The invention discloses a vehicle four-wheel independent steering control method and device, and relates to the technical field of automobiles. The driving torque of each steering execution mechanism is determined according to the ideal rotating angle and the actual rotating angle of each wheel in the steering mode, the first output rotating speed of the vehicle virtual main shaft and the second output rotating speed of each wheel steering execution mechanism, and each steering execution mechanism is controlled to output the corresponding driving torque so as to drive each wheel to rotate. All wheels can synchronously reach corresponding ideal turning angles, turning angle different-speed synchronous control of independent steering of four wheels of the vehicle can be achieved, the tire abrasion degree during steering of the vehicle is reduced, and the steering stability of the vehicle is improved.
本发明公开了车辆四轮独立转向控制方法及装置,涉及汽车技术领域。本发明根据转向模式下各个车轮的理想转角、实际转角、车辆虚拟主轴的第一输出转速和各个车轮转向执行机构的第二输出转速确定各个转向执行机构的驱动力矩,控制各个转向执行机构输出对应的驱动力矩,以驱动各个车轮转动,可以使各个车轮同步达到对应的理想转角,可以实现车辆四轮独立转向的转角异速同步控制,降低车辆转向时的轮胎磨损程度和提高车辆转向稳定性。
Vehicle four-wheel independent steering control method and device
车辆四轮独立转向控制方法及装置
2024-10-01
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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