CN111634326A - Redundant steer-by-wire device, system architecture and driving equipment - Google Patents
Redundant steer-by-wire device, system architecture and driving equipment Download PDFInfo
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- CN111634326A CN111634326A CN202010377982.1A CN202010377982A CN111634326A CN 111634326 A CN111634326 A CN 111634326A CN 202010377982 A CN202010377982 A CN 202010377982A CN 111634326 A CN111634326 A CN 111634326A
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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
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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
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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
- B62D5/0457—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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- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a redundant steer-by-wire device, a system architecture and driving equipment, comprising a steering control mechanism, a steering execution mechanism and a comprehensive controller; the steering control mechanism is connected with the integrated controller through a double-path CAN line, and the steering execution mechanism is connected with the integrated controller through a double-path CAN line. The invention solves the technical problems of large occupied space, low control precision and insufficient system safety of the wire-controlled steering device in the prior art, and realizes the technical effects of smaller arrangement space, higher control precision, higher safety, better synchronism and redundant architecture of the whole system of the redundant wire-controlled steering device.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving steering systems, in particular to a redundant steer-by-wire device, a system architecture and driving equipment.
Background
Under the condition that the current electromotion and intellectualization are rapidly and increasingly developed, the configuration of an automatic driving function is the general development trend of a vehicle, and a steer-by-wire system, as a next generation core technology for steering in the automatic driving function, can be deeply integrated with automatic driving at the L4/L5 level, realizes man-machine driving together, and brings better control experience to the whole vehicle.
The steer-by-wire technology has the biggest characteristics of flexible arrangement and high safety, and the general scheme of the steer-by-wire technology at the present stage is as follows: the steering control mechanism of the worm gear transmission structure, the steering actuating mechanism of the double-motor scheme and the connecting mechanism in the form of the electromagnetic clutch, but the three schemes have a series of defects: the steering control mechanism has large space, high transmission ratio and low control precision; the steering actuating mechanism has large space occupation of double motors, complex motor coordination control, poor synchronism and no industrialization condition; electromagnetic clutch structures have not been of use under current electronic and electrical architectures.
Disclosure of Invention
The invention provides a redundant steer-by-wire device, a system architecture and driving equipment, and achieves the technical effects that the redundant steer-by-wire device is smaller in arrangement space, higher in control precision, higher in safety and better in synchronism, and the whole system has the redundant architecture.
The embodiment of the invention provides a redundant steer-by-wire device, which comprises a steering control mechanism (a), a steering execution mechanism (b) and a comprehensive controller (13); the steering control mechanism (a) is connected with the integrated controller (13) through a double-path CAN line, and the steering executing mechanism (b) is connected with the integrated controller (13) through a double-path CAN line;
the steering control mechanism (a) is of a coaxial structure and comprises a steering wheel (1), a steering column (2), a corner torque integrated sensor (3), a planet row speed reducing mechanism (4), a six-phase double-winding steering control motor (5) and a steering control mechanism controller (6);
the steering wheel (1) is connected with one end of the steering column (2); the planet row speed reducing mechanism (4) is connected with the other end of the steering column (2); the corner torque integrated sensor (3) is arranged on the steering column (2); the six-phase double-winding steering control motor (5) is connected with the planet row speed reducing mechanism (4); the steering control mechanism controller (6) is connected with the six-phase double-winding steering control motor (5); the steering control mechanism controller (6) is connected with the integrated controller (13);
the steering actuating mechanism (b) comprises a rotation angle sensor (7), a pinion input shaft (8), a rack (9), a steering actuating mechanism controller (10), a six-phase winding steering actuating motor (11) and a belt transmission mechanism (12);
the rotation angle sensor (7) is connected with one end of the pinion input shaft (8); the other end of the pinion input shaft (8) is connected with the rack (9); the rack (9) is connected with the six-phase winding steering execution motor (11) through the belt transmission mechanism (12); the steering actuator controller (10) is respectively connected with the six-phase winding steering actuator motor (11) and the integrated controller (13), and the steering actuator controller (10) and the six-phase winding steering actuator motor (11) are arranged on the same side of the rack (9);
the integrated controller (13) is respectively connected with the steering control mechanism controller (6), the steering execution mechanism controller (10) and the whole vehicle central gateway (18).
Further, the steering control mechanism controller (6) and the six-phase double-winding steering control motor (5) are of an integrated structure; the steering actuating mechanism controller (10) and the six-phase winding steering actuating motor (11) are of an integrated structure.
Furthermore, the corner and torque integrated sensor (3) is used for collecting corner signals and torque signals, and the corner and torque integrated sensor (3) is in communication connection with the steering control mechanism controller (6) through a first communication connection line (19) and a second communication connection line (36).
Furthermore, the rotation angle sensor (7) is in communication connection with the steering actuator controller (10) through a third communication connection line (28) and a fourth communication connection line (29).
Further, the steering control mechanism controller (6) comprises a first power supply, a second power supply, a fifth communication connecting line (30) and a sixth communication connecting line (31);
the first power supply is connected with a first vehicle power supply (22), and the second power supply is connected with a second vehicle power supply (25); the steering control mechanism controller (6) is in communication connection with the integrated controller (13) through the fifth communication connecting line (30) and the sixth communication connecting line (31).
Further, the steering actuator controller (10) comprises a third power supply, a fourth power supply, a seventh communication connection (32) and an eighth communication connection (33);
the third power supply is connected with a first vehicle power supply (22), and the fourth power supply is connected with a second vehicle power supply (25); the steering actuator controller (10) is in communication connection with the integrated controller (13) through the seventh communication connecting line (32) and the eighth communication connecting line (33).
Furthermore, the integrated controller (13) is connected with the whole vehicle central gateway (18) through a chassis CAN (34) and a backup CAN (35).
The embodiment of the invention also provides a redundant steer-by-wire system architecture, which comprises the redundant steer-by-wire device, a first finished automobile power supply (22), a second finished automobile power supply (25) and a finished automobile central gateway (18) in any embodiment;
the redundant steer-by-wire device is respectively and electrically connected with the first whole vehicle power supply (22) and the second whole vehicle power supply (25);
and the integrated controller (13) in the redundant steer-by-wire device is connected with the whole vehicle central gateway (18) through a chassis CAN (34) and a backup CAN (35).
Further, the power supply system also comprises a first integrated controller power supply line (20), a first steering control power supply line (21), a first steering execution power supply line (23), a second integrated controller power supply line (24), a second steering control power supply line (26) and a second steering execution power supply line (27);
the first vehicle power supply (22) supplies power to the integrated controller (13), the steering control mechanism controller (6) and the steering execution mechanism controller (10) in the redundant steer-by-wire device through the first integrated controller power supply line (20), the first steering control power supply line (21) and the first steering execution power supply line (23) respectively;
and the second whole vehicle power supply (25) is respectively supplied with power through the second comprehensive controller power supply line (24), the second steering control power supply line (26) and the second steering execution power supply line (27) which are right to the comprehensive controller (13), the steering control mechanism controller (6) and the steering execution mechanism controller (10).
The embodiment of the invention also provides driving equipment, and the driving equipment comprises the redundant steer-by-wire system architecture in any embodiment.
The invention discloses a redundant steer-by-wire device, a system architecture and driving equipment, comprising a steering control mechanism, a steering execution mechanism and a comprehensive controller; the steering control mechanism is connected with the integrated controller through a double-path CAN line, and the steering execution mechanism is connected with the integrated controller through a double-path CAN line. The invention solves the technical problems of large occupied space, low control precision and insufficient system safety of the wire-controlled steering device in the prior art, and realizes the technical effects of smaller arrangement space, higher control precision, higher safety, better synchronism and redundant architecture of the whole system of the redundant wire-controlled steering device.
Drawings
Fig. 1 is a structural diagram of a redundant steer-by-wire apparatus provided in an embodiment of the present invention;
FIG. 2 is a block diagram of yet another redundant steer-by-wire apparatus provided by an embodiment of the present invention;
fig. 3 is a structural diagram of a redundant steer-by-wire system architecture according to an embodiment of the present invention.
Part names in the drawings are as follows:
a. the steering control mechanism, b, a steering actuating mechanism, 1, a steering wheel, 2, a steering column, 3, an angle torque integrated sensor, 4, a planet row speed reducing mechanism, 5, a six-phase winding steering control motor, 6, a steering control mechanism controller, 7, an angle sensor, 8, a pinion input shaft, 9, a rack, 10, a steering actuating mechanism controller, 11, a six-phase winding steering actuating motor, 12, a belt transmission mechanism, 13, a comprehensive controller, 14, a first terminal resistor, 15, a second terminal resistor, 16, a third terminal resistor, 17, a fourth terminal resistor, 18, a vehicle central gateway, 19, a first communication connecting wire, 20, a first comprehensive controller power supply circuit, 21, a first steering control power supply circuit, 22, a first vehicle power supply, 23, a first steering actuating power supply circuit, 24, a second comprehensive controller power supply circuit, 25. 26, a second steering operation power supply circuit, 27, a second steering execution power supply circuit, 28, a third communication connection line, 29, a fourth communication connection line, 30, a fifth communication connection line, 31, a sixth communication connection line, 32, a seventh communication connection line, 33, an eighth communication connection line, 34, a chassis CAN, 35, a backup CAN, 36 and a second communication connection line.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that the terms "first", "second", and the like in the description and claims of the present invention and the accompanying drawings are used for distinguishing different objects, and are not used for limiting a specific order. The following embodiments of the present invention may be implemented individually, or in combination with each other, and the embodiments of the present invention are not limited in this respect.
Fig. 1 is a structural diagram of a redundant steer-by-wire apparatus according to an embodiment of the present invention. Fig. 2 is a structural diagram of still another redundant steer-by-wire apparatus according to an embodiment of the present invention. Fig. 3 is a structural diagram of a redundant steer-by-wire system architecture according to an embodiment of the present invention.
As shown in fig. 1 and 2, the redundant steer-by-wire apparatus includes a steering mechanism a, a steering actuator b, and an integrated controller 13; the steering control mechanism a is connected with the integrated controller 13 through a double-path CAN line, and the steering execution mechanism b is connected with the integrated controller 13 through a double-path CAN line.
The steering control mechanism a is of a coaxial structure and comprises a steering wheel 1, a steering column 2, a corner torque integrated sensor 3, a planet row speed reducing mechanism 4, a six-phase double-winding steering control motor 5 and a steering control mechanism controller 6.
Referring to fig. 1, a steering wheel 1 is connected to one end of a steering column 2; the planet row speed reducing mechanism 4 is connected with the other end of the steering column 2, the planet row speed reducing mechanism 4 is a double-stage planet row speed reducing mechanism, the speed reducing ratio can be set to 9:1, and the speed reducing and torque increasing of the motor are realized through the design of the speed increasing and reducing mechanism.
Referring to fig. 1, a corner torque integrated sensor 3 is provided on a steering column 2; alternatively, as shown in fig. 3, the rotation angle and torque integrated sensor 3 is used to collect rotation angle signals and torque signals, and the rotation angle and torque integrated sensor 3 is connected to the steering controller 6 through the first communication connection 19 and the second communication connection 36 to transmit the collected rotation angle signals and torque signals.
Specifically, the steering angle and torque integrated sensor 3 can output 4 paths of torque signals and 2 paths of steering angle signals, wherein the steering angle signals are signals in a PWM format generally, the torque signals are signals in a SENT format generally, and the steering angle and torque integrated sensor can be used for realizing verification and redundancy control for the steering control mechanism controller 6 by setting multi-path output of the same signals.
Referring to fig. 1, a six-phase double-winding steering control motor 5 is connected with a planet row speed reducing mechanism 4, the six-phase double-winding steering control motor 5 is a motor with two three-phase windings, the two three-phase windings form the six-phase winding, and the redundant design of the double windings can ensure that the motor does not fail in the working process, so that the safety of the redundant steer-by-wire device is ensured; the steering control mechanism controller 6 is connected with the six-phase double-winding steering control motor 5, optionally, the steering control mechanism controller 6 and the six-phase double-winding steering control motor 5 are of an integrated structure, and the arrangement space of the steering control mechanism a is smaller by arranging the steering control mechanism controller 6 and the six-phase double-winding steering control motor 5 into an integrated structure. The steering control mechanism controller 6 is connected with the integrated controller 13, referring to fig. 2 and 3, the steering control mechanism controller 6 is connected with the integrated controller 13 through a dual-path CAN line, so that a dual-path redundant communication design between the steering control mechanism a and the integrated controller 13 is realized, and the steering control is realized in response to the request of the integrated controller 13.
It should be noted that the six-phase dual-winding steering motor 5 may also be replaced by a six-phase winding motor with a twelve-phase winding motor, which can also achieve all the above beneficial effects, and is not described herein again.
Alternatively, referring to fig. 3, the steering mechanism controller 6 includes a first power source, a second power source (the first and second power sources are not shown in fig. 3), a fifth communication link 30, and a sixth communication link 31. Specifically, the first power supply is connected with a first vehicle power supply 22 through a first steering control power supply line 21, and the second power supply is connected with a second vehicle power supply 25 through a second steering control power supply line 26; the steering control mechanism controller 6 is in communication connection with the integrated controller 13 through a fifth communication connecting line 30 and a sixth communication connecting line 31, and two communication lines are checked and backed up with each other, so that the redundant design of steering control is realized, and the control precision of the controller is improved.
The steering control mechanism controller 6 is provided with double power supplies and double communication redundant circuits, the double power supplies are respectively connected with two power supplies of a whole vehicle (namely the first whole vehicle power supply 22 and the second whole vehicle power supply 25), the double communication redundant circuits are connected with the integrated controller 13, power supply redundancy and communication redundancy inside the steering control mechanism a are realized, power supply redundancy and communication redundancy inside the redundant steer-by-wire device are further realized, the technical effect of improving the safety of the redundant steer-by-wire device is realized, in addition, full redundancy of a hardware framework is also realized inside the steering control mechanism controller 6, and the safety of the redundant steer-by-wire device is further ensured.
Alternatively, as shown in fig. 1, the steering actuator b includes a rotation angle sensor 7, a pinion input shaft 8, a rack 9, a steering actuator controller 10, a six-phase winding steering actuator motor 11, and a belt transmission 12.
The rotation angle sensor 7 is connected to one end of the pinion input shaft 8, see fig. 1, and optionally the rotation angle sensor 7 is connected in communication with the steering actuator control unit 10 via a third communication connection 28 and a fourth communication connection 29, see fig. 3.
Specifically, the corner sensor 7 can output 2 paths of corner signals, and the signals are respectively transmitted to the steering actuator controller 10 for backup and verification, so that the redundant design of the corner signals of the steering actuator b is realized.
Referring to fig. 1, the other end of the pinion input shaft 8 is connected to a rack 9; the rack 9 is connected with a six-phase winding steering actuating motor 11 through a belt transmission mechanism 12; specifically, the six-phase winding steering execution motor 11 is a motor with two three-phase windings, the two three-phase windings form the six-phase winding, and the redundant design of the double windings ensures that the motor does not fail in the working process, so that the safety of the redundant steer-by-wire device is ensured.
Referring to fig. 1, a steering actuator controller 10 is respectively connected with a six-phase winding steering actuator motor 11 and an integrated controller 13, and the steering actuator controller 10 and the six-phase winding steering actuator motor 11 are arranged on the same side of a rack 9; referring to fig. 2 and 3, the steering actuator controller 10 is connected with the integrated controller 13 through a dual-path CAN line, so that a dual-path redundant communication design between the steering actuator b and the integrated controller 13 is realized.
Optionally, the steering actuator controller 10 and the six-phase winding steering actuator motor 11 are of an integrated structure, which not only ensures the sealing performance of the redundant steer-by-wire device, but also reduces the arrangement space of the steering actuator b.
It should be noted that the six-phase winding steering actuator motor 11 may also be replaced by a six-phase winding motor with a twelve-phase winding motor, and all the above effects can be achieved as well, and are not described herein again.
Alternatively, referring to fig. 3, the steering actuator controller 10 includes a third power source, a fourth power source (the third and fourth power sources are not shown in fig. 3), a seventh communication link 32, and an eighth communication link 33. Specifically, the third power supply is connected with a first vehicle power supply 22 through a first steering execution power supply line 23, and the fourth power supply is connected with a second vehicle power supply 25 through a second steering execution power supply line 23; the steering actuator controller 10 is in communication connection with the integrated controller 13 through the seventh communication connecting line 32 and the eighth communication connecting line 33, and the two communication lines are checked and backed up with each other, so that the redundant design of steering execution is realized, and the control precision of the controller is improved.
The steering execution mechanism controller 10 is provided with a dual power supply and a dual communication redundant circuit, the dual power supply is respectively connected with two power supplies of a whole vehicle (namely the first whole vehicle power supply 22 and the second whole vehicle power supply 25), the dual communication redundant circuit is connected with the integrated controller 13, the power supply redundancy and the communication redundancy inside the steering execution mechanism b are realized, the power supply redundancy and the communication redundancy of the redundant steer-by-wire device are further realized, the technical effect of improving the safety of the redundant steer-by-wire device is realized, in addition, the full redundancy of a hardware framework is also realized inside the steering execution mechanism controller 10, and the safety of the redundant steer-by-wire device is further ensured.
Alternatively, referring to fig. 1 to 3, the integrated controller 13 is connected to the steering control mechanism controller 6, the steering actuator controller 10, and the entire vehicle central gateway 18, respectively.
Specifically, referring to fig. 2 and 3, the steering control mechanism controller 6 and the steering execution mechanism controller 10 are both connected to the integrated controller 13 through internal private CAN lines, and the steering control mechanism controller 6 and the steering execution mechanism controller 10 are respectively provided with two private CAN lines connected to the integrated controller 13, and the private CAN lines CAN realize a communication rate with a period of 1ms, thereby not only improving the communication efficiency, but also ensuring the redundancy of communication.
Alternatively, referring to fig. 3, the integrated controller 13 is connected to the entire vehicle central gateway 18 through the chassis CAN34 and the backup CAN 35.
Specifically, in order to ensure high safety of the redundant steer-by-wire device, it is necessary to ensure that the redundant design of communication is realized, so the integrated controller 13 in the invention is connected with the whole vehicle central gateway 18 through the chassis CAN34 and the backup CAN35, and is used for interacting signals of the whole vehicle system architecture. Further, referring to fig. 1 to fig. 3, in order to ensure the stability of the vehicle signal, a first terminal resistor 14 and a second terminal resistor 15 are provided at two communication terminals of the integrated controller 13, a third terminal resistor 16 and a fourth terminal resistor 17 are provided at two communication terminals of the vehicle central gateway 18, and each of the four terminal resistors is a resistor with a resistance value of 120 ohms.
In the embodiment of the invention, the information of three control components (namely the steering control mechanism controller 6, the steering execution mechanism controller 10 and the integrated controller 13) in the redundant steer-by-wire device is processed in the redundant steer-by-wire device, and the used CAN wire CAN realize the communication rate with the period of 1ms, thereby greatly improving the communication efficiency, and simultaneously reducing the network load on the bus because only the signals required by the whole vehicle level are interacted with the whole vehicle.
The embodiment of the present invention further provides a redundant steer-by-wire system architecture, as shown in fig. 3, including the redundant steer-by-wire apparatus, the first vehicle power supply 22, the second vehicle power supply 25, and the vehicle central gateway 18 described in any of the above embodiments; the redundant steer-by-wire device is respectively and electrically connected with the first whole vehicle power supply 22 and the second whole vehicle power supply 25; the integrated controller 13 in the redundant steer-by-wire device is connected with the whole vehicle central gateway 18 through the chassis CAN34 and the backup CAN 35.
Specifically, in order to ensure high safety, the whole vehicle is designed with two power supplies, namely a first whole vehicle power supply 22 and a second whole vehicle power supply 25. Optionally, the steer-by-wire system redundant control system further comprises a first integrated controller power supply line 20, a first steer power supply line 21, a first steer actuating power supply line 23, a second integrated controller power supply line 24, a second steer actuating power supply line 26, and a second steer actuating power supply line 27.
A first vehicle power supply 22 supplies power to the integrated controller 13, the steering control mechanism controller 6 and the steering execution mechanism controller 10 in the redundant steer-by-wire device through a first integrated controller power supply line 20, a first steering control power supply line 21 and a first steering execution power supply line 23 respectively;
the second vehicle power supply 25 supplies power to the integrated controller 13, the steering control mechanism controller 6 and the steering execution mechanism controller 10 through a second integrated controller power supply line 24, a second steering control power supply line 26 and a second steering execution power supply line 27 respectively.
The redundant steer-by-wire system architecture provided by the embodiment of the present invention includes the redundant steer-by-wire apparatus in the above embodiment, and therefore, the redundant steer-by-wire system architecture provided by the embodiment of the present invention also has the beneficial effects described in the above embodiment, and details are not described herein again.
The embodiment of the invention also provides driving equipment, and the driving equipment comprises the redundant steer-by-wire system architecture in any embodiment.
The driving apparatus provided in the embodiment of the present invention includes the redundant steer-by-wire system architecture in the above embodiment, so the driving apparatus provided in the embodiment of the present invention also has the beneficial effects described in the above embodiment, and details are not repeated herein.
In the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically connected or connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Finally, it should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A redundant steer-by-wire device is characterized by comprising a steering control mechanism (a), a steering execution mechanism (b) and a comprehensive controller (13); the steering control mechanism (a) is connected with the integrated controller (13) through a double-path CAN line, and the steering executing mechanism (b) is connected with the integrated controller (13) through a double-path CAN line;
the steering control mechanism (a) is of a coaxial structure and comprises a steering wheel (1), a steering column (2), a corner torque integrated sensor (3), a planet row speed reducing mechanism (4), a six-phase double-winding steering control motor (5) and a steering control mechanism controller (6);
the steering wheel (1) is connected with one end of the steering column (2); the planet row speed reducing mechanism (4) is connected with the other end of the steering column (2); the corner torque integrated sensor (3) is arranged on the steering column (2); the six-phase double-winding steering control motor (5) is connected with the planet row speed reducing mechanism (4); the steering control mechanism controller (6) is connected with the six-phase double-winding steering control motor (5); the steering control mechanism controller (6) is connected with the integrated controller (13);
the steering actuating mechanism (b) comprises a rotation angle sensor (7), a pinion input shaft (8), a rack (9), a steering actuating mechanism controller (10), a six-phase winding steering actuating motor (11) and a belt transmission mechanism (12);
the rotation angle sensor (7) is connected with one end of the pinion input shaft (8); the other end of the pinion input shaft (8) is connected with the rack (9); the rack (9) is connected with the six-phase winding steering execution motor (11) through the belt transmission mechanism (12); the steering actuator controller (10) is respectively connected with the six-phase winding steering actuator motor (11) and the integrated controller (13), and the steering actuator controller (10) and the six-phase winding steering actuator motor (11) are arranged on the same side of the rack (9);
the integrated controller (13) is respectively connected with the steering control mechanism controller (6), the steering execution mechanism controller (10) and the whole vehicle central gateway (18).
2. The redundant steer-by-wire arrangement according to claim 1, wherein said steering mechanism controller (6) is of unitary construction with said six-phase dual winding steering motor (5); the steering actuating mechanism controller (10) and the six-phase winding steering actuating motor (11) are of an integrated structure.
3. The redundant steer-by-wire arrangement according to claim 1, wherein said integral steering angle-torque sensor (3) is adapted to collect a steering angle signal and a torque signal, said integral steering angle-torque sensor (3) being communicatively connected to said steering control unit (6) via a first communication link (19) and a second communication link (36).
4. A redundant steer-by-wire arrangement according to claim 1, wherein the rotation angle sensor (7) is communicatively connected to the steering actuator control (10) via a third communication connection (28) and a fourth communication connection (29).
5. A redundant steer-by-wire arrangement according to claim 1, wherein said steering gear controller (6) comprises a first power supply, a second power supply, a fifth communication link (30) and a sixth communication link (31);
the first power supply is connected with a first vehicle power supply (22), and the second power supply is connected with a second vehicle power supply (25); the steering control mechanism controller (6) is in communication connection with the integrated controller (13) through the fifth communication connecting line (30) and the sixth communication connecting line (31).
6. A redundant steer-by-wire arrangement according to claim 1, wherein the steering actuator controller (10) comprises a third power supply, a fourth power supply, a seventh communication link (32) and an eighth communication link (33);
the third power supply is connected with a first vehicle power supply (22), and the fourth power supply is connected with a second vehicle power supply (25); the steering actuator controller (10) is in communication connection with the integrated controller (13) through the seventh communication connecting line (32) and the eighth communication connecting line (33).
7. The redundant steer-by-wire arrangement of claim 1, wherein said integrated controller (13) is connected to the entire vehicle central gateway (18) via a chassis CAN (34) and a backup CAN (35).
8. A redundant steer-by-wire architecture comprising the redundant steer-by-wire apparatus of any of claims 1 to 7, a first vehicle power supply (22), a second vehicle power supply (25) and a vehicle central gateway (18);
the redundant steer-by-wire device is respectively and electrically connected with the first whole vehicle power supply (22) and the second whole vehicle power supply (25);
and the integrated controller (13) in the redundant steer-by-wire device is connected with the whole vehicle central gateway (18) through a chassis CAN (34) and a backup CAN (35).
9. The redundant steer-by-wire architecture of claim 1, further comprising a first integrated controller power supply line (20), a first steering power supply line (21), a first steering implement power supply line (23), a second integrated controller power supply line (24), a second steering power supply line (26), and a second steering implement power supply line (27);
the first vehicle power supply (22) supplies power to the integrated controller (13), the steering control mechanism controller (6) and the steering execution mechanism controller (10) in the redundant steer-by-wire device through the first integrated controller power supply line (20), the first steering control power supply line (21) and the first steering execution power supply line (23) respectively;
and the second whole vehicle power supply (25) is respectively supplied with power through the second comprehensive controller power supply line (24), the second steering control power supply line (26) and the second steering execution power supply line (27) which are right to the comprehensive controller (13), the steering control mechanism controller (6) and the steering execution mechanism controller (10).
10. A steering device, characterized in that it comprises a redundant steer-by-wire architecture according to any one of the preceding claims 8 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010377982.1A CN111634326A (en) | 2020-05-07 | 2020-05-07 | Redundant steer-by-wire device, system architecture and driving equipment |
| PCT/CN2021/091887 WO2021223706A1 (en) | 2020-05-07 | 2021-05-06 | Redundant steer-by-wire device, redundant steer-by-wire system architecture and driving apparatus |
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| CN113044107A (en) * | 2021-03-15 | 2021-06-29 | 中国第一汽车股份有限公司 | Redundant steer-by-wire executor architecture |
| WO2021223706A1 (en) * | 2020-05-07 | 2021-11-11 | 中国第一汽车股份有限公司 | Redundant steer-by-wire device, redundant steer-by-wire system architecture and driving apparatus |
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| CN115277373B (en) * | 2022-06-06 | 2024-05-14 | 中智行(苏州)科技有限公司 | Automatic driving drive-by-wire redundant system based on vehicle-road coordination |
| CN115195850A (en) * | 2022-06-20 | 2022-10-18 | 成都中科微信息技术研究院有限公司 | Manual and unmanned dual-mode parallel steer-by-wire system and method |
| CN115303358B (en) * | 2022-08-30 | 2023-12-05 | 中兴智能汽车有限公司 | Distributed drive-by-wire chassis, control method and new energy electric car |
| CN117068254B (en) * | 2023-08-16 | 2024-04-16 | 上海同驭汽车科技有限公司 | Redundant-design automobile steering system, control method and vehicle |
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