A joystick wire-controlled steering control method

A technology of steer-by-wire and control method, which is applied in the direction of control devices, steering mechanisms, electric steering mechanisms, etc., which can solve problems such as loss of control, vehicle prone to sideslip, sharp rotation, etc., achieve sensitive steering, improve handling fault tolerance, and reduce volume. zoom out effect

Active Publication Date: 2022-03-29
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the vehicle is driving on a slippery road or turning in an emergency, due to the saturation of the tire cornering force, the vehicle is prone to skidding or sharp rotation, and then loses control

Method used

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  • A joystick wire-controlled steering control method
  • A joystick wire-controlled steering control method
  • A joystick wire-controlled steering control method

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Embodiment Construction

[0059] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0060] see figure 1 , a joystick steer-by-wire control method provided by the present invention, using the joystick as the driver's input device, specifically includes the following steps:

[0061] Step 1. Obtain the joystick rotation angle.

[0062] In one of the embodiments of the present invention, the driver inputs the steering command ...

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PUM

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Abstract

The invention discloses a steering-by-wire control method of a joystick, comprising the following steps: collecting the joystick rotation angle δ d , and by the corner factor f δ and speed factor f u Correction, calculate the ideal steady-state front wheel angle Calculate the reference yaw rate ω according to the linear two-degree-of-freedom reference model r and the reference center of mass slip angle β r ; Detect whether the deviation between the actual yaw rate and the side slip angle of the center of mass and the reference value reaches the stability threshold; And calculate the braking torque of each wheel; the steering executive motor and the braking system perform actions according to the instructions. The invention can simplify the steering operation, improve the steering stability, save the space in the car, reduce the collision damage and easily realize the switching between the automatic driving mode and the manual driving mode.

Description

technical field [0001] The invention belongs to the technical field of a steering-by-wire system in an automobile steering system, and in particular relates to a steering-by-wire control method of a joystick. Background technique [0002] At present, autopilot technology is developing rapidly. In L3 and L4 autopilot vehicles, it is necessary to reserve sufficient space for the driver to move, and to ensure the convenience and safety of manual driving. The traditional steering wheel-type mechanical steering system has a large manipulation action, takes up more space, and restricts the installation of higher-standard airbags, shields the instrument, and the structure of the steering column is likely to cause injury to the driver in the event of a collision, and the steering wheel and the steering wheel are linked. The vehicle stability control system cannot directly correct the steering angle; when the automatic driving system is working, it is easy to cause the interference o...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/10B60W30/02B60W50/00B62D5/04
CPCB60W30/02B60W50/00B62D5/0463B60W2050/0031
Inventor 谢正超张睿
Owner SOUTH CHINA UNIV OF TECH
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