The invention relates to a straight line driving calibration method based on a corner module distributed chassis system, which comprises a chassis, a direction accelerator brake pedal assembly, a vehicle management unit VCU, a battery, a battery management unit and a corner module, and comprises the following steps: S1, the vehicle management unit VCU controls a vehicle to enter a straight line driving state; s2, a vehicle management unit VCU sends a straight driving instruction to four corner modules; if the rotating angles of the four steering motors are inconsistent, the step S3 is carried out; s3, the rotating speeds of the driving motors of the same side angle module are compared; s4, current of the two steering motors on the corresponding sides is detected, and real-time angle fine adjustment is carried out; and S5, feedback comparison is carried out after adjustment, and calibration is ended until the accumulated rotation angle deviation of the steering motors of the four corner modules enters a stable state. According to the invention, the driving direction can be calibrated in real time without adding a sensor, the cost is saved, and the reliability, flexibility and convenience of the system are improved.
本发明涉及一种基于角模块分布式底盘系统的直线行驶校准方法,包括底盘、方向油门刹车踏板组件、车辆管理单元VCU、电池及电池管理单元以及角模块,步骤如下:S1、车辆管理单元VCU控制车辆进入直线行驶状态;S2、车辆管理单元VCU对四个角模块发出直线行驶指令;若四个转向电机转过的角度不一致则进行步骤S3;S3、对同一侧角模块的驱动电机转速进行比较;S4、对相应侧的两个转向电机的电流进行检测,并进行实时角度微调;S5、调整后再进行反馈比较,直至四个角模块的转向电机的累积旋转角度偏差进入稳定状态,则结束校准。本发明不需要增加传感器,即可实时校准行驶方向,节约成本,提高了系统的可靠性、灵活性以及便利性。
Linear driving calibration method based on angle module distributed chassis system
一种基于角模块分布式底盘系统的直线行驶校准方法
2023-12-15
Patent
Electronic Resource
Chinese
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