Starting from the safety of the platform, the safety performance is measured from the three aspects of longitudinal, lateral inclination and yaw, and whether the mode switching can be carried out on the platform or not is judged according to the longitudinal speed, the transverse load transfer rate and the yaw velocity. And the whole vehicle controller carries out state identification on the current platform through a sensor signal, and when the current state does not meet the switching condition, the existing steering mode is maintained for continuous driving. When the current state meets the switching condition, the vehicle control unit solves the turning radius according to the current state, and based on the constant turning radius principle and the indefinite turning radius principle, the angle relation between the driving wheel and the driven wheel and the expected tire turning angle of the driving wheel in the target steering mode are solved. Finally, the expected tire turning angle of the driven wheel is obtained through the angle relation settlement of the driving wheel and the driven wheel, so that the steering mode switching of the four-wheel independent drive steering mobile platform is realized. The flexibility of the four-wheel independent drive vehicle and the safety in the running process can be improved.

    本发明以平台安全性出发,从纵向、侧倾、横摆三个方面衡量安全性能,根据纵向速度、横向载荷转移率、横摆角速度来判断平台是否可进行模式切换。整车控制器通过传感器信号对当前平台进行状态辨识,当前状态不满足切换条件时,维持现有转向模式继续行驶。当前状态满足切换条件时,整车控制器按照当前状态解算转弯半径,并基于恒定转弯半径原理与不定转弯半径原理,解算主动轮与从动轮角度关系以及目标转向模式下的主动轮期望轮胎转角。最终由主动轮与从动轮角度关系结算得到从动轮期望轮胎转角,来实现四轮独立驱动转向移动平台转向模式切换;本发明能提升四轮独立驱动车辆的灵活性以及行驶过程中的安全性。


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    Titel :

    Steering mode switching method for four-wheel independent drive steering mobile platform


    Weitere Titelangaben:

    一种四轮独立驱动转向移动平台转向模式切换方法


    Beteiligte:
    PENG YUHUI (Autor:in) / LI CHUNYOU (Autor:in)

    Erscheinungsdatum :

    2024-03-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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