The invention provides a steering control method for four-wheeled independent steering vehicle. The steering control method comprises the following steps: solving an instant steering center of the vehicle in real time through positions of wheels and a steering angle signal under a vehicle coordinate system, obtaining kinetic errors of the vehicle according to the instant steering center; then, combining kinematic errors of the vehicle, controlling the steering angles of wheels, thereby completing steering of vehicles. According to the steering control method for the four-wheel independent steering vehicle provided by the invention, a main controller is used for controlling the wheel steering angles by combining the kinetic errors with the kinematic errors of the vehicle, so that the vehicle steering precision is further improved; meanwhile, through the kinematic errors, the wheels which are relatively moved independently in mechanical configuration are virtually connected, so that other wheels cooperatively move when one wheel is externally affected to have steering angle mutation in a steering process, the vehicle steering stability is guaranteed, and the robustness of the system is improved.
Steering control method for four-wheeled independent steering vehicle
22.04.2015
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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