To suppress calculation amounts from increasing while maintaining accuracy in optimization.SOLUTION: A steering angle calculation method includes: a first calculation step of calculating respective steering angles of wheels with respect to a plurality of steering wheels provided in a vehicle, on the basis of a target speed of the vehicle; a distribution step of calculating driving force which is generated in the wheels using an optimization method, on the basis of the respective steering angles of the wheels calculated in the first calculation step and target driving force of the vehicle; and a second calculation step of calculating conclusive steering angles of the wheels so that the conclusive steering angles can achieve target lateral force of the wheels, on the basis of the driving force generated in the wheels calculated in the distribution step.SELECTED DRAWING: Figure 2
【課題】最適化精度を維持しつつ計算量の増加を抑制すること。【解決手段】操舵角算出方法であって、車両の目標速度に基づいて、車両に設けられた複数の操舵輪に対する各車輪の操舵角を算出する第1算出ステップと、第1算出ステップで算出した各車輪の操舵角と、車両の目標駆動力とに基づいて、最適化手法を用いて各車輪で発生させる駆動力を算出する分配ステップと、分配ステップで算出した各車輪で発生させる駆動力に基づいて、各車輪の目標横力を実現する操舵角となるように、最終的な各車輪の操舵角を算出する第2算出ステップと、を含む。【選択図】図2
STEERING ANGLE CALCULATION METHOD
操舵角算出方法
2023-12-28
Patent
Elektronische Ressource
Japanisch
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / 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 / B62D MOTOR VEHICLES , Motorfahrzeuge |
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