The invention discloses a wheel steering hierarchical control method, which comprises the following steps that: a program controller receives a steering signal output by a steering wheel driving encoder and judges the steering angle of the steering signal, wherein the angle of the first threshold range is smaller than the angle of the second threshold range; if the steering angle is within the first threshold range, the two front wheels are controlled to independently steer, and the two front wheels independently rotate by different angles in the same direction, so that the vertical lines of the two front wheels and the vertical lines of the two rear wheels intersect at the same intersection point; otherwise, if the steering angle is within a second threshold range, the front inner side wheel and the two rear wheels are controlled to continue to steer, and the intersection point of the vertical line of the front inner side wheel and the vertical lines of the two rear wheels moves alongthe vertical line of the front outer side wheel. In the invention, the wheels are controlled to rotate in a graded mode, when the steering angle is large, the control mode that the four wheels rotatetogether is adopted, the turning radius is reduced, a vehicle can pass through a narrow area more easily, and the flexibility is higher. The wheel steering system can also achieve the same technicaleffect.

    本发明公开一种车轮转向分级控制方法,程序控制器接收方向盘驱动编码器输出的转向信号,判断转向信号的转向角度;第一阈值范围的角度小于第二阈值范围的角度,若转向角度位于第一阈值范围,则控制两个前轮独立转向,两个前轮分别独立向相同的方向转动不同的角度,使两个前轮的垂线与两个后轮的垂线相交于同一交点;若转向角度位于第二阈值范围,则控制前内侧车轮和两个后轮继续转向,前内侧车轮的垂线和两个后轮的垂线的交点沿前外侧车轮的垂线移动;本发明采用分级控制车轮转动,当转向角度较大时采用四个车轮共同转动的控制方式,使转弯半径减小,车辆更容易通过狭小的区域,灵活度更高。本发明的车轮转向系统也能达到相同的技术效果。


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    Titel :

    Wheel steering hierarchical control method and wheel steering system


    Weitere Titelangaben:

    一种车轮转向分级控制方法及车轮转向系统


    Beteiligte:
    LIU ZHENYONG (Autor:in)

    Erscheinungsdatum :

    2020-09-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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