The invention provides a multi-axis steering driving method applied to an independent suspension type four-wheel-steering four-wheel-drive intelligent vehicle. The method comprises in a unmanned driving process, determining whether four-wheel differential steering is suitable or not by detecting the wheel slip rate and automatically selecting a turning mode; continuously monitoring the change condition of the slip rate in the turning process; comparing the slip rate with a safety point; and if the slip rate is close to the safety point, controlling the slip rate within a safety range by reducing the vehicle speed or reducing the turning angle according to the running condition of the intelligent vehicle and the road surface passing condition. Thus, the running safety of the intelligent vehicle is guaranteed, the turning flexibility can be improved to the utmost extent, and the driving performance of the intelligent vehicle is exerted to the utmost extent.

    本发明提出一种应用在独立悬挂式四转四驱智能车的多轴转向驱动方法,无人行驶过程中,通过检测车轮滑移率来判断是否适合采用四轮差速转向,自动选择转弯方式,在转弯过程不断监测滑移率变化情况,将滑移率与安全点做比较,如果滑移率接近安全点,根据智能车运行情况以及路面通行情况降低车速或同时减小转弯角度的方式将滑移率控制在安全范围以内,从而既保证智能车运行的安全性,又能最大限度的提高转弯的灵活性,最大限度发挥智能车的驱动性能。


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    Title :

    Multi-axle steering driving method applied to independent suspension type four-wheel-steering four-wheel-drive intelligent vehicle


    Additional title:

    一种应用在独立悬挂式四转四驱智能车的多轴转向驱动方法


    Contributors:
    ZHANG YUNZHU (author) / WANG SHUO (author) / XU WENJING (author)

    Publication date :

    2020-05-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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