right motor respectively drive wheels on corresponding sides of a vehicle;
The acquisition module comprises a steering sensor, and the steering sensor is used for acquiring steering information generated by the rotation of the steering wheel;
The control module comprises a whole vehicle controller and a motor controller, wherein the motor controller is respectively connected with the left motor and the right motor, the whole vehicle controller is configured to determine target torque by utilizing the steering information of the acquisition module, then the target torque is sent to the motor controller, and the motor controller is used for outputting the target torque to the left motor and the right motor so as to finish steering of a current vehicle.
In one embodiment, the left motor and the right motor are configured to generate different driving forces to wheels on the corresponding sides of the vehicle based on the target torque.
In one embodiment, the steering sensor is connected with the vehicle controller through a wire, and the motor controller is connected with the vehicle controller through a CAN network.
In one embodiment, the steering wheel is connected with the steering sensor through a mechanical transmission mechanism, and the rotation angle value of the steering wheel corresponds to the electric signal of the steering sensor one by one.
In one embodiment, the vehicle controller is further configured to:
determining a corresponding steering curvature by utilizing the steering information acquired by the acquisition module;
Determining a left-right side wheel speed theoretical ratio of the current vehicle based on the steering curvature;
Determining corresponding steering torque based on the left and right side wheel speed theoretical ratio;
the target torque is determined based on the steering torque.
Another aspect of the invention also provides a steering control method of an electric differential steering vehicle, including:
determining a corresponding steering curvature in response to input steering information, wherein the steering information is generated by rotation of a steering wheel of a vehicle, collected and output by a collection module of the vehicle;
Determining a left-right side wheel speed theoretical ratio of the current vehicle based on the steering curvature;
Determining corresponding steering torque based on the left and right side wheel speed theoretical ratio;
Determining a target torque based on the steering torque; the target torque is used for driving left and right side wheels of the vehicle to move at different rotational speeds according to a control command represented by the target torque so as to finish the steering of the current vehicle.
Another aspect of the present invention also provides an electronic device including: the steering control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the computer program is executed by the processor to realize the steps of the steering control method of the electric differential steering vehicle.
Another aspect of the invention also provides a vehicle including the electric differential steering vehicle steering control system as described above.
By adopting the technical scheme, the invention has at least the following advantages:
the steering control system of the electric differential steering vehicle is simple to operate and low in cost, and in some specific embodiments, the steering response characteristic of the vehicle can be quickly adjusted by changing parameters according to requirements.
Drawings
Fig. 1 is a schematic diagram showing the constitution of a steering control system for an electric differential steering vehicle according to an embodiment of the present invention;
FIG. 2 is a flow chart of a steering control method for an electric differential steering vehicle according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an electronic device according to an embodiment of the invention.
Reference numerals
An execution module 100, a steering wheel 110, a left motor 120, a right motor 130;
the acquisition module 200, the steering sensor 210;
control module 300, vehicle control unit 310, motor control unit 320.
Detailed Description
In order to further describe the technical means and effects adopted by the present invention for achieving the intended purpose, the following detailed description of the present invention is given with reference to the accompanying drawings and preferred embodiments.
In the drawings, the thickness, size and shape of the object have been slightly exaggerated for convenience of explanation. The figures are merely examples and are not drawn to scale.
It will be further understood that the terms "comprises," "comprising," "includes," "including," "having," "containing," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Furthermore, when a statement such as "at least one of the following" appears after a list of features that are listed, the entire listed feature is modified instead of modifying a separate element in the list. Furthermore, when describing embodiments of the present application, the use of "may" means "one or more embodiments of the present application. Also, the term "exemplary" is intended to refer to an example or illustration.
As used herein, the terms "substantially," "about," and the like are used as terms of a table approximation, not as terms of a table level, and are intended to illustrate inherent deviations in measured or calculated values that would be recognized by one of ordinary skill in the art.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
The steps of the method flow described in the specification and the flow chart shown in the drawings of the specification are not necessarily strictly executed according to step numbers, and the execution order of the steps of the method may be changed. Moreover, some steps may be omitted, multiple steps may be combined into one step to be performed, and/or one step may be decomposed into multiple steps to be performed.
A first embodiment of the present invention is an electric differential steering vehicle steering control system, as shown in fig. 1, including:
the execution module 100, the execution module 100 comprises a steering wheel 110, a left motor 120 and a right motor 130, wherein the left motor 120 and the right motor 130 respectively drive wheels on corresponding sides of the vehicle;
the acquisition module 200, the acquisition module 200 comprises a steering sensor 210, and the steering sensor 210 is used for acquiring steering information generated by the rotation of the steering wheel 110;
the control module 300, the control module 300 includes a vehicle controller 310 and a motor controller 320, the motor controller 320 is respectively connected with the left motor 120 and the right motor 130, the vehicle controller 310 is configured to determine a target torque by using steering information of the acquisition module 200, and then send the target torque to the motor controller 320, and the motor controller 320 is used for outputting the target torque to the left motor 120 and the right motor 130 so as to complete steering of the current vehicle.
In the present embodiment, the left motor 120 and the right motor 130 are configured to generate different driving forces to the wheels on the corresponding sides of the vehicle based on the target torque.
Preferably, the steering sensor 210 is connected to the vehicle controller 310 through a wire, and the motor controller 320 is connected to the vehicle controller 310 through a CAN network.
Preferably, the steering wheel 110 is connected to the steering sensor 210 through a mechanical transmission mechanism, and the rotation angle value of the steering wheel 110 corresponds to the electrical signal of the steering sensor 210 one by one.
In this embodiment, the vehicle controller 310 is further configured to implement the following steps to determine the target torque:
a) Determining a corresponding steering curvature by using the steering information acquired by the acquisition module 200;
b) Determining a left-right side wheel speed theoretical ratio of the current vehicle based on the steering curvature;
c) Determining corresponding steering torque based on the theoretical ratio of the left and right side wheel speeds;
d) The target torque is determined based on the steering torque.
Illustratively, the vehicle steering required torque calculation method includes:
a. steering curvature γ calculation:
The vehicle steering curvature γ is the inverse of the steering radius R. The rotation direction and angle of the steering wheel 110 are collected by the steering sensor 210, and the rotation angle signal is converted into the target steering curvature in a direct proportional relationship after being transmitted to the whole vehicle controller 310, and the expression is as follows:
Where γ is the target steering curvature, and positive and negative of γ determine whether the vehicle is turning left or right. Gamma max is the theoretical maximum steering curvature of the vehicle model and is related to the wheel tread h of the left and right sides. θ r is a real-time potential value of the steering sensor 210, θ d is a potential value of the steering sensor 210 when the steering wheel 110 is in the neutral position, and θ m is a potential value (θ m>θd) of the steering sensor 210 when the steering wheel is turned to the left/right limit position. A is a constant greater than 0.
Preferably, the theoretical maximum steering curvature gamma max can be obtained by measuring the running track of the vehicle under the conditions that one side wheel is locked and the other side wheel rotates at a low speed, and can also be obtained by theoretical calculation.
B. theoretical ratio of left and right side wheel speedsAnd (3) calculating:
when the vehicle turns during travel, the outboard wheel speed is greater than the inboard wheel speed, i.e., the right wheel speed is greater when the vehicle turns left, and vice versa. The linear velocity relation between the inner side wheel and the outer side wheel relative to the steering center of the vehicle during steering can be obtained:
In the method, in the process of the invention, And h is the theoretical ratio of the left and right side wheel speeds, and h is the wheel track of the left and right side wheels. And B is a constant greater than 0, the vehicle turns excessively when the B value is large, and the vehicle turns understeer when the B value is small.
C. Steering torque T s is calibrated:
t s is calculated using PI control method:
Wherein K p、Ki is a calibration parameter, and is calibrated according to inherent characteristics such as vehicle mass, length and width dimensions and the like. n l is the left motor speed and n r is the right motor speed. Is the actual ratio of the left and right side wheel speeds. /(I)Is the difference between the theoretical ratio of the left and right side wheel speeds and the actual ratio.
D. the actual output torque of the left and right motors 130 is calculated as follows:
Wherein, T L is the target torque of the left motor 120, T R is the target torque of the right motor 130, and T d is the driving torque when the vehicle runs straight.
The second embodiment of the present invention, corresponding to the first embodiment, introduces a steering control method for an electric differential steering vehicle, as shown in fig. 2, comprising the following specific steps:
The implementation of the present embodiment is implemented by the vehicle controller 310.
Step S1, corresponding steering curvature is determined in response to input steering information, wherein the steering information is generated by rotation of a steering wheel 110 of a vehicle, collected and output by a collection module 200 of the vehicle;
s2, determining a left-right side wheel speed theoretical ratio of the current vehicle based on steering curvature;
S3, determining corresponding steering torque based on the theoretical ratio of the left and right side wheel speeds;
Step S4, determining a target torque based on the steering torque; the target torque is used for driving left and right side wheels of the vehicle to move at different rotational speeds according to a control command characterized by the target torque so as to finish the steering of the current vehicle.
Illustratively, in step S1 of the present embodiment, the method for calculating the steering curvature γ may include, for example:
The vehicle steering curvature γ is the inverse of the steering radius R. The rotation direction and angle of the steering wheel 110 are collected by the steering sensor 210, and the rotation angle signal is converted into the target steering curvature in a direct proportional relationship after being transmitted to the whole vehicle controller 310, and the expression is as follows:
Where γ is the target steering curvature, and positive and negative of γ determine whether the vehicle is turning left or right. Gamma max is the theoretical maximum steering curvature of the vehicle model and is related to the wheel tread h of the left and right sides. θ r is a real-time potential value of the steering sensor 210, θ d is a potential value of the steering sensor 210 when the steering wheel 110 is in the neutral position, and θ m is a potential value (θ m>θd) of the steering sensor 210 when the steering wheel is turned to the left/right limit position. A is a constant greater than 0.
Preferably, the theoretical maximum steering curvature gammamax can be obtained by measuring the running track of the vehicle under the conditions that one side wheel is locked and the other side wheel rotates at a low speed, and can also be obtained by theoretical calculation.
Illustratively, in step S2 of the present embodiment, the left-right side wheel speed theoretical ratioThe calculation method of (2) may for example comprise:
when the vehicle turns during travel, the outboard wheel speed is greater than the inboard wheel speed, i.e., the right wheel speed is greater when the vehicle turns left, and vice versa. The linear velocity relation between the inner side wheel and the outer side wheel relative to the steering center of the vehicle during steering can be obtained:
In the method, in the process of the invention, And h is the theoretical ratio of the left and right side wheel speeds, and h is the wheel track of the left and right side wheels. And B is a constant greater than 0, the vehicle turns excessively when the B value is large, and the vehicle turns understeer when the B value is small.
Illustratively, in step S3 of the present embodiment, the method for calculating the steering torque T s may include, for example:
t s is calculated using PI control method:
Wherein K p、Ki is a calibration parameter, and is calibrated according to inherent characteristics such as vehicle mass, length and width dimensions and the like. n l is the left motor speed and n r is the right motor speed. Is the actual ratio of the left and right side wheel speeds. e (phi) is the difference between the theoretical and actual ratios of the left and right side wheel speeds.
Illustratively, in step S3 of the present embodiment, the calculation method of the actual output torque of the left and right motors 130 may include, for example:
Wherein, T L is the target torque of the left motor 120, T R is the target torque of the right motor 130, and T d is the driving torque when the vehicle runs straight.
A third embodiment of the present invention, as shown in fig. 3, may be understood as a physical device, including a processor and a memory storing instructions executable by the processor, which when executed by the processor, performs the following operations:
Step S1, corresponding steering curvature is determined in response to input steering information, wherein the steering information is generated by rotation of a steering wheel 110 of a vehicle, collected and output by a collection module 200 of the vehicle;
s2, determining a left-right side wheel speed theoretical ratio of the current vehicle based on steering curvature;
S3, determining corresponding steering torque based on the theoretical ratio of the left and right side wheel speeds;
Step S4, determining a target torque based on the steering torque; the target torque is used for driving left and right side wheels of the vehicle to move at different rotational speeds according to a control command characterized by the target torque so as to finish the steering of the current vehicle.
In a fourth embodiment of the present invention, a vehicle provided by the present embodiment may include the electric differential steering vehicle steering control system as described in the first embodiment of the present invention.
In summary, the steering control system for the electric differential steering vehicle provided by the invention is simple to operate and low in cost, and in some specific embodiments, the steering response characteristic of the vehicle can be quickly adjusted by changing parameters according to requirements.
While the invention has been described in connection with specific embodiments thereof, it is to be understood that these drawings are included in the spirit and scope of the invention, it is not to be limited thereto.

Claims (7)

1. An electric differential steering vehicle steering control system, characterized by comprising:
The execution module comprises a steering wheel, a left motor and a right motor, wherein the left motor and the right motor respectively drive wheels on corresponding sides of a vehicle;
The acquisition module comprises a steering sensor, and the steering sensor is used for acquiring steering information generated by the rotation of the steering wheel;
The control module comprises a whole vehicle controller and a motor controller, wherein the motor controller is respectively connected with the left motor and the right motor, the whole vehicle controller is configured to determine target torque by utilizing the steering information of the acquisition module, and then send the target torque to the motor controller, and the motor controller is used for outputting the target torque to the left motor and the right motor so as to finish steering of a current vehicle;
Wherein, the whole vehicle controller is further configured to:
determining a corresponding steering curvature by utilizing the steering information acquired by the acquisition module;
Determining a left-right side wheel speed theoretical ratio of the current vehicle based on the steering curvature;
Determining corresponding steering torque based on the left and right side wheel speed theoretical ratio;
Determining the target torque based on the steering torque;
the steering curvature gamma calculation mode specifically comprises the following steps:
Wherein, gamma is steering curvature, positive and negative of gamma represents that the vehicle turns left or right, and gamma max is theoretical maximum steering curvature of the corresponding vehicle type of the current vehicle; θ r is the real-time potential value of the steering sensor, θ d is the potential value of the steering sensor when the steering wheel is in the neutral position, θ m is the potential value of the steering sensor when the steering wheel is turned to the left/right limit position and θ m>θd; a is a constant greater than 0;
Theoretical ratio of left and right side wheel speeds The calculation mode specifically comprises the following steps:
In the method, in the process of the invention, Omega l is a left side wheel speed theoretical value, omega r is a right side wheel speed theoretical value, h is a left side wheel track and a right side wheel track, and B is a constant larger than 0;
the calibration calculation mode of the steering torque T s specifically comprises the following steps:
wherein K p、Ki is a calibration parameter, n l is the left motor speed, n r is the right motor speed, Is the actual ratio of the left side wheel speed to the right side wheel speed,/>Is the difference between the theoretical ratio and the actual ratio of the left and right side wheel speeds;
the target torque calculation method specifically includes:
Wherein, T L is the target torque of the left motor, T R is the target torque of the right motor, and T d is the driving torque when the vehicle is running straight.
2. The steering control system for an electric differential steering vehicle according to claim 1, wherein,
The left motor and the right motor are configured to generate different driving forces to wheels on corresponding sides of the vehicle based on the target torque.
3. The steering control system of an electric differential steering vehicle of claim 1, wherein the steering sensor is connected to the vehicle controller via a wire, and the motor controller is connected to the vehicle controller via a CAN network.
4. The steering control system for an electric differential steering vehicle according to claim 1, wherein the steering wheel is connected to the steering sensor via a mechanical transmission, and the steering angle value of the steering wheel corresponds to the electric signal of the steering sensor one by one.
5. A steering control method of an electric differential steering vehicle, characterized by comprising:
Determining a corresponding steering curvature in response to input steering information, wherein the steering information is generated by rotation of a steering wheel of the vehicle, collected and output by a collection module of the vehicle, wherein,
The steering curvature gamma calculation mode specifically comprises the following steps:
Wherein, gamma is steering curvature, positive and negative of gamma represents that the vehicle turns left or right, and gamma max is theoretical maximum steering curvature of the corresponding vehicle type of the current vehicle; θ r is the real-time potential value of the steering sensor, θ d is the potential value of the steering sensor when the steering wheel is in the neutral position, θ m is the potential value of the steering sensor when the steering wheel is turned to the left/right limit position and θ m>θd; a is a constant greater than 0;
Based on the steering curvature, a left-right side wheel speed theoretical ratio of the current vehicle is determined, wherein,
Theoretical ratio of left and right side wheel speedsThe calculation mode specifically comprises the following steps:
In the method, in the process of the invention, Omega l is a left side wheel speed theoretical value, omega r is a right side wheel speed theoretical value, h is a left side wheel track and a right side wheel track, and B is a constant larger than 0;
based on the theoretical ratio of the left and right side wheel speeds, a corresponding steering torque is determined, wherein,
The calibration calculation mode of the steering torque T s specifically comprises the following steps:
wherein K p、Ki is a calibration parameter, n l is the left motor speed, n r is the right motor speed, Is the actual ratio of the left side wheel speed to the right side wheel speed,/>Is the difference between the theoretical ratio and the actual ratio of the left and right side wheel speeds;
Determining a target torque based on the steering torque; wherein the target torque is used for driving left and right side wheels of the vehicle to move at different rotational speeds according to a control command characterized by the target torque so as to complete the steering of the current vehicle, wherein,
The target torque calculation method specifically includes:
Wherein, T L is the target torque of the left motor, T R is the target torque of the right motor, and T d is the driving torque when the vehicle runs straight.
6. An electronic device, the electronic device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the electric differential steering vehicle steering control method as set forth in claim 5.
7. A vehicle comprising the electric differential steering vehicle steering control system according to claim 1.
CN202211588924.9A 2022-12-12 2022-12-12 Steering control system and method for electric differential steering vehicle Active CN116215250B (en)

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CN106915385A (en) * 2017-03-02 2017-07-04 同济大学 A kind of line traffic control differential steering system and method for distributed-driving electric automobile
CN110901652A (en) * 2019-12-23 2020-03-24 重庆嘉陵全域机动车辆有限公司 Speed control system of electric differential steering vehicle and straight-going deviation rectifying method thereof
CN113525102A (en) * 2021-08-04 2021-10-22 南京信息工程大学 Electronic differential control system, method, computer device and computer readable storage medium
CN115158445A (en) * 2022-07-11 2022-10-11 岚图汽车科技有限公司 Vehicle steering redundancy control method and system, electronic equipment and storage medium

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