The invention discloses a four-wheel independent steering coordination control method based on an intelligent driving vehicle. A driving environment information acquisition unit, a four-wheel independent steering comprehensive evaluation index unit, a four-wheel independent steering mode selection unit and a four-wheel independent steering execution unit are included. The driving environment information acquisition unit is used for acquiring road and weather information; the four-wheel independent steering comprehensive evaluation index unit is used for calculating a driving condition evaluation factor, an active steering safety evaluation factor, a road surface and driving scene evaluation factor and a driver operation consciousness evaluation factor; the four-wheel independent steering mode selection unit comprises a front-wheel steering mode, a front-back reverse four-wheel steering mode, an oblique running mode and a crab running mode; and the four-wheel independent steering execution unit is used for calculating four-wheel steering angles in four steering modes, namely a front wheel steering mode, a front-back reverse four-wheel steering mode, an oblique running mode and a crab running mode.

    本发明公开了一种基于智能驾驶车辆的四轮独立转向协调控制方法,包括包括行驶环境信息获取单元、四轮独立转向综合评价指标单元、四轮独立转向模式选择单元、四轮独立转向执行单元。行驶环境信息获取单元用于获取道路和天气信息;四轮独立转向综合评价指标单元用于计算行驶工况评价因子、主动转向安全性评价因子、路面和驾驶场景评价因子、驾驶员操作意识评价因子;四轮独立转向模式选择单元包括前轮转向模式、前后反向四轮转向模式、斜行模式、蟹行模式;四轮独立转向执行单元用于计算前轮转向模式、前后反向四轮转向模式、斜行模式、蟹行模式这四种转向模式下的四轮转角。


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    Title :

    Four-wheel independent steering coordination control method based on intelligent driving vehicle


    Additional title:

    一种基于智能驾驶车辆的四轮独立转向协调控制方法


    Contributors:
    CHEN CHENGJIE (author) / ZHENG HONGYU (author) / ZONG CHANGFU (author) / FAN MINGQIANG (author) / DANG LIJUN (author) / XIAO JIELIN (author) / ZHANG YI (author)

    Publication date :

    2024-09-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge