The invention is suitable for the technical field of automobile steering control, and provides a pre-stability-based rear wheel steering control method, which comprises the following steps of: firstly, receiving a steering wheel angle sensor, an acceleration sensor, a steering wheel angle sensor and an automobile parameter unit, and calculating the state of an automobile according to an unscented Kalman filtering principle; and performing state linear prediction through a prediction algorithm in the model prediction control algorithm, and performing state trend prediction through a state trend. And an accurate automobile state is obtained by coordinating the two prediction methods. And judging according to the predicted automobile state, selecting a proper rear wheel steering form, and obtaining a steering angle of rear wheel steering according to the form. And finally, a position loop control instruction is sent to a steering motor according to a decision result obtained through calculation. According to the method, the turning radius of the four-wheel steering automobile at a low speed is reduced, the driving flexibility of the automobile is improved, the stability of the automobile at a high speed is improved, and multiple steering modes are flexibly switched.
本发明适用于汽车转向控制技术领域,提供了一种基于预稳定性的后轮转向控制方法,首先接收由方向盘转角传感器、加速度传感器、方向盘转角传感器以及车辆参数单元,并根据无迹卡尔曼滤波原理计算本车自身所处状态。通过模型预测控制算法中的预测算法进行状态线性预测,通过状态趋势进行状态趋势预测。通过协调两种预测方法得到精确的汽车状态。根据预测得到的汽车状态,进行判断,选择合适的后轮转向形式并根据该形式得到后轮转向的转角。最后根据计算得出的决策结果,向转向电机发出位置环控制指令。该方法降低了四轮转向汽车低速时的转弯半径,提高汽车行驶的灵活性,提升了汽车在高速时的稳定性,多种转向模式灵活切换。
Rear wheel steering control method based on pre-stability
一种基于预稳定性的后轮转向控制方法
2024-11-22
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Vehicle stability control method based on rear wheel steering
European Patent Office | 2021
|