The invention relates to the field of automatic parking path planning, particularly to a parallel automatic parking path planning method for a rear wheel drive type hub motor automobile. Four-wheel steering of the rear wheel independent drive type electric automobile can be achieved, front wheels work through traditional steering, the rear wheels achieve steering through hub motor control differential, so that a garage entering method in which with a broken line path is used and an automobile body parallel to a parking space is achieved. Rear wheel independent driving is combined with a differential steering technology, so that the maneuverability of the vehicle can be effectively improved under the parking working condition; meanwhile, the operation stability and driving stability of thevehicle are improved.
本发明涉及自动泊车路径规划领域,具体是一种后轮驱动轮毂电机汽车的平行自动泊车路径规划方法,后轮独立驱动电动汽车可以实现四轮转向,其中前轮通过传统转向实现,后轮利用轮毂电机控制差速实现转向,从而实现一种折线路径,车身平行于车位的入库方法。后轮独立驱动结合差动转向技术在泊车工况下可有效提高车辆机动性,同时提升车辆的操作稳定性和行驶稳定性。
Parallel parking path planning method for double-hub motor vehicle
一种双轮毂电机汽车平行泊车路径规划方法
2020-05-12
Patent
Electronic Resource
Chinese
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