The invention belongs to the technical field of articulated vehicle turning control, and discloses a steering angle measuring method and device of an articulated vehicle. The steering angle measuring method of the articulated vehicle comprises the following steps that when the articulated vehicle is steered, the real-time course angle of the articulated vehicle is detected through a course detection device every preset time, and the course angle variable quantity is calculated; meanwhile, the current speed of the hinged vehicle and the distance between the wheel center of the frame where the course detection device is located and the hinged point of the hinged vehicle are obtained; the steering angle of the hinged vehicle is calculated according to the preset time, the course angle variable quantity, the vehicle speed and the distance between the wheel center of the frame where the course detection device is located and the hinged point of the hinged vehicle. According to the steering angle measuring method of the articulated vehicle, a sensor is not used for obtaining the steering angle, the steering angle is directly calculated through the course angle and the vehicle speed of the articulated vehicle, the calculation process is simple, and the calculation precision is high.
本发明属于铰接车辆转弯控制技术领域,公开了一种铰接车辆的转向角测量方法及测量装置。铰接车辆的转向角测量方法,包括如下步骤:铰接车辆进行转向时,每隔预设时间通过航向检测装置对铰接车辆的实时航向角进行检测,并计算出航向角变化量;同时获取铰接车辆的当前的车速以及获取航向检测装置所在车架的车轮中心与铰接车辆的铰接点的距离;通过预设时间、航向角变化量、车速以及航向检测装置所在车架的车轮中心与铰接车辆的铰接点的距离来计算铰接车辆的转向角。该铰接车辆的转向角测量方法避免了使用传感器来获取转向角,而是通过铰接车辆的航向角和车速直接计算出转向角,计算过程简单,且计算精度高。
Method and device for measuring steering angle of articulated vehicle
铰接车辆的转向角测量方法及测量装置
2023-06-27
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |