公开(公告)号：US20040230361A1

公开(公告)日：2004-11-18

申请号：US10822610

申请日：2004-04-12

Applicant: Kanazawa Institute of Technology

Inventor： Hiroyasu Oshima ,  Katsuya Imai

IPC: B62D006/00

CPC classification number: B62D9/002 ,  B62D7/1509 ,  Y02T10/7258

Abstract: In steering control for individually controlling wheel steering angles null1, null2, null3, and null4 of a vehicle in accordance with a condition equation for forming a prescribed mode, one of the condition equation variables is used as a steering command value S. In a process for changing the command value S from a value S1 to a value S2, for transitioning the steering angles null1, null2, null3, null4 from values nullnull1, null2, null3, null4nullS1 corresponding to the steering command value S1, to values nullnull1, null2, null3, null4nullS2 corresponding to the steering command value S2, the steering angles null1, null2, null3, null4 are changed toward incremental transition steering angles nullnull1, null2, null3, null4nullS1nullnullS corresponding to a steering command value (S1nullnullS), which is the steering command value S1 to which an incremental steering command value nullS has been added. After the steering angles null1, null2, null3, null4 reach their incremental transition steering angles and steering angle conformance is detected, the angles are changed toward incremental transition steering angles nullnull1, null2, null3, null4nullS1nullnnullS corresponding to a steering command value (S1nullnnullS), which is the steering command value to which an incremental steering command value nullS has been added nulln timesnull in succession. nullThis is repeated as many times as requirednull to change the steering angles null1, null2, null3, null4 from nullnull1, null2, null3, null4nullS1 to nullnull1, null2, null3, null4nullS2.

Abstract translation: 在用于根据用于形成规定模式的条件方程分别控制车辆转向角α1，α2，α3和α4的转向控制中，使用条件方程变量之一作为转向指令值S.在一个过程中 用于将指令值S从值S1改变为值S2，用于将对应于转向指令值S1的值[α1，α2，α3，α4] S1的转向角α1，α2，α3，α4转换为值[ 对应于转向指令值S2的α1，α2，α3，α4] S2，转向角α1，α2，α3，α4朝着与转向相对应的增量过渡转向角[α1，α2，α3，α4] S1 + 作为增加了转向指令值DeltaS的转向指令值S1的指令值（S1 + DeltaS）。 在转向角α1，α2，α3，α4达到其增量转换转向角并且检测到转向角一致性之后，角度朝着对应于转向指令的增量转变转向角[α1，α2，α3，α4] S1 + nDeltaS 值（S1 + nDeltaS），其是已经相继添加了增量转向命令值DeltaS [n次]的转向命令值。 [根据需要重复多次]将α1，α2，α3，α4从[α1，α2，α3，α4] S1转换为α1，α2，

公开(公告)号：US20030105563A1

公开(公告)日：2003-06-05

申请号：US10294113

申请日：2002-11-14

Applicant: Kanazawa Institute Of Technology

Inventor： Hiroyasu Oshima ,  Kazuaki Baba ,  Katsuya Imai ,  Akihiro Yamada

IPC: B60L011/00

CPC classification number: B60L15/2036 ,  Y02T10/645 ,  Y02T10/646 ,  Y02T10/7275

Abstract: An electric vehicle steering/drive control method and apparatus having predetermined steering modes defining composite patterns of individual wheel travel paths, whereby the vehicle wheels are controlled independently. The steering modes are determined by different condition equations related to each composite pattern. A steering mode select signal is generated based on a mode selection by a vehicle driver. The steering mode select signal is received by a wheel steering angle computer and a wheel rotation speed computer. Based in part on the steering mode select signal, the wheel steering angle computer generates a signal that is received by a steering motor controller, which in turn controls motors that change the steering angle of the wheels. An actual angle sensor generates a signal based on the actual angle of the wheels and a steering angle comparator receives the actual angle sensor signal. In addition, to move the vehicle in a particular direction and at a particular speed, a speed and direction command signal is also generated based on driver input. This speed and direction command signal is received by a common signal rate of change suppression computer, which generates a signal received by the wheel steering angle computer and a wheel rotation speed computer. Then the wheel rotation speed computer generates a signal based on signals received from the common signal rate of change suppression computer and the steering angle comparator computer. A drive motor controller receives the wheel rotation speed signal and activates drive motors associated with each wheel, thereby causing the wheels to move rotationally.

Abstract translation: 具有预定的转向模式的电动车辆转向/驱动控制方法和装置，其定义各个车轮行进路径的复合图案，由此车轮被独立地控制。 转向模式由与每个复合图案相关的不同条件方程确定。 基于车辆驾驶员的模式选择生成转向模式选择信号。 转向模式选择信号由车轮转向角计算机和车轮转速计算机接收。 部分地基于转向模式选择信号，车轮转向角计算机产生由转向马达控制器接收的信号，转向马达控制器又控制改变车轮转向角的马达。 实际角度传感器基于车轮的实际角度生成信号，转向角比较器接收实际的角度传感器信号。 此外，为了以特定方向和特定速度移动车辆，还基于驾驶员输入生成速度和方向命令信号。 该速度和方向指令信号由公共信号变化抑制计算机接收，其产生由车轮转向角计算机和车轮转速计算机接收的信号。 然后，车轮转速计算机基于从公共信号变化抑制计算机和转向角比较器计算机接收的信号产生信号。 驱动马达控制器接收车轮转速信号并且启动与每个车轮相关联的驱动马达，从而使车轮旋转移动。