CN108238097A - A kind of automatic driving vehicle steering control system - Google Patents
A kind of automatic driving vehicle steering control system Download PDFInfo
- Publication number
- CN108238097A CN108238097A CN201810202191.8A CN201810202191A CN108238097A CN 108238097 A CN108238097 A CN 108238097A CN 201810202191 A CN201810202191 A CN 201810202191A CN 108238097 A CN108238097 A CN 108238097A
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- Prior art keywords
- steering
- automatic driving
- control system
- driving vehicle
- active
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- 230000007246 mechanism Effects 0.000 claims abstract description 26
- 230000004044 response Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0421—Electric motor acting on or near steering gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0442—Conversion of rotational into longitudinal movement
- B62D5/0445—Screw drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of automatic driving vehicle steering control systems, including active steering actuating unit, are fixed on vehicle frame；Steering mechanism is connected to the active steering actuating unit；Driven steering power mechanism, is connected in the steering mechanism.A kind of automatic driving vehicle steering control system of the present invention can effectively solve the problems such as steering is shaken, steering moment is insufficient by the collaborative work of two motors.
Description
Technical field
The present invention relates to fields such as automatic driving vehicle control systems, specially a kind of automatic driving vehicle steering control system
System.
Background technology
Currently, unmanned technology is grown rapidly, and automatic driving vehicle course changing control part is generally individually driven using motor
Dynamic control when vehicle operates steadily and road conditions are preferable, individually can obtain good control effect using drive and control of electric machine,
But it is slow to frequently can lead to wheel steering system reaction since steering moment demand is larger when vehicle is in static or low speed is run
It is stagnant；It is easy to cause understeer or turns to overshoot, turn to jitter phenomenon；This phenomenon is particularly evident in load-carrying, existing steering
Technological deficiency present in control system becomes those skilled in the art's technical problem anxious to be resolved.
Invention content
The purpose of the present invention is：A kind of automatic driving vehicle steering control system is provided, to solve to turn in the prior art
Control system with response hysteresis and under different vehicle conditions steering response with very big otherness the problem of.
Realizing the technical solution of above-mentioned purpose is：A kind of automatic driving vehicle steering control system, is moved including active steering
Force mechanisms are fixed on vehicle frame；Steering mechanism is connected to the active steering actuating unit；Driven steering power mechanism, connection
In in the steering mechanism.
In an of the invention preferred embodiment, the active steering actuating unit is installed in a first support, this
One stent is fixed on the vehicle frame.
In a preferred embodiment of the invention, the active steering actuating unit includes active motor, is fixed on described
First support；First turbine and worm decelerator coordinates the active motor to be assembled in the first support.
In a preferred embodiment of the invention, the steering mechanism includes steering drive axle, and one end is connected to described
Active motor to output torque arbor；Encoder is turned to, set on the other end of the steering drive axle.
In a preferred embodiment of the invention, the driven steering power mechanism is fixed in second support.
In a preferred embodiment of the invention, the driven steering power mechanism includes rack-and-pinion steering wheel, fixed
In the second support and be connected to the steering drive axle have it is described turn to encoder one end；Second worm and gear subtracts
Fast mechanism, be assembled in the steering drive axle has described one end for turning to encoder；Servo-actuated assist motor is connected to described
On second turbine and worm decelerator；Track rod is assembled on the rack-and-pinion steering wheel.
It is an advantage of the invention that：The automatic driving vehicle steering control system of the present invention using electronic active control, is servo-actuated
The characteristics of assist motor power-assisted steering, steering control system entire in this way have response rapidly, and torque is larger, suitable for various
To the accurate control of wheel steering system under vehicle condition.Active motor pushes steering drive axle to be rotated with smaller torque, with
Dynamic assist motor provides larger torque steering to be followed to carry out power steering.It is provided due to being servo-actuated assist motor system
Large torque trackability can be inherently eliminated single super using being turned to caused by Uneven road during single motor control system
It adjusts, understeer and steering jitter problem, the present invention program is easily controllable and control effect is good, is adapted to each vehicle condition of each vehicle
Under course changing control.After active motor steering fails, active motor system can be disconnected, by being servo-actuated assist motor
Control the course changing control, it can be achieved that interim.Since it there are 2 sets of steering spare each other, it is particularly suitable for pilotless automobile
Under course changing control.
Description of the drawings
The present invention is further explained with reference to the accompanying drawings and examples.
Fig. 1 is the structure diagram of the automatic driving vehicle steering control system of the embodiment of the present invention.
Wherein,
11 first supports；12 active motors；
13 first turbine and worm decelerators；21 steering drive axles；
22 turn to encoder；31 second supports；
32 rack-and-pinion steering wheels；33 second turbine and worm decelerators；
34 servo-actuated assist motors；35 track rods.
Specific embodiment
The explanation of following embodiment is with reference to additional schema, to illustrate the particular implementation that the present invention can be used to implementation
Example.The direction term that the present invention is previously mentioned, such as " on ", " under ", "front", "rear", "left", "right", " top ", " bottom " etc. are only
With reference to the direction of annexed drawings.Therefore, the direction term used is to illustrate and understand the present invention rather than to limit this hair
It is bright.
Embodiment：As shown in Figure 1, a kind of automatic driving vehicle steering control system, including active steering actuating unit, turns
To mechanism and driven steering power mechanism.
The active steering actuating unit is installed in a first support 11, which is fixed on the vehicle frame
On.Specifically, the active steering actuating unit includes active motor 12, the first turbine and worm decelerator 13, active motor
12 are fixed on first support 11；First turbine and worm decelerator 13 coordinates the active motor 12 to be assembled in first support 11
On.Active motor 12 is realized through the first turbine and worm decelerator 13 reduces output speed, increase output torque.
Steering mechanism is connected to the active steering actuating unit.Specifically, the steering mechanism includes steering drive axle
21st, encoder 22 is turned to, one end of steering drive axle 21 is connected to arbor of the active motor 12 to output torque；Turn to coding
Device 22 is set on the other end of the steering drive axle 21.Steering drive axle 21 is made of central siphon, telescopic and universal joint.It is flexible
Set can automatically adjust the variation of distance between speed changer and drive axle.Universal joint is to ensure that transmission output shaft is inputted with drive axle
The variation of axis two axial lines angle, and realize the constant velocity tramsmission of two axis.Rotary encoder is for measuring rotating speed and coordinating PWM skills
Art can realize the device of quick speed governing, and photoelectric rotary coder, can be by the angular displacement of output shaft, angle speed by opto-electronic conversion
The mechanical quantities such as degree are converted into corresponding electric pulse with digital output（REP）.It is divided into two kinds of single channel output and doubleway output.Technology
Parameter, which mainly has, every turns umber of pulse（Tens to thousands of have）And supply voltage etc..Single channel output refers to rotary encoder
Output be a set of pulses, and the rotary encoder of doubleway output export two groups of 90 degree of A/B phase differences pulse, pass through this two groups
Pulse can not only measure rotating speed, can also judge the direction of rotation.
The driven steering power mechanism is fixed in second support 31 and is connected in the steering mechanism.It is described driven
Steering power mechanism includes rack-and-pinion steering wheel 32, the second turbine and worm decelerator 33, servo-actuated assist motor 34, turns to horizontal stroke
Pull rod 35, rack-and-pinion steering wheel 32 be fixed on the second support 31 and be connected to steering drive axle 21 have the steering
One end of encoder 22；Second turbine and worm decelerator 33 be assembled in steering drive axle 21 have it is described steering encoder 22
One end；Servo-actuated assist motor 34 is connected on the second turbine and worm decelerator 33；Track rod 35 is assembled in the tooth
It takes turns on rack steering wheel 32.The output torque of active motor 12 is transmitted to rack-and-pinion steering wheel 32 by steering drive axle 21, with
Dynamic assist motor 34 detects the torque and angle change of steering drive axle 21, and servo-actuated assist motor 34 works.
The foregoing is merely a prefered embodiment of the invention, is not intended to limit the invention, it is all the present invention spirit and
All any modification, equivalent and improvement made within principle etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of automatic driving vehicle steering control system, which is characterized in that including
Active steering actuating unit, is fixed on vehicle frame；
Steering mechanism is connected to the active steering actuating unit；
Driven steering power mechanism, is connected in the steering mechanism.
2. automatic driving vehicle steering control system according to claim 1, which is characterized in that the active steering power
Mechanism is installed in a first support, which is fixed on the vehicle frame.
3. automatic driving vehicle steering control system according to claim 2, which is characterized in that the active steering power
Mechanism includes
Active motor is fixed on the first support；
First turbine and worm decelerator coordinates the active motor to be assembled in the first support.
4. automatic driving vehicle steering control system according to claim 3, which is characterized in that the steering mechanism includes
Steering drive axle, one end are connected to arbor of the active motor to output torque；
Encoder is turned to, set on the other end of the steering drive axle.
5. automatic driving vehicle steering control system according to claim 4, which is characterized in that the driven steering power
Mechanism is fixed in second support.
6. automatic driving vehicle steering control system according to claim 5, which is characterized in that the driven steering power
Mechanism includes
Rack-and-pinion steering wheel is fixed on the second support and is connected to being encoded with described turn to for the steering drive axle
One end of device；
Second turbine and worm decelerator, be assembled in the steering drive axle has described one end for turning to encoder；
Servo-actuated assist motor, is connected on second turbine and worm decelerator；
Track rod is assembled on the rack-and-pinion steering wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810202191.8A CN108238097A (en) | 2018-03-13 | 2018-03-13 | A kind of automatic driving vehicle steering control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810202191.8A CN108238097A (en) | 2018-03-13 | 2018-03-13 | A kind of automatic driving vehicle steering control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108238097A true CN108238097A (en) | 2018-07-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810202191.8A Pending CN108238097A (en) | 2018-03-13 | 2018-03-13 | A kind of automatic driving vehicle steering control system |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030144780A1 (en) * | 2002-01-30 | 2003-07-31 | Visteon Global Technologies, Inc. | Electric power assist torque check |
| JP2005280707A (en) * | 2005-06-17 | 2005-10-13 | Nsk Ltd | Motor-driven power steering device |
| CN101695935A (en) * | 2009-10-28 | 2010-04-21 | 南京航空航天大学 | Active steering system combined with electrical power-assisted steering function and control method thereof |
| CN102923183A (en) * | 2012-10-26 | 2013-02-13 | 湖南大学 | Intelligent vehicle steering mechanism and control method thereof |
| CN206307105U (en) * | 2016-12-01 | 2017-07-07 | 广州大学 | A kind of unmanned vehicle active front steering system |
| CN107310624A (en) * | 2017-07-19 | 2017-11-03 | 苏州青飞智能科技有限公司 | A kind of Electro-hydraulic Hybrid Type pilotless automobile steering |
| CN207955770U (en) * | 2018-03-13 | 2018-10-12 | 苏州青飞智能科技有限公司 | A kind of automatic driving vehicle steering control system |
-
2018
- 2018-03-13 CN CN201810202191.8A patent/CN108238097A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030144780A1 (en) * | 2002-01-30 | 2003-07-31 | Visteon Global Technologies, Inc. | Electric power assist torque check |
| JP2005280707A (en) * | 2005-06-17 | 2005-10-13 | Nsk Ltd | Motor-driven power steering device |
| CN101695935A (en) * | 2009-10-28 | 2010-04-21 | 南京航空航天大学 | Active steering system combined with electrical power-assisted steering function and control method thereof |
| CN102923183A (en) * | 2012-10-26 | 2013-02-13 | 湖南大学 | Intelligent vehicle steering mechanism and control method thereof |
| CN206307105U (en) * | 2016-12-01 | 2017-07-07 | 广州大学 | A kind of unmanned vehicle active front steering system |
| CN107310624A (en) * | 2017-07-19 | 2017-11-03 | 苏州青飞智能科技有限公司 | A kind of Electro-hydraulic Hybrid Type pilotless automobile steering |
| CN207955770U (en) * | 2018-03-13 | 2018-10-12 | 苏州青飞智能科技有限公司 | A kind of automatic driving vehicle steering control system |
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Application publication date: 20180703 |