The invention provides an automatic front wheel aligning system and method for automobile parking, and relates to the technical field of wheel aligning control. Comprising an I MU sensor which is installed at the center of a rotating shaft of a front brake disc and a rear brake disc of a vehicle and used for obtaining a pose matrix between corresponding front and rear wheels; the controller is used for receiving the corresponding pose matrix between the front wheel and the rear wheel sent by the I MU sensor, calculating a first deflection angle of the left front wheel relative to the left rear wheel and a second deflection angle of the right front wheel relative to the right rear wheel, and obtaining an average deflection angle based on the first deflection angle and the second deflection angle; based on the average deflection angle, the left front wheel and the right front wheel are controlled to steer until the left front wheel and the right front wheel are aligned. When the automobile is parked, an algorithm is designed to obtain the steering angle difference of the front and rear wheels in real time, then the steering angle difference is converted into an electric signal to control the steering motor to operate, and high-precision automatic returning of the front wheels of the automobile is achieved.
本发明提出了汽车泊车前轮自动回正系统及方法,涉及车轮回正控制技术领域。包括I MU传感器,其安装于车辆前后制动盘的旋转轴中心处,用于获取对应的前后轮之间的位姿矩阵;控制器,其用于接收I MU传感器发送的对应的前后轮之间的位姿矩阵,并计算左前轮相对于左后轮的第一偏转角度、以及右前轮相对于右后轮的第二偏转角度,基于第一偏转角度和第二偏转角度,得到平均偏转角度;基于平均偏转角度,控制左前轮和右前轮转向,直至左前轮和右前轮回正。本发明在汽车停车时,设计算法实时获取前后轮的转向角度差,再将转向角度差转换为电信号控制转向电机运行,实现车辆前轮的高精度自动回正。
Automobile parking front wheel automatic aligning system and method
汽车泊车前轮自动回正系统及方法
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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