The invention discloses a modular wheel train and a vehicle driving stability control method, relates to the field of vehicle control methods, and aims to solve the problems that in the prior art, the vehicle control effect is poor, and the control effect needs to be improved. The Ackerman rate and the wheel slip rate and steering characteristics caused by the Ackerman rate are adjusted in real time through a control strategy, on the premise that the maximum stable turning speed and the minimum turning radius are improved, more control possibilities are achieved on the same vehicle, the control method is not limited by the geometrical relationship of suspension hard points, and the stability of the vehicle is improved. The target vehicle roll angle and the target vehicle pitch angle are controlled, the driving experience is improved, the corresponding relation of the steering angles of all the wheels can be actively adjusted, the optimal contact angle between all the wheels and the ground can be always kept in the running process of the vehicle, the road holding force of the vehicle is improved, and then the vehicle is better controlled.
本发明公开了一种模块化轮系及车辆行驶稳定性控制方法,涉及车辆控制方法领域,旨在解决现有技术中车辆控制效果不佳、操控效果待提升的问题,采用的技术方案是,通过控制策略对阿克曼率及阿克曼率引起的车轮滑移率和转向特性实时进行调整,在提高最大稳定过弯车速和最小转弯半径的前提下,在同一辆车上实现更多的操控可能性,控制方法不受悬架硬点几何关系的限制,控制目标车辆侧倾角和目标车辆俯仰角,提高驾驶体验,各轮转向角度对应关系均可以主动调节,可使车辆在行驶过程中始终保持各轮与地面的最优接触角度,提升车辆抓地力,进而更好的控制车辆。
Modularized wheel train and vehicle driving stability control method
一种模块化轮系及车辆行驶稳定性控制方法
2022-10-11
Patent
Electronic Resource
Chinese
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 / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / B62D MOTOR VEHICLES , Motorfahrzeuge |
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