The invention relates to a steering control method for a six-wheel rear-drive unmanned support vehicle. The steering control method comprises the following steps: 1, determining position information and speed of a mounting point of a combined navigation system; 2, determining a vehicle steering angle coefficient according to the speed of the installation point of the integrated navigation system, and obtaining a wheel angular speed; 3, calculating the slip rate calculated based on a sensor in the driving process according to the angular velocity of the wheels and the velocity of the installation point of the navigation system; 4, according to the type of the automobile driving road surface, the slip rate based on the empirical model in the driving process is obtained; 5, integrating the slip rate calculated based on the sensor and the slip rate based on the empirical model to obtain a corrected slip rate; 6, whether the current corrected slip rate meets the steering requirement or not is judged; if the slip rate is lower than 0.9, entering the next step; if the slip rate is higher than 0.9, a braking command is sent to the left and right hub motors; and 7, calculating the steering target angular velocity of the left and right driving wheels according to an automobile steering instruction. The steering stability is improved.

    本发明涉及一种六轮后驱无人保障车转向控制方法,步骤为:1:确定组合导航系统安装点的位置信息及速度;2:根据组合导航系统安装点的速度,确定车辆转向角系数,并获取车轮角速度;3:根据车轮角速度和导航系统安装点速度,计算行驶过程中基于传感器计算出的滑移率;4:根据汽车行驶路面的类型,得到行驶过程中基于经验模型的滑移率;5:综合基于传感器计算出的滑移率和基于经验模型的滑移率,得到修正后的滑移率;6:判断当前修正后的滑移率是否满足转向要求;若滑移率低于0.9,则进入下一步;若滑移率高于0.9,则向左右轮毂电机发送制动命令;7:根据汽车转向指令,计算左右驱动轮转向目标角速度。本发明提高了转向的稳定性。


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    Titel :

    Steering control method for six-wheel rear-drive unmanned support vehicle


    Weitere Titelangaben:

    一种六轮后驱无人保障车转向控制方法


    Beteiligte:
    FU CHUANLIANG (Autor:in) / WANG LONGXIAO (Autor:in)

    Erscheinungsdatum :

    31.01.2023


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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