The invention relates to a steering control method and a steering control system for a three-wheeled vehicle. The three-wheeled vehicle comprises a front wheel, a left rear wheel and a right rear wheel which are driven independently of each other and capable of rotating 360 degrees around itself, and has a normal driving mode and a pivot steering mode, the three-wheeled vehicle has the minimum steering radius in the normal driving mode, and the three-wheeled vehicle is capable of rotating 360 degrees in the pivot steering mode. The steering control method comprises the steps that when it is detected that an obstacle exists in front of the three-wheeled vehicle, whether an in-situ steering mode needs to be started or not is judged; if it is judged that the pivot steering mode needs to be started, whether the three-wheeled vehicle can avoid an available rotation center of an obstacle when executing the pivot steering mode exists or not is further judged; if there is an available center of rotation, the instantaneous direction of rotation of each wheel is made perpendicular to a straight line from the center of each wheel to the available center of rotation, respectively, thereby causing the three-wheeled vehicle to perform a pivot steering mode to avoid obstacles.
本发明涉及用于三轮车辆的转向控制方法和转向控制系统。三轮车辆包括彼此独立地驱动并且能够分别绕自身进行360°旋转的前轮、左后轮和右后轮,并且具有正常行驶模式和原地转向模式,三轮车辆在正常行驶模式下具有最小转向半径,并且在原地转向模式下能够进行360°旋转。转向控制方法包括:在检测到三轮车辆前方存在障碍物时,判断是否需要启动原地转向模式;如果判断需要启动原地转向模式,则进一步判断是否存在三轮车辆绕其执行原地转向模式时能够避开障碍物的可用旋转中心;如果存在可用旋转中心,则使得每个车轮的瞬时旋转方向分别与从每个车轮的中心到可用旋转中心的直线垂直,从而使三轮车辆执行原地转向模式,以避开障碍物。
Steering control method and steering control system for three-wheeled vehicle
用于三轮车辆的转向控制方法和转向控制系统
2021-08-03
Patent
Electronic Resource
Chinese
Steering control method for four-wheeled independent steering vehicle
European Patent Office | 2015
|