3-DOF vehicle modeling system of four-wheel steering system

摘要

A speed sensor 10 for detecting the speed of the vehicle and converting it into an electric signal and outputting the electric signal, a current angle sensor 20 for detecting the current angle of the vehicle and converting it into an electric signal and outputting it, A rear wheel angle sensor 30 for detecting a rear wheel angle and converting the rear wheel angle into an electric signal and outputting the electric signal, a roll sensor 40 for detecting the rolling angle of the vehicle and converting it into an electric signal and outputting the electric signal, A microcontroller for calculating, storing, and outputting a vehicle model having three degrees of freedom, ie, a yawing motion, a lateral motion, and a rolling motion, using a signal input from a sensor, a current angle sensor, a rear wheel angle sensor and a roll sensor 50). By overcoming the limitation of the two-degree-of-freedom vehicle modeling and adding the degree of freedom in the roll direction in order to grasp the dynamic characteristics of the four-wheel steered vehicle roll, The present invention provides a three-degree-of-freedom vehicle modeling apparatus of a four-wheel steering system having an effect of facilitating system analysis of a three-degree-of-freedom steering system.