Study On Four-wheel Drive Electric Vehicle Steering Control Method Based On Vision

Energy-saving, environmental protection and safety are the three main themes of themodern automobile industry. Facing the serious energy and environmental challenge of the21st century, vehicles energy-saving, environmental protection are an important researchdirection worldwide. The electric automobile is one of the most popular areas of concern.Four-wheel steering technology has been applied to the vehicle steering system, in o-rder to improve vehicle handling stability, the technology can improve the vehicle maneu-vering flexibility at low-speed, improve handling and stability at high-speed. The textcombined machine visi- on and four-wheel steering, using visual information to achievethe allocation of vehicle front and rear steering, and took such vehicle modeling andanalysis, to verify the validity of the methods used in the text.Firstly, the text introduced operation principle which combined hardware devicesused in machine vision technology and four-wheel steering technology. Established twodegrees of four-wheel steering vehicle dynamics model, the establishment of two degreesof freedom of the four-wheel steering vehicle dynamics model, and analyzed itssteady-state and transient response, lay the foundation for establishing the simulationmodel, and analyzing the simulation resultsSecondly, the text designed vehicle control method. It put information obtained bythe machine vision into the design of the feed forward controller to ensure that the vehiclesideslip angle was small and met certain understeer characteristics, using optimal controltheory to design feedback controllers to achieve entire vehicle control.Finally, it established a simulation model, to simulate and validate the front and rearsteering allocation method and controller designed in this paper. Simultaneously, takingthe method used in this paper applied to different steering vehicles, compare the simulatio-n analysis results.