The invention aims at providing the active rear wheel steering control method and device considering the communication delay and the rear wheel steering system time lag influence and the vehicle, so that the influence caused by the communication delay and the rear wheel steering system time lag is reduced, and the influence caused by front wheel steering interference and tire nonlinear characteristics on the control effect can be weakened; the present invention improves the controllability and stability of a vehicle provided with a rear wheel steering system. The method comprises the following steps: establishing a system state error model based on an actual side slip angle, an actual yaw velocity, an actual vehicle speed, an actual rear wheel steering angle and an actual front wheel steering angle of a vehicle; based on the actual rear wheel turning angle and the target rear wheel turning angle of the vehicle, in combination with the established system state error model, an augmentation system model considering rear wheel turning delay is established; based on the system state error model and the augmentation system model considering the rear wheel steering delay, a target rear wheel steering angle considering the rear wheel steering delay, front wheel steering interference and tire nonlinear characteristics is obtained through calculation, and active rear wheel steering control is conducted.
本发明旨在提供一种考虑通讯延迟与后轮转向系统时滞影响的主动后轮转向控制方法、装置及车辆,以减小通讯延迟与后轮转向系统时滞带来的影响,还可减弱前轮转向干扰和轮胎非线性特性对控制效果带来的影响,提升具备后轮转向系统的车辆的操控性和稳定性。该方法,包括:基于车辆的实际质心侧偏角、实际横摆角速度、实际车速、实际后轮转角及实际前轮转角,建立系统状态误差模型;基于车辆的实际后轮转角和目标后轮转角,结合建立的系统状态误差模型,建立考虑后轮转向延迟的增广系统模型;基于系统状态误差模型及考虑后轮转向延迟的增广系统模型,计算得到考虑后轮转向延迟、前轮转向干扰和轮胎非线性特性的目标后轮转角,并进行主动后轮转向控制。
Driving rear wheel steering control method and device and vehicle
一种主动后轮转向控制方法、装置及车辆
2023-12-15
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Rear wheel steering control method and device of vehicle, rear wheel steering controller and medium
European Patent Office | 2024
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