CN115071715A - A three-axle passenger car steering control method, device and vehicle - Google Patents

Abstract

The invention provides a control method and a control device for three-axis passenger car steering and an automobile, wherein the control method for three-axis passenger car steering comprises the following steps: obtaining steering data of a vehicle, wherein the steering data comprises a turning angle of a steering wheel

And the rotational angular acceleration β of the steering wheel rotation; judging and acquiring the driving state information of the vehicle according to the steering data; according to the driving state information, the rotation angle of the steering wheel

Carrying out weighting processing and acquiring rear wheel steering data Anow; driving the rear wheels according to the rear wheel steering data showAnd adjusting the steering angle. The invention can effectively solve the problems of large pressure of the rear wheel and inconvenient steering of the existing three-axle passenger car in the steering process.

Description

A three-axle passenger car steering control method, device and vehicle

technical field

The invention relates to the technical field of automobiles, in particular to a steering control method and device for a three-axle passenger car and an automobile.

Background technique

With the continuous improvement of vehicle performance and driving speed, the steering stability and safety of vehicles have always been hot issues in vehicle dynamics research, especially the stability and safety issues during high-speed steering.

For a three-axle passenger car, the front wheel is usually used as the front wheel, and the direction of the passenger car is adjusted through the angle of the front wheel. Among them, the rear wheels of the passenger car are usually unable to be adjusted, which leads to a large pressure on the rear wheels of the passenger car during the steering process of the passenger car. At the same time, the overall steering radius of the passenger car is relatively large, which makes it inconvenient for the passenger car to perform steering operations.

SUMMARY OF THE INVENTION

In view of the above shortcomings of the prior art, the purpose of the present invention is to provide a steering control method and device for a three-axle passenger vehicle and an automobile, so as to improve the problems of high rear wheel pressure and inconvenient steering during the steering process of the existing three-axle passenger vehicle.

In order to achieve the above purpose and other related purposes, the present invention provides a steering control method for a three-axle passenger car, which includes:

以及方向盘转动的转动角加速度β；Obtain steering data of the vehicle, wherein the steering data includes the rotation angle of the steering wheel

and the rotational angular acceleration β of the steering wheel rotation;

According to the steering data, determine and obtain the driving state information of the vehicle;

进行加权处理，并获取后轮转向数据Anow；According to the driving state information, the rotation angle of the steering wheel is

Perform weighting processing and obtain rear wheel steering data Anow;

According to the rear wheel steering data Anow, the rear wheel is driven to adjust the steering angle.

In a solution of the present invention, in judging and acquiring the driving state information of the vehicle according to the steering data, the driving state information of the vehicle includes direction correction and vehicle steering, including:

>第一预设值，则所述车辆的行驶状态信息为车辆转向；like

>the first preset value, then the driving state information of the vehicle is the vehicle steering;

<第一预设值，则判断所述车辆的转向状态，所述转向状态包括急速转向和慢速转向；like

<the first preset value, then determine the steering state of the vehicle, and the steering state includes rapid steering and slow steering;

If the steering state is rapid steering, determining that the driving state of the vehicle is vehicle steering;

If the steering state of the vehicle is slow steering, it is determined that the running state of the vehicle is direction correction.

In one solution of the present invention, the first preset value is 10°.

In a solution of the present invention, in judging the steering state of the vehicle, it includes: if β>the second preset value, the steering state is a rapid steering; if β<the second preset value, the Steering state is slow steering.

In one solution of the present invention, the second preset value is 15·1/s ² .

进行加权处理，并获取后轮转向数据Anow中，其包括：令

其中，若所述车辆的行驶状态信息为方向修正，则令a＝0，若所述车辆的行驶状态信息为车辆转向，则令a为非0常数。In one aspect of the present invention, according to the driving state information, the rotation angle of the steering wheel is

Perform weighting processing, and obtain the rear wheel steering data Anow, which includes:

Wherein, if the driving state information of the vehicle is the direction correction, then let a=0, and if the driving state information of the vehicle is the vehicle steering, let a be a non-zero constant.

In an aspect of the present invention, if the driving state information of the vehicle is the steering of the vehicle, a is between 1/200 and 1/90.

In one solution of the present invention, if the driving state information of the vehicle is the steering of the vehicle, let a be 1/120.

The present invention also provides a steering control device for a three-axle passenger car, characterized in that it includes:

以及方向盘转动的转动角加速度β；an acquisition module for acquiring steering data of the vehicle, wherein the steering data includes the rotation angle of the steering wheel

and the rotational angular acceleration β of the steering wheel rotation;

a judgment module, which is used for judging and obtaining the driving state information of the vehicle according to the steering data;

进行加权处理，并获取后轮转向数据Anow；a processing module, which is used for determining the rotation angle of the steering wheel according to the driving state information

Perform weighting processing and obtain rear wheel steering data Anow;

The driving module is used for driving the rear wheel to adjust the steering angle according to the rear wheel steering data Anow.

The present invention also provides an automobile, when the automobile is turning, the above-mentioned control method for steering a three-axle passenger car is performed.

To sum up, the present invention discloses a steering control method and device for a three-axle passenger vehicle and a vehicle, which can effectively improve the problems of high pressure on the rear wheels and inconvenience of steering during the steering process of the existing three-axle passenger vehicle. Wherein, by establishing an angular relationship between the front wheel and the rear wheel during the rotation process, the front wheel and the rear wheel are made to rotate synchronously during the steering process of the vehicle. This greatly reduces the pressure on the tires on the rear axle, reduces the overall turning radius of the vehicle, and improves the overall handling performance of the vehicle.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a schematic diagram of a three-axle structure of an automobile according to an embodiment of the present invention;

2 is a schematic flowchart of a method for controlling steering of a three-axle passenger car according to an embodiment of the present invention;

FIG. 3 is a schematic block diagram of a steering control device for a three-axle passenger car according to an embodiment of the present invention.

Component label description

100, front axle; 200, middle axle; 300, rear axle;

110, an acquisition module; 120, a judgment module; 130, a processing module; 140, a drive module.

Detailed ways

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

See Figures 1 through 3. It should be noted that the structures, proportions, sizes, etc. shown in the accompanying drawings of this specification are only used to cooperate with the contents disclosed in the specification for the understanding and reading of those who are familiar with the technology, and are not used to limit the conditions for the implementation of the present invention. , therefore does not have technical substantive significance, any structural modification, proportional relationship change or size adjustment, without affecting the effect that the present invention can produce and the purpose that can be achieved, should still fall within the scope of the present invention. within the scope of the technical content.

Referring to FIG. 1 , the present invention provides an automobile, which is an electric passenger car, and the electric passenger car adopts a three-axle structure. Wherein, for an electric passenger vehicle, the three-axle structure includes a front axle 100 , a middle axle 200 and a rear axle 300 , and tires are respectively connected to the front axle 100 , the middle axle 200 and the rear axle 300 . Specifically, for the front axle 100, it is usually connected to the front wheel, and the direction of the passenger vehicle can be adjusted by rotating the front wheel connected to the front axle 100. It should be noted that, for the electric bus, the steering gear is used to adjust the steering of the front wheels, and the steering gear can also be used to measure the rotation angle of the steering wheel to obtain the rotation angle of the steering wheel of the electric bus. Among them, for the middle bridge 200, it is usually connected with multiple layers of tires. For the rear axle 300, it is usually attached with a single layer of tires. When the passenger car is rotating, the tires on the rear axle 300 are subjected to relatively high pressure, and the tire blowout phenomenon is likely to occur. Therefore, in one embodiment, the tires on the rear axle 300 may be allowed to rotate at a certain angle to relieve the pressure on the tires.

Referring to FIG. 2 , based on the above vehicle, the present invention also provides a steering control method for a three-axle passenger vehicle to improve the problems of high pressure on the rear wheels and inconvenience of steering during the steering process of the existing three-axle passenger vehicle.

Wherein, the control method for the steering of the three-axle passenger car may include the following steps:

以及方向盘的转动角加速度β。First, step S10 is performed to obtain steering data of the vehicle, wherein the steering data includes the rotation angle of the steering wheel

and the rotational angular acceleration β of the steering wheel.

以及方向盘的转动角加速度β的具体的获取方式，可允许根据实际需求进行确定。During the steering process of the vehicle, the steering wheel is usually rotated and the rotation angle of the front wheel is obtained to realize the direction control of the vehicle. Therefore, it is possible to use the rotational angular acceleration for the rotation of the steering wheel by connecting an angular velocity sensor to the rotation shaft of the steering wheel. At the same time, the rotation angle of the steering wheel can be obtained through the steering gear connected to the steering wheel. However, it is not limited to this, for the rotation angle of the steering wheel

And the specific acquisition method of the rotational angular acceleration β of the steering wheel can be determined according to actual needs.

Then, step S20 is executed to judge and acquire the driving state information of the vehicle according to the steering data.

In step S20, the driving state of the vehicle may include two states of direction correction and vehicle steering, wherein the direction correction represents that the vehicle is in a driving process and slightly adjusts the overall driving direction of the vehicle. Therefore, there is no need for the tires on the rear axle to turn when the vehicle is in a directional correction state. The direction rotation represents the driving process of the vehicle, and the direction of the vehicle is steered and adjusted.

>第一预设值，则所述车辆的行驶状态信息为车辆转向。其中，第一预设值为提前预设的阈值，可以定义第一预设值为10°。需要注意的是，若

<第一预设值，则需要对车辆的转向状态进行判断，其中车辆的转向状态可以包括急速转向和慢速转向。可以理解的，急速转向表征车辆在短时间内进行快速的方向转动，例如是在发生紧急情况下所进行的车辆方向调节。在急速转向的条件下，方向盘在转动过程中的角加速度是相对较大的。因此，可通过对方向盘在转动过程中的角加速度进行判定，以获取车辆的转向状态。Specifically, in the process of judging and acquiring the driving state information of the vehicle, if

>the first preset value, the driving state information of the vehicle is the steering of the vehicle. Wherein, the first preset value is a threshold value preset in advance, and the first preset value may be defined as 10°. It should be noted that if

<The first preset value, it is necessary to judge the steering state of the vehicle, where the steering state of the vehicle may include rapid steering and slow steering. It can be understood that the sharp turn indicates that the vehicle performs a rapid directional rotation in a short period of time, for example, the direction of the vehicle is adjusted in the event of an emergency. Under the condition of sharp turning, the angular acceleration of the steering wheel during the turning process is relatively large. Therefore, the steering state of the vehicle can be obtained by determining the angular acceleration of the steering wheel during the turning process.

Wherein, in judging the steering state of the vehicle, if β>the second preset value, the steering state is rapid steering; if β<the second preset value, the steering state is slow steering. In one embodiment, the second preset value is 15·1/s ² . However, it is not limited to this, and can be determined according to actual needs.

It should be noted that, if the steering state is rapid steering, it is determined that the running state of the vehicle is vehicle steering. If the steering state of the vehicle is slow steering, it is determined that the running state of the vehicle is direction correction.

进行加权处理，并获取后轮转向数据Anow。Furthermore, step S30 is executed to determine the rotation angle of the steering wheel according to the driving state information.

Perform weighting processing and obtain rear wheel steering data Anow.

其中，若所述车辆的行驶状态信息为方向修正，则令a＝0。因此，对于后桥上的轮胎而言，无需进行方向调节。若所述车辆的行驶状态信息为车辆转向，则令a为非0常数，其中a是位于1/200～1/90之间的。例如是，在一实施例中，可允许令a为1/120。因此，当方向盘转动720°时，则位于后桥上的轮胎所需转动的角度为6°。通过对后桥位置上轮胎进行角度微调，可有效减缓轮胎上的压力，以及减小车辆整体的转弯半径。In step S30, the turning angle of the tire on the rear axle is determined based on the steering data of the front wheel. Among them, it can be

Wherein, if the driving state information of the vehicle is direction correction, a=0 is set. Therefore, no directional adjustment is necessary for the tires on the rear axle. If the driving state information of the vehicle is the steering of the vehicle, let a be a non-zero constant, where a is between 1/200 and 1/90. For example, in one embodiment, a may be allowed to be 1/120. Therefore, when the steering wheel is turned 720°, the required turning angle of the tires on the rear axle is 6°. By fine-tuning the angle of the tires on the rear axle, it can effectively reduce the pressure on the tires and reduce the overall turning radius of the vehicle.

Finally, step S40 is executed to drive the rear wheels to adjust the steering angle according to the rear wheel steering data Anow.

To sum up, by establishing the angular connection between the front wheel and the rear wheel during the rotation process, the front wheel and the rear wheel can rotate synchronously during the steering process of the vehicle. This greatly reduces the pressure on the tires on the rear axle, reduces the overall turning radius of the vehicle, and improves the overall handling performance of the vehicle.

Referring to FIG. 3 , based on the above vehicle, the present invention further provides a steering control device for a three-axle passenger vehicle, which corresponds to the control method for steering a three-axle passenger vehicle in the above embodiment. The steering control device for the three-axle passenger car may include an acquisition module 110 , a judgment module 120 , a processing module 130 and a drive module 140 . Wherein, the module referred to in the present invention refers to a series of computer program segments that can be executed by a processor and can perform fixed functions, and are stored in a memory.

以及方向盘转动的转动角加速度β。判断模块120是用于依据所述转向数据，判断并获取车辆的行驶状态信息。处理模块130是用于依据所述行驶状态信息，对所述方向盘的转动角度

进行加权处理，并获取后轮转向数据Anow。以及驱动模块140用于依据后轮转向数据Anow，驱动后轮进行转向角度调节。Specifically, the acquiring module 110 is used to acquire steering data of the vehicle, wherein the steering data includes the rotation angle of the steering wheel

and the rotational angular acceleration β of the steering wheel rotation. The judging module 120 is used for judging and acquiring the driving state information of the vehicle according to the steering data. The processing module 130 is used for determining the rotation angle of the steering wheel according to the driving state information

Perform weighting processing and obtain rear wheel steering data Anow. And the driving module 140 is configured to drive the rear wheels to adjust the steering angle according to the rear wheel steering data Anow.

To sum up, the present invention discloses a steering control method and device for a three-axle passenger vehicle and a vehicle, which can effectively improve the problems of high pressure on the rear wheels and inconvenience of steering during the steering process of the existing three-axle passenger vehicle. Wherein, by establishing an angular relationship between the front wheel and the rear wheel during the rotation process, the front wheel and the rear wheel are made to rotate synchronously during the steering process of the vehicle. This greatly reduces the pressure on the tires on the rear axle, reduces the overall turning radius of the vehicle, and improves the overall handling performance of the vehicle.

Therefore, the present invention effectively overcomes some practical problems in the prior art and thus has high utilization value and practical significance.

The above-mentioned embodiments merely illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed in the present invention should still be covered by the claims of the present invention.

Meanwhile, when numerical ranges are given in the examples, it should be understood that, unless otherwise specified in the present invention, both endpoints of each numerical range and any number between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present invention and those skilled in the art have mastered the prior art and the description of the present invention, and can also use the methods, equipment, and materials described in the embodiments of the present invention. Any methods, devices and materials similar or equivalent to those of the prior art can be used to implement the present invention.

Claims (10)

1. a control method of three-axle passenger car steering, is characterized in that, comprises: Obtain steering data of the vehicle, wherein the steering data includes the rotation angle of the steering wheel

and the rotational angular acceleration β of the steering wheel rotation; According to the steering data, determine and obtain the driving state information of the vehicle; According to the driving state information, the rotation angle of the steering wheel is

Perform weighting processing and obtain rear wheel steering data Anow; According to the rear wheel steering data Anow, the rear wheel is driven to adjust the steering angle. 2 . The control method for steering a three-axle passenger car according to claim 1 , wherein, in judging and acquiring the driving state information of the vehicle according to the steering data, the driving state information of the vehicle includes direction correction and vehicle driving. 3 . Steering, which includes: like

>the first preset value, then the driving state information of the vehicle is the vehicle steering; like

<the first preset value, then determine the steering state of the vehicle, and the steering state includes rapid steering and slow steering; If the steering state is rapid steering, determining that the driving state of the vehicle is vehicle steering; If the steering state of the vehicle is slow steering, it is determined that the running state of the vehicle is direction correction. 3 . The steering control method for a three-axle passenger car according to claim 2 , wherein the first preset value is 10°. 4 . 4. The steering control method for a three-axle passenger vehicle according to claim 2, wherein in judging the steering state of the vehicle, the method comprises: If β>the second preset value, the steering state is rapid steering; If β<the second preset value, the steering state is slow steering. 5 . The steering control method for a three-axle passenger car according to claim 4 , wherein the second preset value is 15·1/s ² . 6 . 6 . The steering control method for a three-axle passenger car according to claim 4 , wherein, according to the driving state information, the rotation angle of the steering wheel is determined. 7 .

Perform weighting processing, and obtain the rear wheel steering data Anow, which includes:

Wherein, if the driving state information of the vehicle is the direction correction, then let a=0, and if the driving state information of the vehicle is the vehicle steering, let a be a non-zero constant. 7 . The steering control method for a three-axle passenger vehicle according to claim 6 , wherein, if the driving state information of the vehicle is vehicle steering, a is between 1/200 and 1/90. 8 . 8 . The steering control method for a three-axle passenger vehicle according to claim 6 , wherein if the driving state information of the vehicle is the steering of the vehicle, let a be 1/120. 9 . 9. A control device for steering a three-axle passenger car, characterized in that, comprising: An acquisition module (110) for acquiring steering data of the vehicle, wherein the steering data includes the rotation angle of the steering wheel

and the rotational angular acceleration β of the steering wheel rotation; a judging module (120), which is used for judging and acquiring the driving state information of the vehicle according to the steering data; A processing module (130), which is used for determining the rotation angle of the steering wheel according to the driving state information

Perform weighting processing and obtain rear wheel steering data Anow; A driving module (140) is used for driving the rear wheels to adjust the steering angle according to the rear wheel steering data Anow. 10 . An automobile, characterized in that, when the automobile is turning, the control method for steering a three-axle passenger car according to any one of claims 1 to 8 is executed.

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