CN107702929A - Detection method, device and the vehicle of vehicle minimum turning diameter - Google Patents
Detection method, device and the vehicle of vehicle minimum turning diameter Download PDFInfo
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- CN107702929A CN107702929A CN201710693862.0A CN201710693862A CN107702929A CN 107702929 A CN107702929 A CN 107702929A CN 201710693862 A CN201710693862 A CN 201710693862A CN 107702929 A CN107702929 A CN 107702929A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
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Abstract
The invention discloses a kind of detection method, device and the vehicle of vehicle minimum turning diameter, wherein, method includes：The maximum lubrication groove corner and maximum foreign steamer corner of collection vehicle；Radius of turn is obtained according to maximum lubrication groove corner and maximum foreign steamer corner；The minimum turning diameter of vehicle is obtained according to the spacing of radius of turn, lubrication groove and foreign steamer, vehicle wheelbase and tyre width.This method can obtain turn inside diameter diameter by lubrication groove corner and foreign steamer corner, improve the accuracy of detection, and the mobility of vehicle is effectively ensured, and improve vehicle flexibility.
Description
Technical field
The present invention relates to technical field of vehicle, more particularly to a kind of detection method of vehicle minimum turning diameter, device and
Vehicle.
Background technology
In correlation technique, the calculating of vehicle minimum turning diameter is typically directly calculated by simulation software according to lubrication groove corner
Draw, but during turn inside diameter, if vehicle minimum turning diameter considers only the influence of lubrication groove corner, then calculate
Deviation between obtained vehicle minimum turning diameter and actual vehicle minimum turning diameter is larger, substantially reduces minimum turn of vehicle
The accuracy of bend diameter, the mobility of vehicle can not be ensured, reduce the flexibility of vehicle.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.
Therefore, it is an object of the present invention to propose a kind of detection method of vehicle minimum turning diameter, this method energy
Enough accuracies for improving detection, the mobility of vehicle is effectively ensured, improves vehicle flexibility.
It is another object of the present invention to propose a kind of detection means of vehicle minimum turning diameter.
Another object of the present invention is to propose a kind of vehicle.
To reach above-mentioned purpose, one aspect of the present invention embodiment proposes a kind of detection side of vehicle minimum turning diameter
Method, comprise the following steps：The maximum lubrication groove corner and maximum foreign steamer corner of collection vehicle；According to the maximum lubrication groove corner and institute
State maximum foreign steamer corner and obtain radius of turn；It is wide according to the spacing of the radius of turn, lubrication groove and foreign steamer, vehicle wheelbase and tire
Degree obtains the minimum turning diameter of the vehicle.
The detection method of the vehicle minimum turning diameter of the embodiment of the present invention, according to rotation in the maximum of the vehicle collected
Angle and maximum foreign steamer corner obtain radius of turn, so as to according to the spacing of radius of turn, lubrication groove and foreign steamer, vehicle wheelbase and tire
Width obtains the minimum turning diameter of vehicle, not only improves the accuracy of detection, and the mobility of vehicle is effectively ensured, and carries
High vehicle flexibility.
Further, in one embodiment of the invention, it is described according to the maximum lubrication groove corner and described maximum outer
Wheel corner obtains radius of turn, further comprises：According to the maximum lubrication groove corner, the maximum foreign steamer corner and the lubrication groove
Virtual rotation center is obtained to the first spacing between the lubrication groove with the spacing of foreign steamer；According to the maximum lubrication groove corner and maximum
Foreign steamer corner obtains the virtual rotation center to the second spacing between the foreign steamer；According to the maximum foreign steamer corner and described
Second spacing obtains axis between the lubrication groove and the foreign steamer between the 3rd between horizontal line where the virtual rotation center
Away from；Obtained according to the lubrication groove and spacing of foreign steamer, the first spacing and maximum lubrication groove corner in the virtual rotation
The 4th spacing between the heart and the axis；According to obtaining the vehicle wheelbase, the 3rd spacing and the 4th spacing
The intersection point of straight line and the radius of turn between virtual rotation center and the axis is to the 5th spacing between axletree；According to described
5th spacing and the vehicle wheelbase obtain the radius of turn.
Further, in one embodiment of the invention, first spacing is obtained by below equation：
B=sin α * a/sin γ,
Wherein, b is first spacing, and α is the maximum foreign steamer corner, and a is the lubrication groove and the spacing of foreign steamer, and γ is
The difference of the maximum lubrication groove corner and the maximum foreign steamer corner；
Second spacing is obtained by below equation：
C=sinx*a/sin γ,
Wherein, c is second spacing, and x is the supplementary angle of the maximum lubrication groove corner；
3rd spacing is obtained by below equation：
L=sin α * c,
Wherein, l is the 3rd spacing；
4th spacing is obtained by below equation：
Wherein, d is the 4th spacing；
5th spacing is obtained by below equation：
E=f*d/l,
Wherein, e is the 5th spacing.
Further, in one embodiment of the invention, the radius of turn is obtained by below equation：
Wherein, g is the radius of turn.
Further, in one embodiment of the invention, the minimum turning diameter is obtained by below equation：
Wherein, g is the radius of turn, and a is the lubrication groove and the spacing of foreign steamer, and f is the vehicle wheelbase, and w is described
Tyre width.
To reach above-mentioned purpose, another aspect of the present invention embodiment proposes a kind of detection dress of vehicle minimum turning diameter
Put, including：Acquisition module (100), maximum lubrication groove corner and maximum foreign steamer corner for collection vehicle；Acquisition module (200),
For obtaining radius of turn according to the maximum lubrication groove corner and the maximum foreign steamer corner；Detection module (300), for basis
The radius of turn, the spacing of lubrication groove and foreign steamer, vehicle wheelbase and tyre width obtain the minimum turning diameter of the vehicle.
The detection means of the vehicle minimum turning diameter of the embodiment of the present invention, according to rotation in the maximum of the vehicle collected
Angle and maximum foreign steamer corner obtain radius of turn, so as to according to the spacing of radius of turn, lubrication groove and foreign steamer, vehicle wheelbase and tire
Width obtains the minimum turning diameter of vehicle, not only improves the accuracy of detection, and the mobility of vehicle is effectively ensured, and carries
High vehicle flexibility.
Further, in one embodiment of the invention, the acquisition module (200) includes：First acquisition unit, use
In obtaining virtual rotation center according to the maximum lubrication groove corner, the maximum foreign steamer corner and the lubrication groove and the spacing of foreign steamer
To the first spacing between the lubrication groove；Second acquisition unit, for being obtained according to the maximum lubrication groove corner and maximum foreign steamer corner
To the virtual rotation center to the second spacing between the foreign steamer；3rd acquiring unit, for according to the maximum outer rotation
Angle and second spacing obtain axis between the lubrication groove and the foreign steamer between horizontal line where the virtual rotation center
The 3rd spacing；4th acquiring unit, for the spacing according to the lubrication groove and foreign steamer, first spacing and the most imperial palace
Wheel corner obtains the 4th spacing between the virtual rotation center and the axis；5th acquiring unit, for according to the car
Wheelbase, the 3rd spacing and the 4th spacing obtain straight line between the virtual rotation center and the axis with it is described
The intersection point of radius of turn is to the 5th spacing between axletree；6th acquiring unit, for according to the 5th spacing and the vehicle
Wheelbase obtains the radius of turn.
Further, in one embodiment of the invention, the first acquisition unit is obtained described by below equation
First spacing：
B=sin α * a/sin γ,
Wherein, b is first spacing, and α is the maximum foreign steamer corner, and a is the lubrication groove and the spacing of foreign steamer, and γ is
The difference of the maximum lubrication groove corner and the maximum foreign steamer corner；
The second acquisition unit obtains second spacing by below equation：
C=sinx*a/sin γ,
Wherein, c is second spacing, and x is the supplementary angle of the maximum lubrication groove corner；
3rd acquiring unit obtains the 3rd spacing by below equation：
L=sin α * c,
Wherein, l is the 3rd spacing；
4th acquiring unit obtains the 4th spacing by below equation：
Wherein, d is the 4th spacing；
5th acquiring unit obtains the 5th spacing by below equation：
E=f*d/l,
Wherein, e is the 5th spacing；
6th acquiring unit obtains the radius of turn by below equation：
Wherein, g is the radius of turn.
Further, in one embodiment of the invention, the detection module (300) is obtained described by below equation
Minimum turning diameter：
Wherein, g is the radius of turn, and a is the lubrication groove and the spacing of foreign steamer, and f is the vehicle wheelbase, and w is described
Tyre width.
To reach above-mentioned purpose, further aspect of the present invention embodiment proposes a kind of vehicle, and it includes above-mentioned vehicle most
The detection means of small turning diameter.The vehicle can obtain according to the maximum lubrication groove corner and maximum foreign steamer corner of the vehicle collected
To radius of turn, so as to obtain the minimum of vehicle according to the spacing of radius of turn, lubrication groove and foreign steamer, vehicle wheelbase and tyre width
Turning diameter, the accuracy of detection is not only improved, the mobility of vehicle is effectively ensured, and improve vehicle flexibility.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the principle schematic of the detection method of vehicle minimum turning diameter in correlation technique；
Fig. 2 is the flow chart according to the detection method of the vehicle minimum turning diameter of the embodiment of the present invention；
Fig. 3 is the principle schematic according to the detection method of the vehicle minimum turning diameter of one embodiment of the invention；With
And
Fig. 4 is the structural representation according to the detection means of the vehicle minimum turning diameter of the embodiment of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Describe with reference to the accompanying drawings the vehicle minimum turning diameter of the embodiment of the present invention detection method, device and vehicle it
Before, the defects of detection method of vehicle minimum turning diameter in correlation technique is first briefly described.
As shown in figure 1, the axis extended line of vehicle front-wheel and the axis extended line of trailing wheel are met at a bit, that is, in rotating
The heart, center of rotation to vehicle lubrication groove and the distance of foreign steamer axis are radius of turn, and the spacing of front and back wheel is wheelbase, lubrication groove and foreign steamer
The distance between be front tread, so as to which the minimum turning diameter of vehicle be calculated by radius of turn, front tread and wheelbase,
Calculation formula is as follows：
Minimum turning diameter=2.0 [(radius of turn |+front tread/2)2+ (wheelbase)2]1/2,
However, center of rotation can not accurately measure vehicle minimum turning diameter, that is, it is easy to consider only lubrication groove corner
So that the deviation between vehicle minimum turning diameter and actual vehicle minimum turning diameter is larger.
The present invention is based on above mentioned problem, and propose a kind of detection method of vehicle minimum turning diameter, device and
Vehicle.
The detection method for the vehicle minimum turning diameter for describing to propose according to embodiments of the present invention with reference to the accompanying drawings, device
And vehicle, the detection method of vehicle minimum turning diameter proposed according to embodiments of the present invention is described with reference to the accompanying drawings first.
Fig. 2 is the flow chart of the detection method of the vehicle minimum turning diameter of one embodiment of the invention.
As shown in Fig. 2 the detection method of the vehicle minimum turning diameter comprises the following steps：
In step s 201, the maximum lubrication groove corner of collection vehicle and maximum foreign steamer corner.
It is understood that as shown in figure 3, the maximum lubrication groove corner α and maximum foreign steamer corner β of collection vehicle, so as to this
Inventive embodiments can obtain vehicle minimum turning diameter by lubrication groove corner and foreign steamer corner so that vehicle minimum turning diameter
Calculating it is more accurate, so as to improve the mobility of vehicle, improve vehicle flexibility, lift Consumer's Experience, specifically calculated
Journey will be described in detail hereinafter.
In step S202, radius of turn is obtained according to the maximum lubrication groove corner and the maximum foreign steamer corner；
Further, in one embodiment of the invention, turned according to maximum lubrication groove corner and maximum foreign steamer corner
Curved radius, further comprises：Virtual rotation is obtained according to maximum lubrication groove corner, maximum foreign steamer corner and lubrication groove and the spacing of foreign steamer
Center is to the first spacing between lubrication groove；Virtual rotation center is obtained between foreign steamer according to maximum lubrication groove corner and maximum foreign steamer corner
The second spacing；According to where maximum foreign steamer corner and the second spacing obtain the axis to virtual rotation center between lubrication groove and foreign steamer
The 3rd spacing between horizontal line；Obtained according to the lubrication groove and spacing of foreign steamer, the first spacing and maximum lubrication groove corner in virtual rotation
The 4th spacing between the heart and axis；Obtained according to vehicle wheelbase, the 3rd spacing and the 4th spacing between virtual rotation center and axis
Straight line and radius of turn intersection point to the 5th spacing between axletree；Radius of turn is obtained according to the 5th spacing and vehicle wheelbase.
Wherein, in one embodiment of the invention, the first spacing is obtained by below equation：
B=sin α * a/sin γ,
Wherein, b is the first spacing, and α is maximum foreign steamer corner, and a is lubrication groove and the spacing of foreign steamer, and γ is maximum lubrication groove corner
With the difference of maximum foreign steamer corner；
Second spacing is obtained by below equation：
C=sinx*a/sin γ,
Wherein, c is the second spacing, and x is the supplementary angle of maximum lubrication groove corner；
3rd spacing is obtained by below equation：
L=sin α * c,
Wherein, l is the 3rd spacing；
4th spacing is obtained by below equation：
Wherein, d is the 4th spacing；
5th spacing is obtained by below equation：
E=f*d/l,
Wherein, e is the 5th spacing.
In addition, in one embodiment of the invention, radius of turn is obtained by below equation：
Wherein, g is radius of turn.
It is understood that as shown in figure 3, the first spacing is distance b of the virtual rotation center to lubrication groove；Second spacing is
Distance c of the virtual rotation center to foreign steamer；It is horizontal where axis of 3rd spacing between lubrication groove and foreign steamer to virtual rotation center
The distance l of line；Distance d of 4th spacing between virtual rotation center and axis；5th spacing is virtual rotation center and axis
Between straight line and radius of turn intersection point to the distance e between axletree.
In step S203, vehicle is obtained according to the spacing of radius of turn, lubrication groove and foreign steamer, vehicle wheelbase and tyre width
Minimum turning diameter.
Wherein, in one embodiment of the invention, minimum turning diameter is obtained by below equation：
Wherein, g is radius of turn, and a is lubrication groove and the spacing of foreign steamer, and f is vehicle wheelbase, and w is tyre width.
For example, as shown in figure 3, the basic parameter of the vehicle is as follows：
A is front tread：1604mm；
F is wheelbase：2760mm；
β is maximum lubrication groove corner：35.99°；
α is maximum foreign steamer corner：29.62°；
W is tyre width：235mm.
Specifically, virtual rotation center is tried to achieve first to the distance b=sin α * a/sin γ of lubrication groove, further tries to achieve void
Intend the distance c=sinx*a/sin γ that center of rotation arrives foreign steamer, axis between lubrication groove and foreign steamer to virtual rotation center place water
The distance l=sin α * c and virtual rotation center of horizontal line, the distance between axisWith it is virtual
The intersection point of straight line and radius of turn between center of rotation and axis is to the distance e=f*d/l between axletree, so as to basisVehicle turn radius is obtained, and then tries to achieve the minimum turning diameter of vehicle：
Finally, being calculated by above-mentioned data can learn that the method result of calculation of the embodiment of the present invention is 11.885m, real vehicle
Measurement result is 11.805m, and Adams minimum turning diameter result of calculation is 12.369m, passes through the result of calculation with Adams
Compare, the result of calculation of the embodiment of the present invention is more accurate, and the reliability of vehicle is effectively ensured.
The detection method of the vehicle minimum turning diameter proposed according to embodiments of the present invention, according to the vehicle collected most
Imperial palace wheel corner and maximum foreign steamer corner obtain radius of turn, so as to the spacing according to radius of turn, lubrication groove and foreign steamer, axle for vehicle
Away from the minimum turning diameter of vehicle is obtained with tyre width, the accuracy of detection is not only improved, the mobility of vehicle is effectively ensured
Can, and improve vehicle flexibility.
The detection means of the vehicle minimum turning diameter proposed according to embodiments of the present invention referring next to accompanying drawing description.
Fig. 4 is the structural representation of the detection means of the vehicle minimum turning diameter of the embodiment of the present invention.
As shown in figure 4, the detection means 10 of the vehicle minimum turning diameter includes：Acquisition module 100, acquisition module 200
With detection module 300.
Wherein, acquisition module 100 is used for the maximum lubrication groove corner of collection vehicle and maximum foreign steamer corner.Acquisition module 200
For obtaining radius of turn according to maximum lubrication groove corner and maximum foreign steamer corner.Detection module 300 is used for according to radius of turn, interior
Spacing, vehicle wheelbase and the tyre width of wheel and foreign steamer obtain the minimum turning diameter of vehicle.The device 10 of the embodiment of the present invention
Vehicle minimum turning diameter is obtained by lubrication groove corner and foreign steamer corner, improves the accuracy of detection, the machine of vehicle is effectively ensured
Dynamic performance, improves vehicle flexibility.
Further, in one embodiment of the invention, acquisition module 200 includes：First acquisition unit, for basis
Maximum lubrication groove corner, maximum foreign steamer corner and lubrication groove and the spacing of foreign steamer obtain virtual rotation center between first between lubrication groove
Away from；Second acquisition unit, for obtaining virtual rotation center between foreign steamer according to maximum lubrication groove corner and maximum foreign steamer corner
Second spacing；3rd acquiring unit, arrived for obtaining the axis between lubrication groove and foreign steamer according to maximum foreign steamer corner and the second spacing
The 3rd spacing between horizontal line where virtual rotation center；4th acquiring unit, for the spacing according to lubrication groove and foreign steamer, first
Spacing and maximum lubrication groove corner obtain the 4th spacing between virtual rotation center and axis；5th acquiring unit, for according to car
Wheelbase, the 3rd spacing and the 4th spacing obtain the intersection point of the straight line and radius of turn between virtual rotation center and axis to axletree
Between the 5th spacing；6th acquiring unit, for obtaining radius of turn according to the 5th spacing and vehicle wheelbase.
Further, in one embodiment of the invention, first acquisition unit obtains the first spacing by below equation：
B=sin α * a/sin γ,
Wherein, b is the first spacing, and α is maximum foreign steamer corner, and a is lubrication groove and the spacing of foreign steamer, and γ is maximum lubrication groove corner
With the difference of maximum foreign steamer corner；
Second acquisition unit obtains the second spacing by below equation：
C=sinx*a/sin γ,
Wherein, c is the second spacing, and x is the supplementary angle of maximum lubrication groove corner；
3rd acquiring unit obtains the 3rd spacing by below equation：
L=sin α * c,
Wherein, l is the 3rd spacing；
4th acquiring unit obtains the 4th spacing by below equation：
Wherein, d is the 4th spacing；
5th acquiring unit obtains the 5th spacing by below equation：
E=f*d/l,
Wherein, e is the 5th spacing；
6th acquiring unit obtains radius of turn by below equation：
Wherein, g is radius of turn.
Further, in one embodiment of the invention, detection module 300 obtains minimum turn directly by below equation
Footpath：
Wherein, g is radius of turn, and a is lubrication groove and the spacing of foreign steamer, and f is vehicle wheelbase, and w is tyre width.
It should be noted that the explanation of the foregoing detection method embodiment to vehicle minimum turning diameter is also applied for
The detection means of the vehicle minimum turning diameter of the embodiment, here is omitted.
The detection means of the vehicle minimum turning diameter proposed according to embodiments of the present invention, according to the vehicle collected most
Imperial palace wheel corner and maximum foreign steamer corner obtain radius of turn, so as to the spacing according to radius of turn, lubrication groove and foreign steamer, axle for vehicle
Away from the minimum turning diameter of vehicle is obtained with tyre width, the accuracy of detection is not only improved, the mobility of vehicle is effectively ensured
Can, and improve vehicle flexibility.
In addition, embodiments of the invention also proposed a kind of vehicle, the vehicle includes above-mentioned vehicle minimum turning diameter
Detection means.The vehicle can obtain turning partly according to the maximum lubrication groove corner and maximum foreign steamer corner of the vehicle collected
Footpath, turned directly so as to obtain the minimum of vehicle according to the spacing of radius of turn, lubrication groove and foreign steamer, vehicle wheelbase and tyre width
Footpath, the accuracy of detection is not only improved, the mobility of vehicle is effectively ensured, and improve vehicle flexibility.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, it is for only for ease of and describes the present invention and simplify description, rather than indicates or imply that signified device or element must
There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integrally；Can be that machinery connects
Connect or electrically connect；Can be joined directly together, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limited unless otherwise clear and definite.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature can be with "above" or "below" second feature
It is that the first and second features directly contact, or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (10)
1. a kind of detection method of vehicle minimum turning diameter, it is characterised in that comprise the following steps：
The maximum lubrication groove corner and maximum foreign steamer corner of collection vehicle；
Radius of turn is obtained according to the maximum lubrication groove corner and the maximum foreign steamer corner；And
The minimum that the vehicle is obtained according to the spacing of the radius of turn, lubrication groove and foreign steamer, vehicle wheelbase and tyre width turns
Bend diameter.
2. the detection method of vehicle minimum turning diameter according to claim 1, it is characterised in that described in the basis most
Imperial palace wheel corner and the maximum foreign steamer corner obtain radius of turn, further comprise：
Obtained according to the maximum lubrication groove corner, the maximum foreign steamer corner and the lubrication groove and the spacing of foreign steamer in virtual rotation
The heart is to the first spacing between the lubrication groove；
The virtual rotation center is obtained to second between the foreign steamer according to the maximum lubrication groove corner and maximum foreign steamer corner
Spacing；
Axis between the lubrication groove and the foreign steamer is obtained to the void according to the maximum foreign steamer corner and second spacing
The 3rd spacing between horizontal line where intending center of rotation；
Obtained according to the lubrication groove and spacing of foreign steamer, the first spacing and maximum lubrication groove corner in the virtual rotation
The 4th spacing between the heart and the axis；
The virtual rotation center and the axis are obtained according to the vehicle wheelbase, the 3rd spacing and the 4th spacing
Between straight line and the radius of turn intersection point to the 5th spacing between axletree；And
The radius of turn is obtained according to the 5th spacing and the vehicle wheelbase.
3. the detection method of vehicle minimum turning diameter according to claim 2, it is characterised in that
First spacing is obtained by below equation：
B=sin α * a/sin γ,
Wherein, b is first spacing, and α is the maximum foreign steamer corner, and a is the lubrication groove and the spacing of foreign steamer, and γ is described
The difference of maximum lubrication groove corner and the maximum foreign steamer corner；
Second spacing is obtained by below equation：
C=sinx*a/sin γ,
Wherein, c is second spacing, and x is the supplementary angle of the maximum lubrication groove corner；
3rd spacing is obtained by below equation：
L=sin α * c,
Wherein, l is the 3rd spacing；
4th spacing is obtained by below equation：
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<mrow>
<msup>
<mrow>
<mo>(</mo>
<mfrac>
<mi>a</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>b</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<mi>a</mi>
<mo>*</mo>
<mi>b</mi>
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<mi>cos</mi>
<mi> </mi>
<mi>x</mi>
</mrow>
</msqrt>
<mo>,</mo>
</mrow>
Wherein, d is the 4th spacing；
5th spacing is obtained by below equation：
E=f*d/l,
Wherein, e is the 5th spacing.
4. the detection method of vehicle minimum turning diameter according to claim 3, it is characterised in that obtained by below equation
To the radius of turn：
<mrow>
<mi>g</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mi>e</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<msup>
<mi>f</mi>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>,</mo>
</mrow>
Wherein, g is the radius of turn.
5. the detection method of the vehicle minimum turning diameter according to claim any one of 1-4, it is characterised in that by with
Lower formula obtains the minimum turning diameter：
Wherein, g is the radius of turn, and a is the lubrication groove and the spacing of foreign steamer, and f is the vehicle wheelbase, and w is the tire
Width.
A kind of 6. detection means of vehicle minimum turning diameter, it is characterised in that including：
Acquisition module (100), maximum lubrication groove corner and maximum foreign steamer corner for collection vehicle；
Acquisition module (200), for obtaining radius of turn according to the maximum lubrication groove corner and the maximum foreign steamer corner；And
Detection module (300), is obtained for the spacing according to the radius of turn, lubrication groove and foreign steamer, vehicle wheelbase and tyre width
To the minimum turning diameter of the vehicle.
7. the detection means of vehicle minimum turning diameter according to claim 6, it is characterised in that the acquisition module
(200) include：
First acquisition unit, for according to the maximum lubrication groove corner, the maximum foreign steamer corner and the lubrication groove and foreign steamer
Spacing obtains virtual rotation center to the first spacing between the lubrication groove；
Second acquisition unit, arrived for obtaining the virtual rotation center according to the maximum lubrication groove corner and maximum foreign steamer corner
The second spacing between the foreign steamer；
3rd acquiring unit, for obtaining the lubrication groove and the foreign steamer according to the maximum foreign steamer corner and second spacing
Between axis to the 3rd spacing between horizontal line where the virtual rotation center；
4th acquiring unit, for the spacing according to the lubrication groove and foreign steamer, first spacing and the maximum lubrication groove corner
Obtain the 4th spacing between the virtual rotation center and the axis；
5th acquiring unit, it is described virtual for being obtained according to the vehicle wheelbase, the 3rd spacing and the 4th spacing
The intersection point of straight line and the radius of turn between center of rotation and the axis is to the 5th spacing between axletree；And
6th acquiring unit, for obtaining the radius of turn according to the 5th spacing and the vehicle wheelbase.
8. the detection means of vehicle minimum turning diameter according to claim 7, it is characterised in that
The first acquisition unit obtains first spacing by below equation：
B=sin α * a/sin γ,
Wherein, b is first spacing, and α is the maximum foreign steamer corner, and a is the lubrication groove and the spacing of foreign steamer, and γ is described
The difference of maximum lubrication groove corner and the maximum foreign steamer corner；
The second acquisition unit obtains second spacing by below equation：
C=sinx*a/sin γ,
Wherein, c is second spacing, and x is the supplementary angle of the maximum lubrication groove corner；
3rd acquiring unit obtains the 3rd spacing by below equation：
L=sin α * c,
Wherein, l is the 3rd spacing；
4th acquiring unit obtains the 4th spacing by below equation：
<mrow>
<mi>d</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mrow>
<mo>(</mo>
<mfrac>
<mi>a</mi>
<mn>2</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mn>2</mn>
</msup>
<mo>+</mo>
<msup>
<mi>b</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<mi>a</mi>
<mo>*</mo>
<mi>b</mi>
<mi> </mi>
<mi>cos</mi>
<mi> </mi>
<mi>x</mi>
</mrow>
</msqrt>
<mo>,</mo>
</mrow>
Wherein, d is the 4th spacing；
5th acquiring unit obtains the 5th spacing by below equation：
E=f*d/l,
Wherein, e is the 5th spacing；
6th acquiring unit obtains the radius of turn by below equation：
<mrow>
<mi>g</mi>
<mo>=</mo>
<msqrt>
<mrow>
<msup>
<mi>e</mi>
<mn>2</mn>
</msup>
<mo>-</mo>
<msup>
<mi>f</mi>
<mn>2</mn>
</msup>
</mrow>
</msqrt>
<mo>,</mo>
</mrow>
Wherein, g is the radius of turn.
9. the detection means of the vehicle minimum turning diameter according to claim any one of 6-8, it is characterised in that the inspection
Survey module (300) and the minimum turning diameter is obtained by below equation：
Wherein, g is the radius of turn, and a is the lubrication groove and the spacing of foreign steamer, and f is the vehicle wheelbase, and w is the tire
Width.
A kind of 10. vehicle, it is characterised in that including：The inspection of vehicle minimum turning diameter as described in claim any one of 6-9
Survey device.
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| CN110057297A (en) * | 2019-04-15 | 2019-07-26 | 武汉科技大学 | A kind of automobile minimum turning diameter measuring system and method based on LD ranging |
| CN110941880A (en) * | 2019-12-23 | 2020-03-31 | 山东理工大学 | Design and calculation method for minimum turning radius of automobile |
| CN112758176A (en) * | 2021-01-06 | 2021-05-07 | 常熟理工学院 | Feedforward-feedback steering wheel compensation control method for automatic driving |
| CN112834249A (en) * | 2020-12-31 | 2021-05-25 | 广州极飞科技股份有限公司 | Steering parameter detection method, device, equipment and storage medium |
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| CN109455153A (en) * | 2018-11-08 | 2019-03-12 | 安徽江淮汽车集团股份有限公司 | The control method of blind monitoring system |
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| CN110057297B (en) * | 2019-04-15 | 2020-12-18 | 武汉科技大学 | Automobile minimum turning diameter measuring system and method based on LD distance measurement |
| CN110941880A (en) * | 2019-12-23 | 2020-03-31 | 山东理工大学 | Design and calculation method for minimum turning radius of automobile |
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| CN112834249B (en) * | 2020-12-31 | 2023-12-05 | 广州极飞科技股份有限公司 | Steering parameter detection method, device, equipment and storage medium |
| CN112758176A (en) * | 2021-01-06 | 2021-05-07 | 常熟理工学院 | Feedforward-feedback steering wheel compensation control method for automatic driving |
| CN112758176B (en) * | 2021-01-06 | 2021-12-07 | 常熟理工学院 | Feedforward-feedback steering wheel compensation control method for automatic driving |
| CN114572306A (en) * | 2022-02-25 | 2022-06-03 | 智己汽车科技有限公司 | Method and equipment for calculating understeer gradient of vehicle during equidirectional steering of rear wheels |
| CN114572305A (en) * | 2022-02-25 | 2022-06-03 | 智己汽车科技有限公司 | Method and equipment for calculating turning radius of vehicle with rear wheels and reversely steered |
| CN114572305B (en) * | 2022-02-25 | 2023-03-03 | 智己汽车科技有限公司 | Method and equipment for calculating turning radius of vehicle with rear wheels and reversely steered |
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Application publication date: 20180216 |