CN-122009317-A - Active steering control system and method for rear axle of large bus and storage medium

CN122009317ACN 122009317 ACN122009317 ACN 122009317ACN-122009317-A

Abstract

The invention relates to the field of buses, in particular to a rear axle active steering control system, a method and a storage medium of a large bus, wherein a steering column connected with a steering wheel is provided with a column angle sensor, a whole car controller can control the rotation of a rear axle steering device by monitoring the rotation angle of the steering wheel, and a main pin angle sensor is arranged on a front axle steering device, the steering wheel and front wheel rotation angle corresponding relation is used as the starting condition of the rear axle active steering, when the relation of the steering wheel and front wheel rotation angle is not corresponding, the rear axle is locked to be centered, only the front axle steering device participates in steering movement, a driver is easy to steer, and the safety of vehicle steering is improved.

Inventors

LI TAO
DONG ZHIXIONG
QIU YUXIAN
LI TENG
YAN DONG
REN TIANLIANG
WANG XUEGANG

Assignees

中车时代电动汽车股份有限公司

Dates

Publication Date: 20260512
Application Date: 20241111

Claims (10)

1. The utility model provides a large-scale passenger train rear axle initiative steering control system, its characterized in that, including front axle steering device, rear axle steering device, whole car controller, steering column, tubular column corner sensor (4) and king pin corner sensor, front axle steering device and rear axle steering device are connected, steering column respectively with steering wheel (3) of passenger train with front axle steering device is connected, tubular column corner sensor (4) are fixed in on the steering column, and king pin corner sensor is fixed in front axle steering device, front axle steering device and the preceding wheel fixed connection of passenger train, whole car controller respectively with front axle steering device, rear axle steering device, tubular column corner sensor (4) and king pin corner sensor are connected.
2. The rear axle active steering control system according to claim 1, wherein the front axle steering device comprises a front oilcan (1), a front oil pump (2), a front axle steering device (5), a vertical arm (6), a pull rod (7), a front axle knuckle arm (8) and a front axle main pin, the front oil pump (2) is respectively connected with the front oilcan (1) and the front axle steering device (5), the front axle steering device (5) is connected with the vertical arm (6), the pull rod (7) and the front axle knuckle arm (8) are sequentially connected on the front axle main pin, the front axle main pin is fixedly connected with front wheels, and the main pin angle sensor is fixed on the front axle main pin.
3. The rear axle active steering control system according to claim 1, wherein the rear axle steering device comprises a rear oilcan (11), a rear oil pump (9), a rear axle steering cylinder and a rear axle knuckle arm (12), the rear oil pump (9) is respectively connected with the rear oilcan (11) and the rear axle steering cylinder, a piston (10) is arranged in the rear axle steering cylinder, and the rear axle knuckle arm (12) is connected with the piston (10).
4. The rear axle active steering control system of claim 3, further comprising a rear oil pump controller connected to the rear oil pump (9), the rear oil pump controller being connected to the rear axle steering cylinder.
5. A rear axle active steering control method, characterized in that the rear axle active steering control method is based on the large-sized passenger car rear axle active steering control system according to any one of claims 1-4, and the rear axle active steering control method comprises the following steps: S1, a pipe column corner sensor (4) and a kingpin corner sensor collect rotation angle data of a steering wheel (3) and a front wheel, and the collected rotation angle data are transmitted to a whole vehicle controller; s2a, the whole vehicle controller judges that the rotation angle of the steering wheel (3) corresponds to the rotation angle of the front wheels, and then the rear axle steering device is controlled to correspondingly rotate according to the rotation angle of the steering wheel (3); S3a, the passenger car finishes steering under the combined action of a front axle steering device and a rear axle steering device; Or: S2b, the whole vehicle controller judges that the rotation angle of the steering wheel (3) does not correspond to the rotation angle of the front wheels, and controls the rear axle steering device to center and locks the rear axle steering device; S3b, the passenger car is steered only by a front axle steering device.
6. The rear axle active steering control method according to claim 5, wherein a determination condition for whether the rear axle steering device is locked in the center is added before S2a or S2b by taking the current vehicle speed of the passenger car as a determination condition: When the vehicle speed is greater than a preset vehicle speed threshold, the whole vehicle controller controls the rear axle steering device to be centered and locks the rear axle steering device, and then S3b is carried out; or when the vehicle speed is less than a preset vehicle speed threshold, entering into S2a or S2b.
7. The rear axle active steering control method according to claim 6, wherein the gear in which the passenger car is currently located is added as a precondition before the vehicle speed is determined: When the passenger car is in neutral position and the neutral speed is lower than the lowest threshold value, the whole car controller controls the rear axle steering device to be centered and locks the rear axle steering device, and then S3b is entered; or when the passenger car is in the forward gear, the reverse gear or the neutral gear and the neutral vehicle speed is greater than the lowest threshold value, the method enters S2a or S2b.
8. The rear axle active steering control method according to claim 5, wherein a judgment condition of whether the passenger car enters the bus station range as whether the rear axle steering device is locked in the middle is added before S2a or S2 b: when the whole vehicle controller monitors that the passenger car enters the range of the bus station and receives a car door opening signal, the whole vehicle controller controls the rear axle steering device to center and locks the rear axle steering device, and then S3b is entered; Or when the whole vehicle controller monitors that the passenger car leaves the range of the bus station, entering S2a or S2b.
9. The method according to claim 5, wherein the step S3a is preceded by adding a deviation of an actual steering angle of the rear axle steering device from a target steering angle as a condition for determining whether the rear axle steering device returns to the centered locked state: When the deviation between the actual steering angle and the target steering angle of the rear axle steering device is larger than the preset angle, the rear axle returns to the centering state, and the rear axle steering device is locked to enter S3b; or when the deviation between the actual steering angle and the target steering angle of the rear axle steering device is smaller than the preset angle, the step S3a is carried out.
10. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor implement the method of any of claims 5-9.

Description

Active steering control system and method for rear axle of large bus and storage medium Technical Field The invention relates to the field of buses, in particular to a large bus rear axle active steering control system, a large bus rear axle active steering control method and a storage medium. Background Because of the characteristic of long self-wheelbase, the large-scale bus has a large turning radius in the turning process compared with the common bus, so that the steering efficiency is lower, and the steering is not beneficial to the passing in a narrow space. The public buses mostly adopt front wheel steering, on the basis of the front wheel steering, a rear wheel steering function is added, the steering center of the vehicle can be moved forward, the steering radius of the vehicle during turning is reduced, and the maneuvering performance of the vehicle is improved. The existing active steering control system for the rear axle of the large bus is mainly characterized in that an angle sensor is arranged on each of the front axle and the rear axle, and when the whole vehicle controller judges the steering angle of the front axle to control the rear axle to perform corresponding steering actions, the stability of the vehicle body when the rear axle actively steers can be ensured to a certain extent. However, the steering of the rear axle is only related to the angle of the front axle, the steering is completely controlled by a computer, enough steering feedback of a driver cannot be given, parts such as tires, ball heads and the like are worn out when the vehicle runs for a long time, the steering relation between the steering wheel and the vehicle is not corresponding due to the change of four-wheel positioning parameters, the steering angle of the driver required to rotate by the steering wheel is difficult to predict under the participation of the active steering of the rear axle in the emergency, and the turning radius and the channel circle of the vehicle are always larger than those of the actual requirement, so that danger is generated. Disclosure of Invention The technical problem to be solved by the application is to provide a large-scale passenger car rear axle active steering control system, a method and a storage medium, wherein a whole car controller can control the rotation of a rear axle steering device by monitoring the rotation angle of a steering wheel, meanwhile, the corresponding relation of the rotation angle of the steering wheel and the rotation angle of a front wheel is used as the starting condition of the rear axle active steering, the rear axle is locked to be centered when the steering angle is abnormal, a driver can easily perform steering operation, and the safety of the vehicle steering is improved. The technical scheme is that the rear axle active steering control system of the large-scale passenger car comprises a front axle steering device, a rear axle steering device, a whole car controller, a steering column, a column corner sensor and a master pin corner sensor, wherein the front axle steering device is connected with the rear axle steering device, the steering column is respectively connected with a steering wheel of the passenger car and the front axle steering device, the column corner sensor is fixed on the steering column, the master pin corner sensor is fixed on the front axle steering device, the front axle steering device is fixedly connected with front wheels of the passenger car, and the whole car controller is respectively connected with the front axle steering device, the rear axle steering device, the column corner sensor and the master pin corner sensor. Further, the front axle steering device comprises a front oilcan, a front oil pump, a front axle steering device, a drop arm, a pull rod, a front axle knuckle arm and a front axle main pin, wherein the front oil pump is respectively connected with the front oilcan and the front axle steering device, the front axle steering device is connected with the drop arm, the pull rod and the front axle knuckle arm are sequentially connected on the front axle main pin, the front axle main pin is fixedly connected with the front wheels, and the main pin angle sensor is fixed on the front axle main pin. Further, the rear axle steering device comprises a rear oilcan, a rear oil pump, a rear axle steering oil cylinder and a rear axle knuckle arm, wherein the rear oil pump is respectively connected with the rear oilcan and the rear axle steering oil cylinder, a piston is arranged in the rear axle steering oil cylinder, and the rear axle knuckle arm is connected with the piston. Further preferably, the steering control device further comprises a rear oil pump controller connected with the rear oil pump, and the rear oil pump controller is connected with the rear axle steering cylinder. The application also provides a rear axle active steering control method, which is based on any one of the large-scale passenger car rear