A four-wheel independent steering control method for a horizontal four-steering-wheel chassis vehicle comprises the steps that a vehicle control unit (VCU) obtains a control instruction, carries out driving intention identification and carries out resolving to obtain a vehicle driving mode, an expected vehicle speed and an expected vehicle turning angle; a VCU (vehicle control unit) receives a sensor signal to identify a vehicle state, that is, the current vehicle speed and the current four-wheel rotation angle are obtained by resolving a four-wheel encoder signal and a rotation speed signal of a rotation speed sensor; through the current driving mode, a rear wheel expected turning angle is obtained according to the current whole vehicle speed and the expected whole vehicle turning angle; an expected four-wheel rotation angle is obtained according to the variable instantaneous center Ackerman steering rotation angle relation; according to the current four-wheel rotation angle and the expected whole vehicle speed, the expected four-wheel rotation speed is obtained; then the expected four-wheel rotation angle and the expected four-wheel rotation speed are sent to a steering motor and a walking motor through messages, and expected actions are completed. According to the invention, the driving control efficiency and accuracy of a driver can be improved, so that the operation safety and the working efficiency are improved.

    一种卧式四舵轮底盘车辆四轮独立转向控制方法,所述方法包括:整车控制器VCU获取控制指令,进行驾驶意图辨识,并解算得到整车行驶模式、期望整车速度和期望整车转角;整车控制器VCU接收传感器信号进行车辆状态辨识,即通过四轮编码器信号、转速传感器的转速信号进行解算,得到当前整车速度和当前四轮转角;通过当前行驶模式,由当前整车车速和期望整车转角,得到后轮期望转角;根据变瞬心阿克曼转向转角关系得到期望四轮转角;由当前四轮转角和期望整车速度,得到期望四轮转速;之后将期望四轮转角和期望四轮转速通过报文发送给转向电机和行走电机,完成期望的动作。本发明可提高驾驶员行车操控的效率和准确性,进而提高作业的安全性以及工作效率。


    Access

    Download


    Export, share and cite



    Title :

    Four-wheel independent steering control method for horizontal four-steering-wheel chassis vehicle


    Additional title:

    一种卧式四舵轮底盘车辆四轮独立转向控制方法


    Contributors:
    QIN YUGUI (author) / WANG KAIYUAN (author) / LIU HUAN (author) / PENG XUEFENG (author) / WANG YONGYUAN (author) / LIU HUABIN (author) / LIU JIASHENG (author) / DAI ZONGMIAO (author)

    Publication date :

    2023-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B62D MOTOR VEHICLES , Motorfahrzeuge



    Four-wheel independent steering robot chassis

    HUANG LILI / YU HONGZHOU | European Patent Office | 2020

    Free access

    Vehicle chassis steering control device based on four-wheel independent steering

    JIN BO / DU MINGZHONG / WANG YINGDONG et al. | European Patent Office | 2021

    Free access

    Steering correction device for chassis of four-wheel independent steering vehicle

    MENG WENYUAN / WANG YINGDONG / JIN BO | European Patent Office | 2021

    Free access

    Self-steering Four-wheel Drive Vehicle Chassis

    WU HAOTIAN / LIAO CONG | European Patent Office | 2017

    Free access

    Steering wheel calibration method of steering drive axle chassis four-wheel steering AGV

    GUAN CONGCONG / QIU FENG / CHEN BO et al. | European Patent Office | 2023

    Free access