An apparatus includes: a commanded front wheel angle acquirer acquiring a commanded front wheel angle; a four-wheel target angle calculator that calculates a turning radius, which is a distance from a center of rotation when the vehicle is turning to a center of gravity in the bicycle model, using the bicycle model in a state in which a front wheel angle of the bicycle model is simulated as a command front wheel angle; calculating a rotation angle at a center of gravity of the bicycle model based on a rotation angle ratio of a front wheel to a rear wheel of the vehicle calculated from a state parameter of the vehicle, and calculating a target angle of each of the four wheels based on the turning radius and the rotation angle; and a controller that independently controls steering of the four wheels using each calculated target angle.
一种装置,包括:命令前轮角度获取器,获取命令前轮角度;四轮目标角度计算器,在将自行车模型的前轮角度模拟为命令前轮角度的状态下,使用自行车模型计算转弯半径,该转弯半径是从车辆正在转弯时的旋转中心到自行车模型中的重心的距离,基于根据车辆的状态参数计算出的车辆的前轮与后轮的旋转角度比率,计算在自行车模型的重心处的旋转角度,以及基于转弯半径和旋转角度,计算四个车轮中的每个车轮的目标角度;以及控制器,使用计算出的每个目标角度,独立地控制四个车轮的转向。
Four-wheel steering control device and method
四轮转向控制装置及方法
2023-06-30
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Four-wheel independent steering control method for horizontal four-steering-wheel chassis vehicle
European Patent Office | 2023
|