The invention relates to a trajectory tracking method and system for a multi-mode four-wheel independent steering system and a medium, and the method comprises the steps: G1, powering on a vehicle, carrying out the initialization detection of a vehicle steering system, and obtaining the steering mode data information of the vehicle steering system in real time; g2, based on the steering mode data information, under a vehicle coordinate system, vehicle steering is conducted with the vehicle mass center as the original point and the distance between the vehicle mass center and the vehicle head center as the radius, and vehicle steering state data information is obtained in real time; and G3, based on the vehicle steering state data information, adopting a trajectory tracking control algorithm to realize trajectory tracking in a steering mode. According to the invention, the steering track of the vehicle can be tracked and controlled in real time, data comparison and vehicle adjustment can be carried out in time, the steering control modes are more diversified, and the multifunctionality and the sense of science and technology of the intelligent vehicle are improved.
本发明涉及一种多模式的四轮独立转向系统的轨迹跟踪方法、系统及介质,所述方法包括G1.车辆上电,车辆转向系统进行初始化检测,实时获取所述车辆转向系统的转向模式数据信息;G2.基于所述转向模式数据信息,在车辆坐标系下,以车辆质心为原点,以车辆质心到车头中心的距离为半径进行车辆转向,实时获取车辆转向状态数据信息;G3.基于所述车辆转向状态数据信息,采用轨迹跟踪控制算法,实现一种转向模式下的轨迹跟踪。本发明不仅能够实时对车辆转向轨迹进行跟踪和控制并能够及时地进行数据比对和车辆调节,而且使得转向操控方式更加多样化,提高了智能汽车的多功能性和科技感。
Trajectory tracking method and system of multi-mode four-wheel independent steering system and medium
一种多模式的四轮独立转向系统的轨迹跟踪方法、系统及介质
2023-07-21
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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