CN110626423A - Unmanned vehicle line control steering system and working method thereof - Google Patents
Unmanned vehicle line control steering system and working method thereof Download PDFInfo
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- CN110626423A CN110626423A CN201910926117.5A CN201910926117A CN110626423A CN 110626423 A CN110626423 A CN 110626423A CN 201910926117 A CN201910926117 A CN 201910926117A CN 110626423 A CN110626423 A CN 110626423A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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- Combustion & Propulsion (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses an unmanned vehicle line control steering system and a working method thereof, the system adopts a mode that a data acquisition system, a control system and a steering system are mutually matched, the data acquisition system is used for acquiring vehicle driving data and self vehicle data and sending the vehicle driving data and the self vehicle data to the control system, the control system is used for analyzing and processing the received vehicle driving data and the self vehicle data and generating corresponding instructions to send the instructions to the steering system, and the steering system is used for executing the instructions of the control system to complete the steering of a vehicle; the invention adopts a full-wire control mode to control each module, so that the steering of the vehicle is more accurate, the structure of the invention is simple, and the reaction speed is faster.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a line control steering system of an unmanned vehicle and a working method thereof.
Background
The existing steer-by-wire device mainly comprises a tube column type power-assisted steering device scheme, a pinion power-assisted steering device scheme and the like.
The closest of these types of robots to this patent is the pinion assisted power steering.
The steering-by-wire device comprises a matched steering-by-wire controller, adopts a micro servo motor driver, combines a steering control algorithm, a steering angle compensation algorithm and a self-correction algorithm to meet the requirements of high precision, consistency and easy maintenance of the automatic driving requirement.
In the prior art, a steering engine is designed to be a vehicle driven by a person, and in unmanned line control transformation, a sensor and a control unit are additionally arranged on the basis of an original steering engine to realize unmanned line control. In the traditional scheme, position sensor installs more with on the direction tubular column, and has a plurality of drive disk assembly between direction tubular column and rack, because of drive disk assembly is too much, and the transmission clearance who brings will certainly increase to influence the drive-by-wire precision. Furthermore, sensors such as angle and torque sensors are difficult to ensure in the assembly process, further affecting the accuracy of wire control. Finally, on low-speed unmanned vehicles, because of the size limitation of the vehicles, a cab-free scheme is adopted, and a steering column is not arranged in the system, so that the traditional sensor cannot be installed.
Disclosure of Invention
The invention aims to provide an unmanned vehicle wire-controlled steering system and a working method thereof, and solves the problem of wire-controlled steering of an unmanned vehicle.
The invention is realized by the following technical scheme:
an unmanned vehicle line control steering system comprises a data acquisition system, a steering system and a control system,
the data acquisition system comprises a camera, a current sensor, a counter, a timer and an angle sensor, wherein the camera is used for acquiring vehicle running data, the current sensor, the counter, the timer and the angle sensor are used for acquiring vehicle self data, and the data acquisition system is also used for sending the acquired vehicle running data and the vehicle self data to the control system, receiving an instruction of the control system and completing corresponding work;
the control system comprises a vehicle control unit, and is used for analyzing and processing vehicle driving data and vehicle self data acquired by the data acquisition system and sending a control instruction to the steering system and the data acquisition system according to a processing result;
the steering system comprises a driver, a power supply and a direct current contactor, and is used for receiving an instruction of the control system and completing corresponding work;
the control system is also used for judging whether the vehicle needs to turn according to the vehicle running data, obtaining the turning angle and the turning angle acceleration which are needed by the vehicle according to the vehicle running data when the vehicle needs to turn, judging whether the turning driver finishes powering up according to the vehicle self data when the vehicle needs to turn, judging whether the turning driver is powered up for the first time according to the vehicle self data after the turning driver finishes powering up, judging whether the turning driver finds a zero point according to the vehicle self data when the turning driver is not powered up for the first time, judging whether the turning driver is set for the first time according to the vehicle self data after the turning driver finds the zero point, judging whether the active power current of the turning driver is larger than 7 according to the vehicle self data when the turning driver is in a normal state, judging whether the stalling time of the turning driver exceeds 1 according to the vehicle self data when the active power of the turning driver is larger than And s.
The steering system further comprises a speed reducer, a gear, a rack, a steering gear pull rod, a connecting hinge, a tie rod, a steering knuckle and wheels, a steering driver is connected with the speed reducer, the speed reducer and the gear are of an integrated structure, the gear is meshed with the rack, the rack and the steering gear pull rod are of an integrated structure, the rack is located at the midpoint of the steering gear pull rod, any one end of the tie rod is connected with the steering gear pull rod through the connecting hinge, the other end of the tie rod is connected with the steering knuckle, and the steering knuckle is installed at the circle center of the wheels;
the steering driver rotates according to the instruction of the control system, the rotating direction of the steering starter controls the vehicle to turn left or right, the rotating number of turns of the steering driver controls the steering angle of the vehicle, and the rotating speed of the steering driver controls the steering angular acceleration of the vehicle.
Furthermore, one end of the direct current contactor is connected with a power supply, the other end of the direct current contactor is connected with a steering system, the direct current contactor is closed through an instruction of the control system to supply power to the steering system, and the direct current contactor is disconnected through an instruction of the control system to cut off the power of the steering system.
An unmanned vehicle line control steering system and a working method thereof comprise the following steps:
s1: the data acquisition system sends the acquired vehicle running data to the control system;
s2: the control system judges whether the vehicle needs to turn according to the received vehicle running data, when the vehicle needs to turn, the control system calculates a turning angle, a turning angular velocity and a turning angular acceleration which are needed by turning and sends an instruction to a turning driver, and meanwhile, the control system sends a starting instruction to the direct current contactor, the current sensor, the timer, the counter and the angular velocity sensor;
s3: the steering driver is used for completing the expected steering angle and the steering angle acceleration according to the command of the control system.
Further, the step S3 further includes the following steps:
s301: the direct current contactor is closed according to a starting instruction of the control system, and the steering system is electrified to work;
s302: the current sensor detects the current of the steering driver according to a starting instruction of the control system to check whether the steering driver is powered on or not and report current data to the control system, and if the steering driver is not powered on, the current sensor reports the current data to the control system; if the steering driver is powered on, the control system sends an instruction that the steering driver enters the step S303 to the steering driver;
s303: the counter records the power-on times of the steering driver according to a starting instruction of the control system and reports the power-on time data to the control system, and if the steering driver is powered on for the first time, the control system sends a 1 s-delayed instruction to the steering driver; if the steering driver is not powered on for the first time, the control system sends an instruction that the steering driver enters the step S304 to the steering driver;
s304: the control system judges whether the steering driver has a zero position according to historical working data of the steering driver, and if the control system does not find the zero position of the steering driver, the control system sends an instruction that the steering driver enters a working mode 1 and returns to the step S304 to the steering driver; if the control system finds the zero point position of the steering driver, the control system sends an instruction that the steering driver enters the working mode 2 and enters the step S305 to the steering driver;
s305: the counter records the set times of the steering driver according to the instruction of the control system, the control system judges whether the steering driver is set for the first time or not according to the set times of the steering driver sent by the counter, if the steering driver is set for the first time, the control system sends the steering driver to enter a working mode 3 and returns the instruction of the step S305 to the steering driver; if the steering drive is not set for the first time, the control system sends an instruction that the steering drive enters the working mode 4 and enters the step S306 to the steering drive;
s306: the control system judges whether the working current of the steering driver is larger than 7 or not according to the current signal sent by the current sensor, and if the working current of the steering driver is not larger than 7, the control system sends an instruction that the steering driver enters a working mode 4 and enters a step S307 to the steering driver; if the working current of the steering driver is larger than 7, the control system sends an instruction for stopping the steering driver and entering the step S307 to the steering driver according to whether the steering driver stalling time sent by the timer exceeds 1S or not; if the locked-rotor time of the steering driver does not exceed 1S, the control system sends an instruction that the steering driver enters the working mode 4 and enters the step S307 to the steering driver;
s307: and the control system sends an instruction for opening the direct current contactor to the direct current contactor.
Further, the operation mode 1 includes: the control system finds the zero position of the steering driver;
the working mode 2 comprises the following steps: the control system calculates a steering angle value, a steering angle speed value and a steering angle acceleration value which are required by the steering driver to steer according to the vehicle running data collected by the data collection system and sends the values to the steering driver;
the working mode 3 comprises: the control system controls the steering driver to carry out direction correction;
the working mode 4 comprises: and the steering driver executes a steering angle value or a steering angle velocity value or a steering angle acceleration value command sent by the control system to complete the steering of the vehicle.
Further, the operation mode 4 further includes: the control system calculates an angle value, an angular velocity value and an angular acceleration value of the actual steering of the vehicle according to the return value data of the steering driver, wherein the return value is the actual working data of the steering driver.
Further, in step S303, a steering driver delay time 1S is set for waiting for the dc contactor to operate in a stable state and waiting for the steering driver to start.
Further, the zero point position in step S304 is a relative position of the steering angle of the steering actuator or a steering angle value of the steering actuator when the vehicle travels straight.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the invention adopts a full-wire control mode to control each module, so that the steering of the vehicle is more accurate, the structure is simple, and the reaction speed is higher;
drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic view of a steering actuator according to the present invention.
FIG. 2 is a schematic flow chart of the present invention.
FIG. 3 is a schematic flow diagram illustrating the present invention.
Reference numbers and corresponding part names in the drawings:
1-steering driver, 2-reducer, 3-gear, 4-rack, 5-steering device pull rod, 6-connecting hinge, 7-tie rod, 8-knuckle and 9-wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
As shown in figure 1 of the drawings, in which,
an unmanned vehicle line control steering system comprises a data acquisition system, a steering system and a control system,
the data acquisition system comprises a camera, a current sensor, a counter, a timer and an angle sensor, wherein the camera is used for acquiring vehicle running data, the current sensor, the counter, the timer and the angle sensor are used for acquiring vehicle self data, and the data acquisition system is also used for sending the acquired vehicle running data and the vehicle self data to the control system, receiving an instruction of the control system and completing corresponding work;
the control system comprises a vehicle control unit, and is used for analyzing and processing vehicle driving data and vehicle self data acquired by the data acquisition system and sending a control instruction to the steering system and the data acquisition system according to a processing result;
the steering system comprises a driver, a power supply and a direct current contactor, and is used for receiving an instruction of the control system and completing corresponding work;
the control system is also used for judging whether the vehicle needs to turn according to the vehicle running data, obtaining the turning angle and the turning angle acceleration which are needed by the vehicle according to the vehicle running data when the vehicle needs to turn, judging whether the turning driver finishes powering up according to the vehicle self data when the vehicle needs to turn, judging whether the turning driver is powered up for the first time according to the vehicle self data after the turning driver finishes powering up, judging whether the turning driver finds a zero point according to the vehicle self data when the turning driver is not powered up for the first time, judging whether the turning driver is set for the first time according to the vehicle self data after the turning driver finds the zero point, judging whether the active power current of the turning driver is larger than 7 according to the vehicle self data when the turning driver is in a normal state, judging whether the stalling time of the turning driver exceeds 1 according to the vehicle self data when the active power of the turning driver is larger than And s.
The technical scheme has the advantages that the steering system of the unmanned vehicle is divided into three modules which are respectively a data acquisition system, a control system and the steering system, a camera in the data acquisition system is used for acquiring vehicle running data, a current sensor, a counter, a timer and an angle sensor in the data acquisition system are used for acquiring vehicle self data, the control system is responsible for analyzing and processing the vehicle self data acquired by the data acquisition system and the vehicle running data to obtain a result, generating a corresponding instruction according to the result and sending the instruction to the steering system, and the steering system is responsible for finishing the instruction of the control system so as to finish the steering process of the vehicle; the control system sends corresponding control instructions to each module of the vehicle in a full-wire control mode in the steering process, and each module completes corresponding work according to the instructions of the control system; it is worth mentioning that the invention can also add a PC end or a remote controller and the like to send steering instructions to the control system, so as to realize remote control of the unmanned vehicle for steering.
As a preferred technical scheme, the steering system further comprises a speed reducer, a gear, a rack, a steering gear pull rod, a connecting hinge, a tie rod, a steering knuckle and wheels, wherein a steering driver is connected with the speed reducer, the speed reducer and the gear are of an integrated structure, the gear is meshed with the rack, the rack and the steering gear pull rod are of an integrated structure, the rack is located at the midpoint of the steering gear pull rod, any one end of the tie rod is connected with the steering gear pull rod through the connecting hinge, the other end of the tie rod is connected with the steering knuckle, and the steering knuckle is installed at the circle center of the wheels;
the steering driver rotates according to the instruction of the control system, the rotating direction of the steering starter controls the vehicle to turn left or right, the rotating number of turns of the steering driver controls the steering angle of the vehicle, and the rotating speed of the steering driver controls the steering angular acceleration of the vehicle.
The technical scheme has the advantages that the steering system comprises the speed reducer, the gear, the rack, the steering gear pull rod, the connecting hinge, the tie rod, the steering knuckle and the wheels, and the steering system is connected in the mode, so that the structure is simple, the mechanical transmission process is reduced, the mechanical error of the steering system is reduced, the steering accuracy of the unmanned vehicle is improved, and the steering time of the unmanned vehicle is reduced; it is worth mentioning that the steering system of the invention is arranged on the front axle of the unmanned vehicle, and is different from the prior vehicle that the steering system is arranged in the middle of the chassis of the vehicle, and the scheme can further reduce the mechanical transmission process and the mechanical error generated by the steering system.
As a preferred technical scheme, one end of the direct current contactor is connected with a power supply, the other end of the direct current contactor is connected with a steering system, the direct current contactor is closed through a command of a control system to supply power to the steering system, and the direct current contactor is opened through a command of the control system to cut off the power of the steering system.
The technical scheme has the advantages that the direct contactor is arranged between the power supply and the steering system, and the power-on and power-off of the steering system can be controlled by controlling the on and off of the direct contactor, so that the steering system is powered on when in work, and the power supply of the steering system is cut off when the steering system does not work.
In the case of the example 2, the following examples are given,
as shown in figure 2 of the drawings, in which,
an unmanned vehicle line control steering system and a working method thereof comprise the following steps:
s1: the data acquisition system sends the acquired vehicle running data to the control system;
s2: the control system judges whether the vehicle needs to turn according to the received vehicle running data, when the vehicle needs to turn, the control system calculates a turning angle, a turning angular velocity and a turning angular acceleration which are needed by turning and sends an instruction to a turning driver, and meanwhile, the control system sends a starting instruction to the direct current contactor, the current sensor, the timer, the counter and the angular velocity sensor;
s3: the steering driver is used for completing the expected steering angle and the steering angle acceleration according to the command of the control system.
The technical scheme has the advantages that the vehicle steering process is divided into three steps, firstly, the vehicle driving data are collected by a vehicle data collection system and sent to a control system, then the control system analyzes the received data to judge whether the vehicle needs to be steered or not, when the vehicle needs to be steered, the control system calculates the steering angle, the steering angular velocity and the steering angular acceleration required by steering and sends the steering angle, the steering angular velocity and the steering angular acceleration to the steering system, and finally, the steering system executes an instruction sent by the control system to complete steering.
In the case of the example 3, the following examples are given,
as shown in figure 3 of the drawings,
as a preferred technical solution, the step S3 further includes the following steps:
s301: the direct current contactor is closed according to a starting instruction of the control system, and the steering system is electrified to work;
s302: the current sensor detects the current of the steering driver according to a starting instruction of the control system to check whether the steering driver is powered on or not and report current data to the control system, and if the steering driver is not powered on, the current sensor reports the current data to the control system; if the steering driver is powered on, the control system sends an instruction that the steering driver enters the step S303 to the steering driver;
s303: the counter records the power-on times of the steering driver according to a starting instruction of the control system and reports the power-on time data to the control system, and if the steering driver is powered on for the first time, the control system sends a 1 s-delayed instruction to the steering driver; if the steering driver is not powered on for the first time, the control system sends an instruction that the steering driver enters the step S304 to the steering driver;
s304: the control system judges whether the steering driver has a zero position according to historical working data of the steering driver, and if the control system does not find the zero position of the steering driver, the control system sends an instruction that the steering driver enters a working mode 1 and returns to the step S304 to the steering driver; if the control system finds the zero point position of the steering driver, the control system sends an instruction that the steering driver enters the working mode 2 and enters the step S305 to the steering driver;
s305: the counter records the set times of the steering driver according to the instruction of the control system, the control system judges whether the steering driver is set for the first time or not according to the set times of the steering driver sent by the counter, if the steering driver is set for the first time, the control system sends the steering driver to enter a working mode 3 and returns the instruction of the step S305 to the steering driver; if the steering drive is not set for the first time, the control system sends an instruction that the steering drive enters the working mode 4 and enters the step S306 to the steering drive;
s306: the control system judges whether the working current of the steering driver is larger than 7 or not according to the current signal sent by the current sensor, and if the working current of the steering driver is not larger than 7, the control system sends an instruction that the steering driver enters a working mode 4 and enters a step S307 to the steering driver; if the working current of the steering driver is larger than 7, the control system sends an instruction for stopping the steering driver and entering the step S307 to the steering driver according to whether the steering driver stalling time sent by the timer exceeds 1S or not; if the locked-rotor time of the steering driver does not exceed 1S, the control system sends an instruction that the steering driver enters the working mode 4 and enters the step S307 to the steering driver;
s307: and the control system sends an instruction for opening the direct current contactor to the direct current contactor.
The technical scheme has the advantages that the control system respectively controls each module of the steering system, and simultaneously, the control system continuously analyzes and processes the condition of the steering system at each stage in the steering process of the steering system, generates corresponding instructions according to the analysis and processing results and sends the corresponding instructions to the corresponding modules in the steering system; according to the scheme, the steering system is controlled independently, and the control system updates the control instruction in real time according to the steering system data acquired by the data acquisition system in the steering process, so that the steering of the steering system is more accurate.
As a preferred technical solution, the operation mode 1 includes: the control system finds the zero position of the steering driver;
the working mode 2 comprises the following steps: the control system calculates a steering angle value, a steering angle speed value and a steering angle acceleration value which are required by the steering driver to steer according to the vehicle running data collected by the data collection system and sends the values to the steering driver;
the working mode 3 comprises: the control system controls the steering driver to carry out direction correction;
the working mode 4 comprises: and the steering driver executes a steering angle value or a steering angle velocity value or a steering angle acceleration value command sent by the control system to complete the steering of the vehicle.
The technical scheme has the advantages that in the steering process of the unmanned vehicle, the steering system needs to continuously change the steering angle and the steering angular acceleration to complete steering, different working modes exist in the steering system in the process, and the working modes of the steering system in the steering process are divided into 4; the working mode 1 is used for the working process of finding the zero point when the control system does not find the zero point of the steering driver; the working mode 2 is used for calculating a steering angle value, a steering angle speed value and a steering angle acceleration value required by vehicle steering according to vehicle running data collected by the data collection system and sending the steering angle value, the steering angle speed value and the steering angle acceleration value to the steering driver when the steering driver waits for steering; the working mode 3 is used for controlling the steering driver to return to the positive state under the condition that the steering driving direction is not returned to the positive state; the working mode 4 is used for the steering driver to execute a steering command of the control system to complete the process of steering the vehicle.
As a preferred technical solution, the operation mode 4 further includes: the control system calculates an angle value, an angular velocity value and an angular acceleration value of the actual steering of the vehicle according to the return value data of the steering driver, wherein the return value is the actual working data of the steering driver.
The technical scheme has the advantages that the actual steering angle value, the actual angular velocity value and the actual angular acceleration value of the vehicle are fed back to the control system, the control system compares the steering angle value, the actual angular velocity value and the actual angular acceleration value according to the steering angle value, the actual angular velocity value and the actual angular acceleration value which are preset before steering, and if errors occur, the control system generates corresponding steering instructions again according to the errors to the steering system, so that the purpose of accurate steering is achieved.
As a preferred technical solution, in step S303, a steering driver delay time 1S is set for waiting for the dc contactor to operate stably and waiting for the steering driver to start.
The advantage of this technical scheme lies in, when turning to the first power-on start-up of driver in this scheme, the effect of time delay 1s lies in waiting to turn to the driver and accomplish to remove and tremble, gets into stable operating condition, thereby avoids influencing the turning to of vehicle because of turning to driver trouble.
As a preferable technical solution, the zero point position in step S304 is a relative position of a steering angle of the steering actuator or a steering angle value of the steering actuator when the vehicle travels straight.
The technical scheme has the advantages that the zero point position is set, so that the steering process of the steering system is more accurately controlled by the control system in the steering process of the unmanned vehicle.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. The wire-controlled steering system for the unmanned vehicle comprises a data acquisition system and a steering system, and is characterized by further comprising a control system,
the data acquisition system comprises a camera, a current sensor, a counter, a timer and an angle sensor, wherein the camera is used for acquiring vehicle running data, the current sensor, the counter, the timer and the angle sensor are used for acquiring vehicle self data, and the data acquisition system is also used for sending the acquired vehicle running data and the vehicle self data to the control system, receiving an instruction of the control system and completing corresponding work;
the control system comprises a vehicle control unit, and is used for analyzing and processing vehicle driving data and vehicle self data acquired by the data acquisition system and sending a control instruction to the steering system and the data acquisition system according to a processing result;
the steering system comprises a driver, a power supply and a direct current contactor, and is used for receiving an instruction of the control system and completing corresponding work;
the control system is also used for judging whether the vehicle needs to turn according to the vehicle running data, obtaining the turning angle and the turning angle acceleration which are needed by the vehicle according to the vehicle running data when the vehicle needs to turn, judging whether the turning driver finishes powering up according to the vehicle self data when the vehicle needs to turn, judging whether the turning driver is powered up for the first time according to the vehicle self data after the turning driver finishes powering up, judging whether the turning driver finds a zero point according to the vehicle self data when the turning driver is not powered up for the first time, judging whether the turning driver is set for the first time according to the vehicle self data after the turning driver finds the zero point, judging whether the active power current of the turning driver is larger than 7 according to the vehicle self data when the turning driver is in a normal state, judging whether the stalling time of the turning driver exceeds 1 according to the vehicle self data when the active power of the turning driver is larger than And s.
2. The steer-by-wire system of claim 1,
the steering system also comprises a speed reducer, a gear, a rack, a steering gear pull rod, a connecting hinge, a tie rod, a steering knuckle and wheels, wherein a steering driver is connected with the speed reducer;
the steering driver rotates according to the instruction of the control system, the rotating direction of the steering starter controls the vehicle to turn left or right, the rotating number of turns of the steering driver controls the steering angle of the vehicle, and the rotating speed of the steering driver controls the steering angular acceleration of the vehicle.
3. The steer-by-wire system of claim 1,
one end of the direct current contactor is connected with a power supply, the other end of the direct current contactor is connected with a steering system, the direct current contactor is closed through an instruction of the control system to supply power to the steering system, and the direct current contactor is disconnected through an instruction of the control system to cut off the power of the steering system.
4. The wire-controlled steering system of the unmanned vehicle and the working method thereof are characterized by comprising the following steps:
s1: the data acquisition system sends the acquired vehicle running data to the control system;
s2: the control system judges whether the vehicle needs to turn according to the received vehicle running data, when the vehicle needs to turn, the control system calculates a turning angle, a turning angular velocity and a turning angular acceleration which are needed by turning and sends an instruction to a turning driver, and meanwhile, the control system sends a starting instruction to the direct current contactor, the current sensor, the timer, the counter and the angular velocity sensor;
s3: the steering driver is used for completing the expected steering angle and the steering angle acceleration according to the command of the control system.
5. The steer-by-wire system of an unmanned vehicle and the working method thereof according to claim 4,
the S3 further includes the following steps:
s301: the direct current contactor is closed according to a starting instruction of the control system, and the steering system is electrified to work;
s302: the current sensor detects the current of the steering driver according to a starting instruction of the control system to check whether the steering driver is powered on or not and report current data to the control system, and if the steering driver is not powered on, the current sensor reports the current data to the control system; if the steering driver is powered on, the control system sends an instruction that the steering driver enters the step S303 to the steering driver;
s303: the counter records the power-on times of the steering driver according to a starting instruction of the control system and reports the power-on time data to the control system, and if the steering driver is powered on for the first time, the control system sends a 1 s-delayed instruction to the steering driver; if the steering driver is not powered on for the first time, the control system sends an instruction that the steering driver enters the step S304 to the steering driver;
s304: the control system judges whether the steering driver has a zero position according to historical working data of the steering driver, and if the control system does not find the zero position of the steering driver, the control system sends an instruction that the steering driver enters a working mode 1 and returns to the step S304 to the steering driver; if the control system finds the zero point position of the steering driver, the control system sends an instruction that the steering driver enters the working mode 2 and enters the step S305 to the steering driver;
s305: the counter records the set times of the steering driver according to the instruction of the control system, the control system judges whether the steering driver is set for the first time or not according to the set times of the steering driver sent by the counter, if the steering driver is set for the first time, the control system sends the steering driver to enter a working mode 3 and returns the instruction of the step S305 to the steering driver; if the steering drive is not set for the first time, the control system sends an instruction that the steering drive enters the working mode 4 and enters the step S306 to the steering drive;
s306: the control system judges whether the working current of the steering driver is larger than 7 or not according to the current signal sent by the current sensor, and if the working current of the steering driver is not larger than 7, the control system sends an instruction that the steering driver enters a working mode 4 and enters a step S307 to the steering driver; if the working current of the steering driver is larger than 7, the control system sends an instruction for stopping the steering driver and entering the step S307 to the steering driver according to whether the steering driver stalling time sent by the timer exceeds 1S or not; if the locked-rotor time of the steering driver does not exceed 1S, the control system sends an instruction that the steering driver enters the working mode 4 and enters the step S307 to the steering driver;
s307: and the control system sends an instruction for opening the direct current contactor to the direct current contactor.
6. The steer-by-wire system of an unmanned vehicle and the working method thereof according to claim 5,
the working mode 1 comprises the following steps: the control system finds the zero position of the steering driver;
the working mode 2 comprises the following steps: the control system calculates a steering angle value, a steering angle speed value and a steering angle acceleration value which are required by the steering driver to steer according to the vehicle running data collected by the data collection system and sends the values to the steering driver;
the working mode 3 comprises: the control system controls the steering driver to carry out direction correction;
the working mode 4 comprises: and the steering driver executes a steering angle value or a steering angle velocity value or a steering angle acceleration value command sent by the control system to complete the steering of the vehicle.
7. The steer-by-wire system of an unmanned vehicle and the working method thereof according to claim 5,
the working mode 4 further includes: the control system calculates an angle value, an angular velocity value and an angular acceleration value of the actual steering of the vehicle according to the return value data of the steering driver, wherein the return value is the actual working data of the steering driver.
8. The steer-by-wire system of an unmanned vehicle and the working method thereof according to claim 5,
in step S303, a steering driver delay time of 1S is set for waiting for the dc contactor to operate in a stable state and waiting for the steering driver to start.
9. The steer-by-wire system of an unmanned vehicle and the working method thereof according to claim 5,
the zero point position in step S304 is a relative position of the steering angle of the steering actuator or a steering angle value of the steering actuator when the vehicle is traveling straight.
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