The invention belongs to the technical field of automobiles, and particularly discloses a three-wheel failure emergency driving method for a four-wheel independent driving and steering vehicle. The emergency driving method comprises the following steps: a first method is a four-wheel independent steering method; the second method is a single-wheel driving steering method; the third method is a wheel braking method; the four-wheel independent steering method is used for independently controlling the internal and external rotation angle relation of wheels. The single-wheel driving steering method is used for resolving four-wheel steering angles. The wheel braking method is used for limiting wheel braking force. After three wheels of a traditional vehicle fail, the traditional vehicle does not have a driving function, the yawing moment of the whole vehicle is always partial, and the two rear wheels cannot steer and advance; and on the full-vector automobile, when the automobile runs straight, the working driving wheels can penetrate through the center of the automobile, and the other three-wheel steering directions are kept horizontal with the wheels, so that the yawing moment can be eliminated, and straight running can be realized.
本发明属于汽车技术领域,具体公开了一种四轮独立驱动以及转向的车辆三轮失效应急驾驶方法,包括;急驱动方法,所述应急驱动方法为:方法一:四轮独立转向方法;方法二:单轮驱动转向方法;方法三:车轮制动方法;所述四轮独立转向方法用于独立控制车轮的内外转角关系;所述单轮驱动转向方法用于对四轮转角进行解算;所述车轮制动方法用于对车轮制动力做限制;传统车辆三轮失效后,不具备行驶功能,其整车横摆力矩总是偏的,且后两轮不能转向,无法前进;而全矢量汽车上,在直行时,可以令然工作的驱动轮方向穿过汽车中心,其他三轮转向方向和该轮保持水平,即可消除横摆力矩,直线行驶。
Three-wheel failure emergency driving method for vehicle with four wheels independently driven and steered
一种四轮独立驱动以及转向的车辆三轮失效应急驾驶方法
2023-06-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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