The invention relates to the technical field of vehicle control systems, in particular to an unmanned global vehicle active steering and differential steering cooperative control system which comprises an unmanned global vehicle and a vehicle control unit. The unmanned global vehicle comprises a vehicle body, a first steering shaft, a second steering shaft, two connecting shafts, eight wheels, a first steering motor, a second steering motor, a left side driving motor and a right side driving motor. The vehicle control unit calculates the required torque of the driving motors, calculates the required differential torque and the required rotating angle, fuses the required torque and the required differential torque and then distributes the fused torque to the left driving motor and the right driving motor, and distributes the required rotating angle to the first steering motor and the second steering motor; therefore, the left-side driving motor, the right-side driving motor, the first steering motor and the second steering motor of the unmanned global vehicle are cooperatively controlled, and the abrasion of parts is reduced while the stable operation of the vehicle is met.

    本发明涉及车辆控制系统技术领域,具体涉及一种无人驾驶全域车辆主动转向与差动转向协同控制系统,包括无人驾驶全域车辆和整车控制器;无人驾驶全域车辆包括车辆主体、第一转向轴、第二转向轴、两个连接轴、八个车轮、第一转向电机、第二转向电机、左侧驱动电机和右侧驱动电机;整车控制器计算驱动电机的需求扭矩,并计算需求差速扭矩和需求转角,再将需求扭矩和需求差速扭矩融合后分配给左侧驱动电机和右侧驱动电机,将需求转角分配给第一转向电机和第二转向电机,从而协同控制无人驾驶全域车辆的左侧驱动电机、右侧驱动电机、第一转向电机和第二转向电机,在满足车辆平稳运行的同时,降低零件的磨损。


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    Titel :

    Unmanned global vehicle active steering and differential steering cooperative control system


    Weitere Titelangaben:

    一种无人驾驶全域车辆主动转向与差动转向协同控制系统


    Beteiligte:
    MENG ZHAOXIA (Autor:in) / WANG LEIHAO (Autor:in) / CHEN SIHUA (Autor:in) / ZENG DEQUAN (Autor:in) / YANG GUANGXING (Autor:in) / XIONG LU (Autor:in) / LI XUELIANG (Autor:in) / LENG BO (Autor:in) / SHAO LIANG (Autor:in) / LI QIANG (Autor:in)

    Erscheinungsdatum :

    2023-06-27


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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