The invention provides a method for controlling steering modes switching of a four-wheel independent steering vehicle. The method comprises the following steps of: (1) calculating the turning radius R of the four-wheel independent steering vehicle by a control system before switching the steering modes; (2) determining a reference wheel of the vehicle in the steering transition process and the relationship between other three wheels and the reference wheel by the control system; (3) calculating a target steering angle of the reference wheel in the target steering mode by the control system, and calculating the target steering angles of the other three wheels according to the relationship between the other three wheels and the reference wheel; (4) simultaneously adjusting the steering angles of the wheels by the control system, and finishing steering mode switching. By adopting the method for controlling steering modes switching of the four-wheel independent steering vehicle, the mutual smooth switching among the front wheel steering mode, the rear wheel steering mode and the four-wheel steering mode can be realized under the condition of not stopping the four-wheel independent steering vehicle; the switching efficiency is improved.
Method for controlling steering modes switching of four-wheel independent steering vehicle
2015-04-01
Patent
Electronic Resource
English
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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