The invention provides a parking starting control method for a four-wheel independent steering and driving vehicle, which comprises the following steps: acquiring an initial steering angle of each wheel in a parking state, steering a left front wheel and a right rear wheel in a first direction, and steering the right front wheel and the left rear wheel in a second direction symmetrical to the first direction; the actual driving force of each wheel is obtained; each wheel of the vehicle is controlled to return from the initial steering angle, and the change slope of the actual driving force of each wheel is obtained in the return process; calculating the change slope of the steering angle of each wheel according to the change slope of the actual driving force of each wheel; and when the steering angle of each wheel becomes 0 degree, the vehicle is controlled to start. The invention further provides a parking and starting control system of the four-wheel independent steering and driving vehicle, the parking and starting control system comprises an electronic power-assisted steering system, a vehicle body electronic stabilizing system and an engine management system, and the control system is configured to execute the method according to the invention.
本发明提出一种四轮独立转向与驱动的车辆的驻车起步控制方法,其包括:在驻车状态下获取每个车轮的初始转向角,其中左前车轮和右后车轮以第一方向转向并且右前车轮和左后车轮以与第一方向对称的第二方向转向;获取每个车轮的实际驱动力;控制车辆的每个车轮从初始转向角回正并在回正过程中获取每个车轮的实际驱动力的变化斜率;根据每个车轮的实际驱动力的变化斜率计算出每个车轮的转向角的变化斜率;以及当每个车轮的转向角变为0°时,控制车辆起步。本发明还提出一种四轮独立转向与驱动的车辆的驻车起步控制系统,其包括电子助力转向系统、车身电子稳定系统和发动机管理系统,并且该控制系统被配置为执行根据本发明的方法。
Parking and starting control method and system for four-wheel independent steering and driving vehicle
四轮独立转向与驱动的车辆的驻车起步控制方法及系统
2025-01-14
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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