CN114954646B - Vehicle steering system and steering method - Google Patents

Vehicle steering system and steering method Download PDF

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Publication number
CN114954646B
CN114954646B CN202210682319.1A CN202210682319A CN114954646B CN 114954646 B CN114954646 B CN 114954646B CN 202210682319 A CN202210682319 A CN 202210682319A CN 114954646 B CN114954646 B CN 114954646B
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China
Prior art keywords
steering
front wheel
rear wheel
wheel
wheel steering
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CN114954646A (en
Inventor
施国标
郭琮
王帅
刘廷阳
乔鹏飞
宋铭昊
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Beijing Institute of Technology BIT
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Beijing Institute of Technology BIT
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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
    • 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
    • B62D5/0481—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 monitoring the steering system, e.g. failures

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)

Abstract

A vehicle steering system and steering method, the steering system comprising: the steering system comprises a front wheel steering device, a rear wheel steering device, a steering domain controller and a vehicle controller, wherein the vehicle controller is used for outputting a zero-radius steering instruction or a four-wheel steering instruction to the steering domain controller, when the zero-radius steering instruction is output, the steering domain controller can control the two front wheel steering transmission assemblies and the two rear wheel steering transmission assemblies to output different steering rotary motions, when the four-wheel steering instruction is output, the steering domain controller can control the two front wheel steering transmission assemblies to output the same steering rotary motions, and control the two rear wheel steering transmission assemblies to output the same steering rotary motions. The vehicle steering system can realize multi-mode and multi-functional steering functions such as a zero-radius steering mode or a four-wheel steering mode and the like so as to improve the running safety of the vehicle.

Description

Vehicle steering system and steering method
Technical Field
The invention relates to the technical field of vehicle driving control, in particular to a vehicle steering system and a steering method.
Background
In view of the multifunctional and high-safety steering requirements of the future unmanned technology, the steering system needs to be capable of meeting the active steering angle control under the auxiliary driving and intelligent driving technologies. The probability that the electric failure of the vehicle steering by adopting the motor as a power source can not realize steering is higher than the probability that the traditional mechanical steering fails. The response speed, steering flexibility, and directional stability at high speed of the steering system are not easily improved further on the basis of the conventional front-wheel steering, and thus four-wheel steering applications are occurring. The four-wheel steering is characterized in that a set of rear wheel steering system is arranged on a rear axle of the automobile, and the steering angle relationship between front wheels and rear wheels is controlled by a certain proportion, so that the front wheels and the rear wheels of the automobile are simultaneously steered. In order to maximize the flexibility of steering, the need for zero-radius steering is of great concern, and the independent steering technique enables individual wheel steering, and thus zero-radius steering. In general, the technique of independent steering is to configure one steering motor for each wheel of a vehicle so that the wheels are driven independently with respect to each other to realize an independent steering function.
However, considering the safety and control accuracy of independent steering when the automobile runs at high speed, the independent steering technology is only suitable for vehicles in low-speed parks. In order to realize the reliability of independent steering and synchronous steering of left and right wheels at high speed, the separation and synchronization under different modes can be realized by adopting a clutch and a transmission meshing device, so that the independent steering can be switched into integral steering, but the structure is too complex.
Disclosure of Invention
The application mainly solves the technical problem of providing a vehicle steering system and a steering method, which can realize a multi-mode and multifunctional steering system and a steering method in a zero-radius steering mode or a four-wheel steering mode.
According to a first aspect of the present application there is provided a vehicle steering system comprising:
a front wheel steering apparatus comprising: the front wheels are connected with the disconnection assembly, the two front wheel traversing parts and the two front wheel independent steering mechanisms; the two front wheel transverse moving parts are used for being connected with the two front wheel bodies respectively, and can move along the transverse direction so as to drive the front wheel bodies to turn; the front wheel connection and disconnection assembly is used for connecting two front wheel traversing parts, and the two front wheel traversing parts move in the same direction along the transverse direction, or disconnect the two front wheel traversing parts, and the two front wheel traversing parts can move in the same direction or different directions along the transverse direction; the front wheel independent steering mechanism includes: the front wheel steering motor is connected with the front wheel steering transmission assembly, and the front wheel steering transmission assembly is connected with the front wheel traversing element; the front wheel steering motor is used for driving the front wheel steering transmission assembly to output rotary motion, and the front wheel traversing element is used for converting the rotary motion output by the front wheel steering transmission assembly into transverse motion along the transverse direction;
A rear wheel steering apparatus comprising: the rear wheels are connected with the disconnection assembly, the two rear wheel traversing parts and the two rear wheel independent steering mechanisms; the two rear wheel transverse moving parts are used for being connected with the two rear wheel bodies respectively, and can move along the transverse direction so as to drive the rear wheel bodies to turn; the rear wheel connection and disconnection assembly is used for connecting two rear wheel transverse moving parts, and the two rear wheel transverse moving parts move in the same direction along the transverse direction, or disconnect the two rear wheel transverse moving parts, and the two rear wheel transverse moving parts can move in the same direction or different directions along the transverse direction; the rear wheel independent steering mechanism includes: the rear wheel steering motor is connected with the rear wheel steering transmission assembly, and the rear wheel steering transmission assembly is connected with the rear wheel traversing element; the rear wheel steering motor is used for driving the rear wheel steering transmission assembly to output rotary motion, and the rear wheel traversing element is used for converting the rotary motion output by the rear wheel steering transmission assembly into transverse motion along the transverse direction;
a steering domain controller connected to the front wheel steering motor, the rear wheel steering motor, the front wheel connect-disconnect assembly, and the rear wheel connect-disconnect assembly;
The vehicle controller is connected with the steering domain controller and is used for outputting a zero-radius steering instruction or a four-wheel steering instruction to the steering domain controller;
when the vehicle controller outputs a zero-radius steering instruction, the steering domain controller controls the front wheel connection and disconnection assembly to disconnect the two front wheel traversing parts, the two front wheel steering motors respectively drive the two front wheel steering transmission assemblies to output different steering rotary motions so as to drive the two front wheel bodies to steer in different directions through the two front wheel traversing parts, controls the rear wheel connection and disconnection assembly to disconnect the two rear wheel traversing parts, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output different steering rotary motions so as to drive the two rear wheel bodies to steer in different directions through the two rear wheel traversing parts; the two front wheel bodies and the two rear wheel bodies turn to be tangential to the same circumference;
when the vehicle controller outputs a four-wheel steering instruction, the steering domain controller controls the front wheel connecting and disconnecting assembly to enable the two front wheel traversing parts to be connected, the two front wheel steering motors respectively drive the two front wheel steering transmission assemblies to output the same steering rotary motion so as to drive the two front wheel bodies to steer in the same direction through the two front wheel traversing parts, controls the rear wheel connecting and disconnecting assembly to enable the two rear wheel traversing parts to be connected, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output the same steering rotary motion so as to drive the two rear wheel bodies to steer in the same direction through the two rear wheel traversing parts; the steering direction of the front wheel body is the same as or different from the steering direction of the rear wheel body.
In one embodiment of the present invention, a method for manufacturing a semiconductor device,
when the vehicle is in a first running speed interval and the vehicle controller outputs a four-wheel steering instruction, the front wheel steering motor drives the front wheel traversing part to move in the same direction along the transverse direction through the front wheel steering transmission assembly and the rear wheel steering motor drives the rear wheel traversing part to move in the same direction along the transverse direction through the rear wheel steering transmission assembly;
when the vehicle is in a second running speed interval and the vehicle controller outputs a four-wheel steering instruction, the front wheel steering motor drives the front wheel traversing part to move in the same direction along the transverse direction through the front wheel steering transmission assembly, and the rear wheel steering motor drives the rear wheel traversing part to move along the transverse direction through the rear wheel steering transmission assembly;
the first travel speed interval is smaller than the second travel speed interval.
In one embodiment of the present invention, a method for manufacturing a semiconductor device,
the front wheel independent steering mechanism further includes: the front wheel steering system comprises a front wheel steering torque angle sensor, a front wheel steering motor and a front wheel steering control unit, wherein the front wheel steering torque angle sensor is connected with the electronic control unit of the front wheel steering motor and is used for acquiring the torque and the angle output by the front wheel steering transmission assembly;
The rear wheel independent steering mechanism further includes: the rear wheel torque and rotation angle sensor is connected with the electronic control unit of the rear wheel steering motor and is used for collecting the torque and rotation angle output by the rear wheel steering transmission assembly;
under the power-assisted steering function, when a vehicle controller outputs a zero-radius steering instruction to a steering domain controller, the front wheel torque and angle sensor acquires the first front wheel torque and the first front wheel angle of a front wheel steering transmission assembly connected with a steering wheel and outputs the first front wheel torque and the first front wheel angle to an electronic control unit of a corresponding front wheel steering motor, the steering domain controller controls the other front wheel steering motor to drive the other front wheel steering transmission assembly corresponding to the other front wheel steering motor to output the torque and angle opposite to the first front wheel torque and the first front wheel angle, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output different steering rotary motions so as to enable the two front wheel bodies and the two rear wheel bodies to steer tangentially to the same circumference; when the vehicle controller outputs a four-wheel steering instruction to the steering domain controller, the front wheel torque and rotation angle sensor collects second front wheel torque and second front wheel rotation angle of the front wheel steering transmission assembly connected with the steering wheel and outputs the second front wheel torque and the second front wheel rotation angle to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the other front wheel steering motor to drive the other front wheel steering transmission assembly corresponding to the other front wheel steering motor to output torque and rotation angle which are the same as the second front wheel torque and the second front wheel rotation angle; the steering domain controller outputs a first expected rear wheel steering angle through the second front wheel torque and the second front wheel steering angle, and controls the two rear wheel steering motors to respectively drive the two rear wheel steering transmission assemblies to output rotary motions which are the same as the second front wheel torque and the second front wheel steering angle according to the first expected rear wheel steering angle so as to enable the steering angle of the rear wheel body to be the first expected rear wheel steering angle;
Under the active steering function, when a vehicle controller outputs a zero-radius steering command to a steering domain controller, the steering domain controller controls two front wheel steering motors to respectively drive two front wheel steering transmission assemblies to output different steering rotary motions so as to drive two front wheel bodies to steer in different directions through two front wheel traversing members, and controls two rear wheel steering motors to respectively drive two rear wheel steering transmission assemblies to output different steering rotary motions so as to drive two rear wheel bodies to steer in different directions through two rear wheel traversing members and enable the two front wheel bodies and the two rear wheel bodies to steer to be tangential to the same circumference; when the vehicle controller outputs a four-wheel steering instruction to the steering domain controller, the front wheel steering torque and angle sensor acquires the current torque and angle of the front wheel steering transmission assembly and outputs the current torque and angle to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the front wheel steering motor to drive the front wheel steering transmission assembly to output the torque and angle of the difference value according to the current torque and angle and the difference value of the expected torque and angle; the steering domain controller outputs a second expected rear wheel steering angle according to the expected torque and the steering angle, and controls the two rear wheel steering motors to respectively drive the two rear wheel steering transmission assemblies to output the same steering and torque rotation motions according to the second expected rear wheel steering angle so that the steering angle of the rear wheel body is the second expected rear wheel steering angle.
In one embodiment of the present invention, a method for manufacturing a semiconductor device,
the steering domain controller is further used for judging whether a front-wheel independent steering mechanism is in fault or not through an electronic control unit of the front-wheel steering motor, if the front-wheel independent steering mechanism is in fault, the vehicle controller is further used for outputting a front-wheel redundancy reconfiguration instruction to the steering domain controller, and the steering domain controller increases the output power of the other front-wheel steering motor according to the front-wheel redundancy reconfiguration instruction; or the steering domain controller is used for judging whether the independent steering mechanism of the rear wheel is faulty through the electronic control unit of the rear wheel steering motor, if the independent steering mechanism of the rear wheel is faulty, the vehicle controller is also used for outputting a rear wheel redundancy reconstruction instruction to the steering domain controller, and the steering domain controller increases the output power of the other rear wheel steering motor according to the rear wheel redundancy reconstruction instruction.
In one embodiment of the present invention, a method for manufacturing a semiconductor device,
the front wheel independent steering mechanism further includes: the front wheel motor position sensor is connected with the electronic control unit of the front wheel steering motor and is used for collecting the position of a rotor in the front wheel steering motor so as to control the front wheel steering motor to commutate;
The rear wheel independent steering mechanism further includes: the rear wheel motor position sensor is connected with the electronic control unit of the rear wheel steering motor and is used for collecting the position of a rotor in the rear wheel steering motor so as to control the rear wheel steering motor to commutate.
In one embodiment of the present application, a method for manufacturing a semiconductor device,
the front wheel independent steering mechanism further includes: the front wheel current sensor is connected with the electronic control unit of the front wheel steering motor and is used for detecting the current of the front wheel steering motor;
the rear wheel independent steering mechanism further includes: and the rear wheel current sensor is connected with the electronic control unit of the rear wheel steering motor and is used for detecting the current of the rear wheel steering motor.
According to a second aspect of the present application, there is provided a vehicle steering method comprising the steps of:
the vehicle controller can output a zero-radius steering instruction or a four-wheel steering instruction to the steering domain controller;
when the vehicle controller outputs a zero-radius steering instruction, the steering domain controller controls the front wheel connection and disconnection assembly to disconnect the two front wheel transverse moving parts, the two front wheel steering motors respectively drive the two front wheel steering transmission assemblies to output rotary motions with different steering directions, so that the two front wheel bodies are driven to steer in different directions through the two front wheel transverse moving parts, the rear wheel connection and disconnection assembly is controlled to disconnect the two rear wheel transverse moving parts, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output rotary motions with different steering directions, so that the two rear wheel bodies are driven to steer in different directions through the two rear wheel transverse moving parts; the two front wheel bodies and the two rear wheel bodies turn to be tangential to the same circumference;
When the vehicle controller outputs a four-wheel steering instruction, the steering domain controller controls the front wheel connecting and disconnecting assembly to enable the two front wheel traversing parts to be connected, the two front wheel steering motors respectively drive the two front wheel steering transmission assemblies to output the same steering rotary motion so as to drive the two front wheel bodies to steer in the same direction through the two front wheel traversing parts, and controls the rear wheel connecting and disconnecting assembly to enable the two rear wheel traversing parts to be connected, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output the same steering rotary motion so as to drive the two rear wheel bodies to steer in the same direction through the two rear wheel traversing parts; the steering direction of the front wheel body is the same as or different from the steering direction of the rear wheel body.
In one embodiment of the present invention, a method for manufacturing a semiconductor device,
when the vehicle is in a first running speed interval and the vehicle controller outputs a four-wheel steering instruction, the front wheel steering motor drives the front wheel traversing part to move in the same direction along the transverse direction through the front wheel steering transmission assembly and the rear wheel steering motor drives the rear wheel traversing part to move in the same direction along the transverse direction through the rear wheel steering transmission assembly;
when the vehicle is in a second running speed interval and the vehicle controller outputs a four-wheel steering instruction, the front wheel steering motor drives the front wheel traversing part to move in the same direction along the transverse direction through the front wheel steering transmission assembly, and the rear wheel steering motor drives the rear wheel traversing part to move along the transverse direction through the rear wheel steering transmission assembly;
The first travel speed interval is smaller than the second travel speed interval.
In one embodiment of the present invention, a method for manufacturing a semiconductor device,
under the power-assisted steering function, when a vehicle controller outputs a zero-radius steering instruction to a steering domain controller, the front wheel torque and angle sensor acquires the first front wheel torque and the first front wheel angle of a front wheel steering transmission assembly connected with a steering wheel and outputs the first front wheel torque and the first front wheel angle to an electronic control unit of a corresponding front wheel steering motor, the steering domain controller controls the other front wheel steering motor to drive the other front wheel steering transmission assembly corresponding to the other front wheel steering motor to output the torque and angle opposite to the first front wheel torque and the first front wheel angle, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output different steering rotary motions so as to enable the two front wheel bodies and the two rear wheel bodies to steer tangentially to the same circumference; when the vehicle controller outputs a four-wheel steering instruction to the steering domain controller, the front wheel torque and rotation angle sensor collects second front wheel torque and second front wheel rotation angle of the front wheel steering transmission assembly connected with the steering wheel and outputs the second front wheel torque and the second front wheel rotation angle to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the other front wheel steering motor to drive the other front wheel steering transmission assembly corresponding to the other front wheel steering motor to output torque and rotation angle which are the same as the second front wheel torque and the second front wheel rotation angle; the steering domain controller outputs a first expected rear wheel steering angle through the second front wheel torque and the second front wheel steering angle, and controls the two rear wheel steering motors to respectively drive the two rear wheel steering transmission assemblies to output rotary motions which are the same as the second front wheel torque and the second front wheel steering angle according to the first expected rear wheel steering angle so as to enable the steering angle of the rear wheel body to be the first expected rear wheel steering angle;
Under the active steering function, when a vehicle controller outputs a zero-radius steering command to a steering domain controller, the steering domain controller controls two front wheel steering motors to respectively drive two front wheel steering transmission assemblies to output different steering rotary motions so as to drive two front wheel bodies to steer in different directions through two front wheel traversing members, and controls two rear wheel steering motors to respectively drive two rear wheel steering transmission assemblies to output different steering rotary motions so as to drive two rear wheel bodies to steer in different directions through two rear wheel traversing members and enable the two front wheel bodies and the two rear wheel bodies to steer to be tangential to the same circumference; when the vehicle controller outputs a four-wheel steering instruction to the steering domain controller, the front wheel steering torque and angle sensor acquires the current torque and angle of the front wheel steering transmission assembly and outputs the current torque and angle to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the front wheel steering motor to drive the front wheel steering transmission assembly to output the torque and angle of the difference value according to the current torque and angle and the difference value of the expected torque and angle; the steering domain controller outputs a second expected rear wheel steering angle according to the expected torque and the steering angle, and controls the two rear wheel steering motors to respectively drive the two rear wheel steering transmission assemblies to output the same steering and torque rotation motions according to the second expected rear wheel steering angle so that the steering angle of the rear wheel body is the second expected rear wheel steering angle.
In one embodiment, the steering domain controller may further determine, by the electronic control unit of the front-wheel steering motor, whether the front-wheel independent steering mechanism is faulty, and if a front-wheel independent steering mechanism is faulty, the vehicle controller is further configured to output a front-wheel redundancy reconfiguration instruction to the steering domain controller, where the steering domain controller increases the output power of the other front-wheel steering motor according to the front-wheel redundancy reconfiguration instruction; or the steering domain controller is used for judging whether the independent steering mechanism of the rear wheel is faulty through the electronic control unit of the steering motor of the rear wheel, and if one independent steering mechanism of the rear wheel is faulty, the vehicle controller is also used for outputting a rear wheel redundancy reconstruction instruction to the steering domain controller, and the steering domain controller increases the output power of the other steering motor of the rear wheel according to the rear wheel redundancy reconstruction instruction.
According to the steering system and the steering method of the embodiment, multi-mode and multi-functional steering functions such as a zero-radius steering mode or a four-wheel steering mode can be realized, the power-assisted steering function or the active steering function can be realized in the zero-radius steering mode and the four-wheel steering mode, the steering domain controller judges whether the independent front wheel steering mechanism is faulty or not through the electronic control unit of the front wheel steering motor, judges whether the independent rear wheel steering mechanism is faulty or not through the electronic control unit of the rear wheel steering motor, and can output a front wheel redundancy reconstruction instruction when the independent front wheel steering mechanism is faulty, and can output a rear wheel redundancy reconstruction instruction when the independent rear wheel steering mechanism is faulty, so that the high redundancy steering function is realized, and the running safety of a vehicle is improved.
Drawings
FIG. 1 is a block diagram of a vehicle steering system according to the present application;
FIG. 2 is a schematic view of a front wheel steering apparatus in a vehicle steering system according to the present application;
FIG. 3 is a schematic illustration of a vehicle steering system in a zero radius steering mode provided by the present application;
FIG. 4 is a schematic diagram I of a vehicle steering system in a four-wheel steering mode;
FIG. 5 is a schematic diagram II of the vehicle steering system in a four-wheel steering mode;
fig. 6 is a flow chart of a vehicle steering method provided by the application.
Detailed Description
The application will be described in further detail below with reference to the drawings by means of specific embodiments. Wherein like elements in different embodiments are numbered alike in association. In the following embodiments, numerous specific details are set forth in order to provide a better understanding of the present application. However, one skilled in the art will readily recognize that some of the features may be omitted, or replaced by other elements, materials, or methods in different situations. In some instances, related operations of the present application have not been shown or described in the specification in order to avoid obscuring the core portions of the present application, and may be unnecessary to persons skilled in the art from a detailed description of the related operations, which may be presented in the description and general knowledge of one skilled in the art.
Furthermore, the described features, operations, or characteristics of the description may be combined in any suitable manner in various embodiments. Also, various steps or acts in the method descriptions may be interchanged or modified in a manner apparent to those of ordinary skill in the art. Thus, the various orders in the description and drawings are for clarity of description of only certain embodiments, and are not meant to be required orders unless otherwise indicated.
The numbering of the components itself, e.g. "first", "second", etc., is used herein merely to distinguish between the described objects and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated.
Embodiment 1,
Referring to fig. 1 to 5, a vehicle steering system according to the present embodiment includes: a front wheel steering device 10, a rear wheel steering device 20, a steering domain controller 30, and a vehicle controller 40.
The front wheel steering apparatus 10 includes: a front wheel connection and disconnection assembly 11, two front wheel traversing members 12, and two front wheel independent steering mechanisms. The vehicle 100 has two front wheel bodies 101, and two wheels located on the front side of the vehicle 100 in the longitudinal direction of the vehicle 100 are the front wheel bodies 101, and in this embodiment, the two front wheel bodies 101 are driven to rotate by an in-wheel motor to drive the vehicle 100 to run. The two front-wheel traversing members 12 are for connection with the two front-wheel bodies 101, respectively, and both the front-wheel traversing members 12 are movable in the lateral direction, which is the same as the width direction of the vehicle 100. The two front-wheel traversing members 12 that move in the lateral direction can drive the front-wheel body 101 to turn.
The front wheel connecting and disconnecting assembly 11 is used for connecting the two front wheel traversing members 12 so that the two front wheel traversing members 12 move in the same direction in the lateral direction, or the front wheel connecting and disconnecting assembly 11 is used for disconnecting the two front wheel traversing members 12 so that the two front wheel traversing members 12 can move in the same direction or different directions in the lateral direction. Specifically, the two front wheel traversing members 12 move in the same direction along the transverse direction, so that the two front wheel bodies 101 can be driven to turn left or right at the same time, and the two front wheel traversing members 12 move in different directions along the transverse direction, so that the two front wheel bodies 101 can be driven to turn left or right respectively. More specifically, taking the example shown in fig. 1, both the front-wheel traversing members 12 move leftward in the lateral direction, and both the front-wheel bodies 101 turn leftward; the two front wheel traversing members 12 each move rightward in the lateral direction, and the two front wheel bodies 101 each turn rightward; the two front-wheel traversing members 12 move leftward or rightward in the lateral direction, respectively, and the two front-wheel bodies 101 turn leftward or rightward, respectively.
The two front-wheel independent steering mechanisms are respectively connected with the two front-wheel traversing members 12, and each front-wheel independent steering mechanism comprises: the front wheel steering motor 13 and the front wheel steering transmission assembly 14, the front wheel steering motor 13 is connected to the front wheel steering transmission assembly 14, and the front wheel steering transmission assembly 14 is connected to the front wheel traverse 12. The front wheel steering motor 13 is configured to drive the front wheel steering transmission assembly 14 to output a rotational motion, and the front wheel traversing member 12 is configured to convert the rotational motion output by the front wheel steering transmission assembly 14 into a lateral movement in a lateral direction, thereby powering the movement of the front wheel traversing member 12 in the lateral direction through the front wheel steering motor 13. The front wheel steering motor 13 has an electronic control unit 15.
The rear wheel steering device 20 includes: the rear wheel connect-disconnect assembly 21, two rear wheel traverse members 22, and two rear wheel independent steering mechanisms. The vehicle 100 further has two rear wheel bodies 102, and two vehicles located at the rear side of the vehicle 100 in the length direction of the vehicle 100 are the rear wheel bodies 102, and in this embodiment, the two rear wheel bodies 102 can be driven to rotate by an in-wheel motor to drive the vehicle 100 to run. The two rear wheel lateral members 22 are for connection with the two rear wheel bodies 102, respectively, and both the rear wheel lateral members 22 are movable in the lateral direction, which is also the same as the width direction of the vehicle 100. The two rear-wheel traversing members 22 moving in the transverse direction can steer the rear-wheel body 102.
The rear wheel connecting and disconnecting assembly 21 is used for connecting the two rear wheel traversing members 22 so that the two rear wheel traversing members 22 move in the same direction in the lateral direction, or the rear wheel connecting and disconnecting assembly 21 is used for disconnecting the two rear wheel traversing members 22 so that the two rear wheel traversing members 22 can move in the same direction or different directions in the lateral direction. Specifically, the two rear-wheel traversing members 22 move in the same direction along the transverse direction, so that the two rear-wheel bodies 102 can be driven to turn left or right at the same time, and the two rear-wheel traversing members 22 move in different directions along the transverse direction, so that the two rear-wheel bodies 102 can be driven to turn left or right respectively. More specifically, taking the example shown in fig. 1, both rear wheel traverse members 22 move leftward in the lateral direction, and both rear wheel bodies 102 turn leftward; the two rear wheel traverse members 22 each move rightward in the lateral direction, and the two rear wheel bodies 102 each turn rightward; the two rear wheel-traversing members 22 move leftward or rightward in the lateral direction, respectively, and the two rear wheel bodies 102 turn leftward or rightward, respectively.
The two rear-wheel independent steering mechanisms are respectively connected with the two rear-wheel traversing members 22, and each rear-wheel independent steering mechanism comprises: the rear wheel steering motor 23 and the rear wheel steering transmission assembly 24, the rear wheel steering motor 23 is connected to the rear wheel steering transmission assembly 24, and the rear wheel steering transmission assembly 24 is connected to the rear wheel traverse 22. The rear wheel steering motor 23 is configured to drive the rear wheel steering transmission assembly 24 to output a rotational motion, and the rear wheel traversing member 22 is configured to convert the rotational motion output by the rear wheel steering transmission assembly 24 into a lateral movement in a lateral direction, thereby powering the lateral movement of the rear wheel traversing member 22 in the lateral direction through the rear wheel steering motor 23. The rear wheel steering motor 23 has an electronic control unit 25.
The steering field controller 30 is connected to the electronic control units 15 of the two front-wheel steering motors 13, the electronic control units 25 of the two rear-wheel steering motors 23, the front-wheel connect-disconnect assemblies 11, and the rear-wheel connect-disconnect assemblies 21.
In an embodiment, the vehicle steering system provided in the present embodiment may further include: and a temperature sensor for detecting the operating temperature of the steering domain controller 30, and when the operating temperature is higher than the preset rated operating temperature, the steering domain controller can be cooled by setting a corresponding cooling mechanism such as a fan.
The vehicle controller 40 is connected to the steering field controller 30, and the vehicle controller 40 is configured to output a zero-radius steering command or a four-wheel steering command to the steering field controller 30.
When the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the steering domain controller 30 controls the front wheel connection disconnection assembly 11 to disconnect the two front wheel traversing members 12, the steering domain controller 30 controls the two front wheel steering motors 13 through the electronic control unit 15 of the front wheel steering motor 13 to respectively drive the two front wheel steering transmission assemblies 14 to output different steering rotary motions, and further can drive the two front wheel traversing members 12 to transversely move in different directions so as to drive the two front wheel bodies 101 to differently steer through the two front wheel traversing members 12, the steering domain controller 30 controls the rear wheel connection disconnection assembly 21 to disconnect the two rear wheel traversing members 22, and the steering domain controller 30 controls the two rear wheel steering motors 23 through the electronic control unit 25 of the rear wheel steering motor 23 to respectively drive the two rear wheel steering transmission assemblies 24 to output different steering rotary motions, and further can drive the two rear wheel traversing members 22 to transversely move in different directions so as to drive the two rear wheel bodies 102 to differently steer through the two rear wheel traversing members 22. In the present embodiment, the two front wheel bodies 101 and the two rear wheel bodies 102 turn to be tangential to the same circumference. The vehicle controller 40 controls the in-wheel motor of each front wheel body 101 to drive the front wheel body 101 to rotate, and controls the in-wheel motor of the rear wheel body 102 to drive the rear wheel body 102 to rotate, thereby rotating along the circumference, realizing a zero-radius steering function, i.e., in-situ steering, to meet the special steering requirement.
When the vehicle controller 40 outputs a four-wheel steering instruction to the steering domain controller 30, the steering domain controller 30 controls the front wheel connection and disconnection assembly 11 to connect the two front wheel traversing members 12, the steering domain controller 30 controls the two front wheel steering motors 13 through the electronic control unit 15 of the front wheel steering motor 13 to respectively drive the two front wheel steering transmission assemblies 14 to output the same steering rotary motion, and further can drive the two rear wheel traversing members 22 to traverse in the same direction in the transverse direction, so that the two front wheel bodies 101 are driven to steer in the same direction through the two front wheel traversing members 12, the steering domain controller 30 controls the rear wheel connection and disconnection assembly 21 to connect the two rear wheel traversing members 22, and the steering domain controller 30 controls the two rear wheel steering motors 23 through the electronic control unit 25 of the rear wheel steering motor 23 to respectively drive the two rear wheel steering transmission assemblies 24 to output the same steering rotary motion, and further can drive the two rear wheel traversing members 22 to traverse in the same direction in the transverse direction, so that the two rear wheel bodies 102 are driven to traverse in the same direction through the two rear wheel traversing members 22. In this embodiment, the steering direction of the front wheel body 101 is the same as or different from the steering direction of the rear wheel body 102, and under the same condition, the front wheel body 101 and the rear wheel body 102 are both steered to the left or to the right, and under the different condition, the front wheel body 101 is steered to the left and the rear wheel body 102 is steered to the right, or the front wheel body 101 is steered to the right and the rear wheel body 102 is steered to the left, so as to meet the high-speed driving requirement.
When the vehicle 100 is in the first travel speed section and the vehicle controller 40 outputs a four-wheel steering command, the front-wheel steering motor 13 drives the front-wheel traversing member 12 to move in the lateral direction through the front-wheel steering transmission assembly 14 in the same direction as the rear-wheel steering motor 23 drives the rear-wheel traversing member 22 to move in the lateral direction through the rear-wheel steering transmission assembly 24 in the opposite direction. That is, when the vehicle 100 is in the first travel speed section, the steering directions of the two front wheel bodies 101 are opposite to the steering directions of the two rear wheel bodies 102. When the vehicle 100 is in the second travel speed section and the vehicle controller 40 outputs a four-wheel steering command, the front-wheel steering motor 13 drives the front-wheel traversing member 12 through the front-wheel steering transmission assembly 14 in the same direction as the rear-wheel steering motor 23 drives the rear-wheel traversing member 22 through the rear-wheel steering transmission assembly 24 in the lateral direction. That is, when the vehicle 100 is in the second travel speed section, the steering directions of the two front wheel bodies 101 are the same as the steering directions of the two rear wheel bodies 102.
In this embodiment, the first travel speed section is smaller than the second travel speed section. It is understood that the first travel speed section is a low speed travel state of the vehicle 100, and the second travel speed section is a high speed travel state of the vehicle 100.
In this embodiment, the front-wheel independent steering mechanism further includes: the front wheel torque and rotation angle sensor is connected with the electronic control unit 15 of the front wheel steering motor 13 and is used for collecting the torque and rotation angle output by the front wheel steering transmission assembly 14. The rear wheel independent steering mechanism further includes: the rear wheel torque/rotation angle sensor is connected with the electronic control unit 25 of the rear wheel steering motor 23, and the rear wheel torque/rotation angle sensor is used for acquiring the torque and rotation angle output by the rear wheel steering transmission assembly 24.
The vehicle 100 also has a steering wheel 103, the steering wheel 103 being connected to the front wheel steering transmission assembly 14 in one of the front wheel steering mechanisms. In the power steering function, that is, in the manual driving mode of the vehicle 100, when the vehicle controller 40 outputs a zero-radius steering command to the steering field controller 30, the front wheel torque angle sensor collects a first front wheel torque and a first front wheel angle of the front wheel steering transmission assembly 14 connected to the steering wheel 103 and outputs the first front wheel torque and the first front wheel angle to the electronic control unit 15 of the corresponding front wheel steering motor 13, the steering field controller 30 controls the other front wheel steering motor 13 to drive the other front wheel steering transmission assembly 14 corresponding to the front wheel steering motor 13 to output a torque and an angle opposite to the first front wheel torque and the first front wheel angle, and the two rear wheel steering motors 23 respectively drive the two rear wheel steering transmission assemblies 24 to output different steering rotational motions so that the two front wheel bodies 101 and the two rear wheel bodies 102 are steered to be tangential to the same circumference. When the vehicle controller 40 outputs a four-wheel steering instruction to the steering field controller 30, the front wheel torque and rotation angle sensor collects the second front wheel torque and rotation angle of the front wheel steering transmission assembly 14 connected to the steering wheel and outputs them to the electronic control unit 15 of the corresponding front wheel steering motor 13, and the steering field controller 30 controls the other front wheel steering motor 13 to drive the other front wheel steering transmission assembly 14 corresponding thereto to output the same torque and rotation angle as the second front wheel torque and rotation angle of the second front wheel, thereby controlling the two front wheel bodies 101 to steer in the same direction. The steering field controller 30 outputs a first desired rear wheel steering angle through the second front wheel torque and the second front wheel steering angle, and the steering field controller 30 controls the two rear wheel steering motors 23 to drive the two rear wheel steering assemblies 24 to output rotational motions identical to the second front wheel torque and the second front wheel steering angle, respectively, according to the first desired rear wheel steering angle so that the steering angle of the rear wheel body 102 is the first desired rear wheel steering angle.
Under the active steering function, when the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the steering domain controller 30 controls the two front wheel steering motors 13 to respectively drive the two front wheel steering transmission assemblies 14 to output different steering rotational motions so as to drive the two front wheel bodies 101 to steer differently through the two front wheel traversing members 12, and the steering domain controller 30 controls the two rear wheel steering motors 23 to respectively drive the two rear wheel steering transmission assemblies 24 to output different steering rotational motions so as to drive the two rear wheel bodies 102 to steer differently through the two rear wheel traversing members 22 and steer the two front wheel bodies 101 and the two rear wheel bodies 102 tangentially to the same circumference. When the vehicle controller 40 outputs a four-wheel steering instruction to the steering field controller 30, the front wheel torque and rotation angle sensor collects the current torque and rotation angle of the front wheel steering transmission assembly 14 and outputs to the electronic control unit 15 of the corresponding front wheel steering motor 13, and the steering field controller 30 controls the front wheel steering motor 13 to drive the front wheel steering transmission assembly 14 to output the torque and rotation angle of the difference value according to the current torque and rotation angle and the difference value of the expected torque and rotation angle, thereby compensating for the steering of the two front wheel bodies 101. The steering field controller 30 outputs a second desired rear wheel steering angle according to the desired torque and steering angle, and the steering field controller 30 controls the two rear wheel steering motors 23 according to the second desired rear wheel steering angle to drive the two rear wheel steering gear assemblies 24 to output rotational motions of the same steering and torque, respectively, so that the steering angle of the rear wheel body 102 is the second desired rear wheel steering angle.
In an embodiment, the steering domain controller 30 is further configured to determine whether the front-wheel independent steering mechanism is faulty through the electronic control unit 15 of the front-wheel steering motor 13, and if one front-wheel independent steering mechanism is faulty, the vehicle controller 40 is further configured to output a front-wheel redundancy reconfiguration instruction to the steering domain controller 30, where the steering domain controller 30 increases the output power of the other front-wheel steering motor according to the front-wheel redundancy reconfiguration instruction, so that the other front-wheel steering motor drives the two front-wheel bodies to steer, thereby implementing the intended front-wheel steering function. Or, the steering domain controller 30 is configured to determine whether the independent rear wheel steering mechanism is faulty through the electronic control unit 25 of the rear wheel steering motor 23, and if one independent rear wheel steering mechanism is faulty, the vehicle controller 40 is further configured to output a rear wheel redundancy reconfiguration instruction to the steering domain controller 30, where the steering domain controller 30 increases the output power of the other rear wheel steering motor according to the rear wheel redundancy reconfiguration instruction, so that the other rear wheel steering motor drives the two front wheel bodies to steer, thereby implementing the intended rear wheel steering function.
In the present embodiment, when the steering field controller 30 determines that both the two front-wheel independent steering mechanisms and the two rear-wheel independent steering mechanisms are malfunctioning, and the steering field controller turns the vehicle to a zero-radius steering, the vehicle is stopped.
The steering field controller 30 determines whether the front wheel steering mechanism is faulty through the electronic control unit 15 of the front wheel steering motor 13 to connect the two front wheel traversing members 12 at the time of the fault, and determines whether the rear wheel steering mechanism is faulty through the electronic control unit 25 of the rear wheel steering motor 23 to connect the two rear wheel traversing members 22 at the time of the fault, thereby improving the safety of the own vehicle steering system.
In one embodiment, the front wheel independent steering mechanism further comprises: the front wheel motor position sensor is connected with the electronic control unit 15 of the front wheel steering motor 13, and is used for collecting the position of a rotor in the front wheel steering motor 13 so as to control the front wheel steering motor 13 to change phases and further control the two front wheel traversing members 12 to work independently. The rear wheel independent steering mechanism further includes: the rear wheel motor position sensor is connected with the electronic control unit 25 of the rear wheel steering motor 23, and is used for collecting the position of a rotor in the rear wheel steering motor 23 so as to control the rear wheel steering motor 23 to change phases and further control the two traversing parts 22 to work independently.
In one embodiment, the front wheel independent steering mechanism further comprises: the front wheel current sensor is connected to the electronic control unit 15 of the front wheel steering motor 13 for detecting the current of the front wheel steering motor 13 to control the output torque of the front wheel steering motor 13, i.e., to control the rotational speed of the front wheel body 101. The rear wheel independent steering mechanism further includes: the rear wheel current sensor is connected with the electronic control unit 25 of the rear wheel steering motor 23 for detecting the current of the rear wheel steering motor 23 to control the output torque of the rear wheel steering motor 23, i.e., to control the rotational speed of the rear wheel body 102.
In this embodiment, the front wheel connecting and disconnecting assembly 11 and the rear wheel connecting and disconnecting assembly 21 are both electromagnetic lock pin assemblies, and the front wheel connecting and disconnecting assembly 11 is exemplified as shown in fig. 1, and the front wheel connecting and disconnecting assembly 11 includes: the electromagnetic module 111, elastic reset piece 112 and spring bolt 113, electromagnetic module 111 installs on one of them front wheel sideslip piece 12, elastic reset piece 112 installs on electromagnetic module 111, spring bolt 113 installs on elastic reset piece 112, be provided with the lockhole on another front wheel sideslip piece 12, when lockhole and the position of spring bolt 113 are positive, electromagnetic module 111 is under the outage state, spring bolt 113 moves into the lockhole through elastic reset piece 112, in order to connect two front wheel sideslip pieces 12, electromagnetic module 111 is under the switch-on state, produce electromagnetic suction to spring bolt 113, so that spring bolt 113 overcomes elastic force of elastic reset piece 112, thereby spring bolt 113 shifts out the lockhole, in order to break two front wheel sideslip pieces 12.
In this embodiment, the two front wheel traversing members 12 and the two rear wheel traversing members 22 are both configured as racks, and the front wheel rotation transmission assembly 14 and the rear wheel rotation transmission assembly 24 are both gear assemblies.
Embodiment II,
Referring to fig. 6, the present embodiment provides a vehicle steering method including the steps of:
the ignition of the vehicle is started up by power-on,
the vehicle controller 40 may output a zero-radius steering command or a four-wheel steering command to the steering domain controller 30.
When the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the steering domain controller 30 controls the front wheel connection disconnection assembly 11 to disconnect the two front wheel traversing members 12, the steering domain controller 30 controls the two front wheel steering motors 13 through the electronic control unit 15 of the front wheel steering motor 13 to respectively drive the two front wheel steering transmission assemblies 14 to output different steering rotary motions, and further can drive the two front wheel traversing members 12 to transversely move in different directions so as to drive the two front wheel bodies 101 to differently steer through the two front wheel traversing members 12, the steering domain controller 30 controls the rear wheel connection disconnection assembly 21 to disconnect the two rear wheel traversing members 22, and the steering domain controller 30 controls the two rear wheel steering motors 23 through the electronic control unit 25 of the rear wheel steering motor 23 to respectively drive the two rear wheel steering transmission assemblies 24 to output different steering rotary motions, and further can drive the two rear wheel traversing members 22 to transversely move in different directions so as to drive the two rear wheel bodies 102 to differently steer through the two rear wheel traversing members 22. In the present embodiment, the two front wheel bodies 101 and the two rear wheel bodies 102 turn to be tangential to the same circumference. The vehicle controller 40 controls the in-wheel motor of each front wheel body 101 to drive the front wheel body 101 to rotate, and controls the in-wheel motor of the rear wheel body 102 to drive the rear wheel body 102 to rotate, thereby rotating along the circumference, realizing a zero-radius steering function, i.e., in-situ steering, to meet the special steering requirement.
When the vehicle controller 40 outputs a four-wheel steering instruction to the steering domain controller 30, the steering domain controller 30 controls the front wheel connection and disconnection assembly 11 to connect the two front wheel traversing members 12, the steering domain controller 30 controls the two front wheel steering motors 13 through the electronic control unit 15 of the front wheel steering motor 13 to respectively drive the two front wheel steering transmission assemblies 14 to output the same steering rotary motion, and further can drive the two rear wheel traversing members 22 to traverse in the same direction in the transverse direction, so that the two front wheel bodies 101 are driven to steer in the same direction through the two front wheel traversing members 12, the steering domain controller 30 controls the rear wheel connection and disconnection assembly 21 to connect the two rear wheel traversing members 22, and the steering domain controller 30 controls the two rear wheel steering motors 23 through the electronic control unit 25 of the rear wheel steering motor 23 to respectively drive the two rear wheel steering transmission assemblies 24 to output the same steering rotary motion, and further can drive the two rear wheel traversing members 22 to traverse in the same direction in the transverse direction, so that the two rear wheel bodies 102 are driven to traverse in the same direction through the two rear wheel traversing members 22. In this embodiment, the steering direction of the front wheel body 101 is the same as or different from the steering direction of the rear wheel body 102, and under the same condition, the front wheel body 101 and the rear wheel body 102 are both steered to the left or to the right, and under the different condition, the front wheel body 101 is steered to the left and the rear wheel body 102 is steered to the right, or the front wheel body 101 is steered to the right and the rear wheel body 102 is steered to the left, so as to meet the high-speed driving requirement.
When the vehicle 100 is in the first travel speed section and the vehicle controller 40 outputs a four-wheel steering command, the front-wheel steering motor 13 drives the front-wheel traversing member 12 to move in the lateral direction through the front-wheel steering transmission assembly 14 in the same direction as the rear-wheel steering motor 23 drives the rear-wheel traversing member 22 to move in the lateral direction through the rear-wheel steering transmission assembly 24 in the opposite direction. That is, when the vehicle 100 is in the first travel speed section, the steering directions of the two front wheel bodies 101 are opposite to the steering directions of the two rear wheel bodies 102. When the vehicle 100 is in the second travel speed section and the vehicle controller 40 outputs a four-wheel steering command, the front-wheel steering motor 13 drives the front-wheel traversing member 12 through the front-wheel steering transmission assembly 14 in the same direction as the rear-wheel steering motor 23 drives the rear-wheel traversing member 22 through the rear-wheel steering transmission assembly 24 in the lateral direction. That is, when the vehicle 100 is in the second travel speed section, the steering directions of the two front wheel bodies 101 are the same as the steering directions of the two rear wheel bodies 102.
In this embodiment, the first travel speed section is smaller than the second travel speed section. It is understood that the first travel speed section is a low speed travel state of the vehicle 100, and the second travel speed section is a high speed travel state of the vehicle 100.
In the power steering function, that is, in the manual driving mode of the vehicle 100, when the vehicle controller 40 outputs a zero-radius steering command to the steering field controller 30, the front wheel torque angle sensor collects a first front wheel torque and a first front wheel angle of the front wheel steering transmission assembly 14 connected to the steering wheel 103 and outputs the first front wheel torque and the first front wheel angle to the electronic control unit 15 of the corresponding front wheel steering motor 13, the steering field controller 30 controls the other front wheel steering motor 13 to drive the other front wheel steering transmission assembly 14 corresponding to the front wheel steering motor 13 to output a torque and an angle opposite to the first front wheel torque and the first front wheel angle, and the two rear wheel steering motors 23 respectively drive the two rear wheel steering transmission assemblies 24 to output different steering rotational motions so that the two front wheel bodies 101 and the two rear wheel bodies 102 are steered to be tangential to the same circumference. When the vehicle controller 40 outputs a four-wheel steering instruction to the steering field controller 30, the front wheel torque and rotation angle sensor collects the second front wheel torque and rotation angle of the front wheel steering transmission assembly 14 connected to the steering wheel and outputs them to the electronic control unit 15 of the corresponding front wheel steering motor 13, and the steering field controller 30 controls the other front wheel steering motor 13 to drive the other front wheel steering transmission assembly 14 corresponding thereto to output the same torque and rotation angle as the second front wheel torque and rotation angle of the second front wheel, thereby controlling the two front wheel bodies 101 to steer in the same direction. The steering field controller 30 outputs a first desired rear wheel steering angle through the second front wheel torque and the second front wheel steering angle, and the steering field controller 30 controls the two rear wheel steering motors 23 to drive the two rear wheel steering assemblies 24 to output rotational motions identical to the second front wheel torque and the second front wheel steering angle, respectively, according to the first desired rear wheel steering angle so that the steering angle of the rear wheel body 102 is the first desired rear wheel steering angle.
Under the active steering function, when the vehicle controller 40 outputs a zero-radius steering command to the steering domain controller 30, the steering domain controller 30 controls the two front wheel steering motors 13 to respectively drive the two front wheel steering transmission assemblies 14 to output different steering rotational motions so as to drive the two front wheel bodies 101 to steer differently through the two front wheel traversing members 12, and the steering domain controller 30 controls the two rear wheel steering motors 23 to respectively drive the two rear wheel steering transmission assemblies 24 to output different steering rotational motions so as to drive the two rear wheel bodies 102 to steer differently through the two rear wheel traversing members 22 and steer the two front wheel bodies 101 and the two rear wheel bodies 102 tangentially to the same circumference. When the vehicle controller 40 outputs a four-wheel steering instruction to the steering field controller 30, the front wheel torque and rotation angle sensor collects the current torque and rotation angle of the front wheel steering transmission assembly 14 and outputs to the electronic control unit 15 of the corresponding front wheel steering motor 13, and the steering field controller 30 controls the front wheel steering motor 13 to drive the front wheel steering transmission assembly 14 to output the torque and rotation angle of the difference value according to the current torque and rotation angle and the difference value of the expected torque and rotation angle, thereby compensating for the steering of the two front wheel bodies 101. The steering field controller 30 outputs a second desired rear wheel steering angle according to the desired torque and steering angle, and the steering field controller 30 controls the two rear wheel steering motors 23 according to the second desired rear wheel steering angle to drive the two rear wheel steering gear assemblies 24 to output rotational motions of the same steering and torque, respectively, so that the steering angle of the rear wheel body 102 is the second desired rear wheel steering angle.
In this embodiment, the steering domain controller 30 is further configured to determine whether the front-wheel independent steering mechanism is faulty through the electronic control unit 15 of the front-wheel steering motor 13, and if one front-wheel independent steering mechanism is faulty, the vehicle controller 40 is further configured to output a front-wheel redundancy reconfiguration instruction to the steering domain controller 30, where the steering domain controller 30 increases the output power of the other front-wheel steering motor according to the front-wheel redundancy reconfiguration instruction, so that the other front-wheel steering motor drives the two front-wheel bodies to steer, thereby implementing the intended front-wheel steering function. Or, the steering domain controller 30 is configured to determine whether the independent rear wheel steering mechanism is faulty through the electronic control unit 25 of the rear wheel steering motor 23, and if one independent rear wheel steering mechanism is faulty, the vehicle controller 40 is further configured to output a rear wheel redundancy reconfiguration instruction to the steering domain controller 30, where the steering domain controller 30 increases the output power of the other rear wheel steering motor according to the rear wheel redundancy reconfiguration instruction, so that the other rear wheel steering motor drives the two front wheel bodies to steer, thereby implementing the intended rear wheel steering function.
In the present embodiment, when the steering field controller 30 determines that both the two front-wheel independent steering mechanisms and the two rear-wheel independent steering mechanisms are malfunctioning, and the steering field controller turns the vehicle to a zero-radius steering, the vehicle is stopped.
The steering field controller 30 determines whether the front wheel steering mechanism is faulty through the electronic control unit 15 of the front wheel steering motor 13 to connect the two front wheel traversing members 12 at the time of the fault, and determines whether the rear wheel steering mechanism is faulty through the electronic control unit 25 of the rear wheel steering motor 23 to connect the two rear wheel traversing members 22 at the time of the fault, thereby improving the safety of the own vehicle steering system.
In summary, the vehicle steering system and the steering method provided by the application can realize multi-mode and multi-functional steering functions such as a zero-radius steering mode or a four-wheel steering mode, and can realize a power-assisted steering function or an active steering function in both the zero-radius steering mode and the four-wheel steering mode, the steering domain controller judges whether the front wheel independent steering mechanism is faulty or not through the electronic control unit of the front wheel steering motor, judges whether the rear wheel independent steering mechanism is faulty or not through the electronic control unit of the rear wheel steering motor, and can output a front wheel redundancy reconstruction instruction when the front wheel independent steering mechanism is faulty, and can output a rear wheel redundancy reconstruction instruction when the rear wheel independent steering mechanism is faulty, so that the high redundancy steering function is realized, and the running safety of the vehicle is improved.
The foregoing description of the invention has been presented for purposes of illustration and description, and is not intended to be limiting. Several simple deductions, modifications or substitutions may also be made by a person skilled in the art to which the invention pertains, based on the idea of the invention.

Claims (6)

1. A vehicle steering system, comprising:
a front wheel steering apparatus comprising: the front wheels are connected with the disconnection assembly, the two front wheel traversing parts and the two front wheel independent steering mechanisms; the two front wheel transverse moving parts are used for being connected with the two front wheel bodies respectively, and can move along the transverse direction so as to drive the front wheel bodies to turn; the front wheel connection and disconnection assembly is used for connecting two front wheel traversing parts, and the two front wheel traversing parts move in the same direction along the transverse direction, or disconnect the two front wheel traversing parts, and the two front wheel traversing parts can move in the same direction or different directions along the transverse direction; the front wheel independent steering mechanism includes: the front wheel steering motor is connected with the front wheel steering transmission assembly, and the front wheel steering transmission assembly is connected with the front wheel traversing element; the front wheel steering motor is used for driving the front wheel steering transmission assembly to output rotary motion, and the front wheel traversing element is used for converting the rotary motion output by the front wheel steering transmission assembly into transverse motion along the transverse direction;
A rear wheel steering apparatus comprising: the rear wheels are connected with the disconnection assembly, the two rear wheel traversing parts and the two rear wheel independent steering mechanisms; the two rear wheel transverse moving parts are used for being connected with the two rear wheel bodies respectively, and can move along the transverse direction so as to drive the rear wheel bodies to turn; the rear wheel connection and disconnection assembly is used for connecting two rear wheel transverse moving parts, and the two rear wheel transverse moving parts move in the same direction along the transverse direction, or disconnect the two rear wheel transverse moving parts, and the two rear wheel transverse moving parts can move in the same direction or different directions along the transverse direction; the rear wheel independent steering mechanism includes: the rear wheel steering motor is connected with the rear wheel steering transmission assembly, and the rear wheel steering transmission assembly is connected with the rear wheel traversing element; the rear wheel steering motor is used for driving the rear wheel steering transmission assembly to output rotary motion, and the rear wheel traversing element is used for converting the rotary motion output by the rear wheel steering transmission assembly into transverse motion along the transverse direction;
a steering domain controller connected to the front wheel steering motor, the rear wheel steering motor, the front wheel connect-disconnect assembly, and the rear wheel connect-disconnect assembly;
The vehicle controller is connected with the steering domain controller and is used for outputting a zero-radius steering instruction or a four-wheel steering instruction to the steering domain controller;
when the vehicle controller outputs a zero-radius steering instruction, the steering domain controller controls the front wheel connection and disconnection assembly to disconnect the two front wheel traversing parts, the two front wheel steering motors respectively drive the two front wheel steering transmission assemblies to output different steering rotary motions so as to drive the two front wheel bodies to steer in different directions through the two front wheel traversing parts, controls the rear wheel connection and disconnection assembly to disconnect the two rear wheel traversing parts, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output different steering rotary motions so as to drive the two rear wheel bodies to steer in different directions through the two rear wheel traversing parts; the two front wheel bodies and the two rear wheel bodies turn to be tangential to the same circumference;
when the vehicle controller outputs a four-wheel steering instruction, the steering domain controller controls the front wheel connecting and disconnecting assembly to enable the two front wheel traversing parts to be connected, the two front wheel steering motors respectively drive the two front wheel steering transmission assemblies to output the same steering rotary motion so as to drive the two front wheel bodies to steer in the same direction through the two front wheel traversing parts, controls the rear wheel connecting and disconnecting assembly to enable the two rear wheel traversing parts to be connected, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output the same steering rotary motion so as to drive the two rear wheel bodies to steer in the same direction through the two rear wheel traversing parts; the steering direction of the front wheel body is the same as or different from the steering direction of the rear wheel body;
The front wheel independent steering mechanism further includes: the front wheel steering system comprises a front wheel steering torque angle sensor, a front wheel steering motor and a front wheel steering control unit, wherein the front wheel steering torque angle sensor is connected with the electronic control unit of the front wheel steering motor and is used for acquiring the torque and the angle output by the front wheel steering transmission assembly;
the rear wheel independent steering mechanism further includes: the rear wheel torque and rotation angle sensor is connected with the electronic control unit of the rear wheel steering motor and is used for collecting the torque and rotation angle output by the rear wheel steering transmission assembly;
under the power-assisted steering function, when a vehicle controller outputs a zero-radius steering instruction to a steering domain controller, the front wheel torque and angle sensor acquires the first front wheel torque and the first front wheel angle of a front wheel steering transmission assembly connected with a steering wheel and outputs the first front wheel torque and the first front wheel angle to an electronic control unit of a corresponding front wheel steering motor, the steering domain controller controls the other front wheel steering motor to drive the other front wheel steering transmission assembly corresponding to the other front wheel steering motor to output the torque and angle opposite to the first front wheel torque and the first front wheel angle, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output different steering rotary motions so as to enable the two front wheel bodies and the two rear wheel bodies to steer tangentially to the same circumference; when the vehicle controller outputs a four-wheel steering instruction to the steering domain controller, the front wheel torque and rotation angle sensor collects second front wheel torque and second front wheel rotation angle of the front wheel steering transmission assembly connected with the steering wheel and outputs the second front wheel torque and the second front wheel rotation angle to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the other front wheel steering motor to drive the other front wheel steering transmission assembly corresponding to the other front wheel steering motor to output torque and rotation angle which are the same as the second front wheel torque and the second front wheel rotation angle; the steering domain controller outputs a first expected rear wheel steering angle through the second front wheel torque and the second front wheel steering angle, and controls the two rear wheel steering motors to respectively drive the two rear wheel steering transmission assemblies to output rotary motions which are the same as the second front wheel torque and the second front wheel steering angle according to the first expected rear wheel steering angle so as to enable the steering angle of the rear wheel body to be the first expected rear wheel steering angle;
Under the active steering function, when a vehicle controller outputs a zero-radius steering command to a steering domain controller, the steering domain controller controls two front wheel steering motors to respectively drive two front wheel steering transmission assemblies to output different steering rotary motions so as to drive two front wheel bodies to steer in different directions through two front wheel traversing members, and controls two rear wheel steering motors to respectively drive two rear wheel steering transmission assemblies to output different steering rotary motions so as to drive two rear wheel bodies to steer in different directions through two rear wheel traversing members and enable the two front wheel bodies and the two rear wheel bodies to steer to be tangential to the same circumference; when the vehicle controller outputs a four-wheel steering instruction to the steering domain controller, the front wheel steering torque and angle sensor acquires the current torque and angle of the front wheel steering transmission assembly and outputs the current torque and angle to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the front wheel steering motor to drive the front wheel steering transmission assembly to output the torque and angle of the difference value according to the current torque and angle and the difference value of the expected torque and angle; the steering domain controller outputs a second expected rear wheel steering angle according to the expected torque and the steering angle, and controls the two rear wheel steering motors to respectively drive the two rear wheel steering transmission assemblies to output the same steering and torque rotation motions according to the second expected rear wheel steering angle so that the steering angle of the rear wheel body is the second expected rear wheel steering angle;
The steering domain controller is further used for judging whether a front-wheel independent steering mechanism is in fault or not through an electronic control unit of the front-wheel steering motor, if the front-wheel independent steering mechanism is in fault, the vehicle controller is further used for outputting a front-wheel redundancy reconfiguration instruction to the steering domain controller, and the steering domain controller increases the output power of the other front-wheel steering motor according to the front-wheel redundancy reconfiguration instruction; or the steering domain controller is used for judging whether the independent steering mechanism of the rear wheel is faulty through the electronic control unit of the rear wheel steering motor, if the independent steering mechanism of the rear wheel is faulty, the vehicle controller is also used for outputting a rear wheel redundancy reconstruction instruction to the steering domain controller, and the steering domain controller increases the output power of the other rear wheel steering motor according to the rear wheel redundancy reconstruction instruction.
2. A vehicle steering system according to claim 1, wherein,
when the vehicle is in a first running speed interval and the vehicle controller outputs a four-wheel steering instruction, the front wheel steering motor drives the front wheel traversing part to move in the same direction along the transverse direction through the front wheel steering transmission assembly and the rear wheel steering motor drives the rear wheel traversing part to move in the same direction along the transverse direction through the rear wheel steering transmission assembly;
When the vehicle is in a second running speed interval and the vehicle controller outputs a four-wheel steering instruction, the front wheel steering motor drives the front wheel traversing part to move in the same direction along the transverse direction through the front wheel steering transmission assembly, and the rear wheel steering motor drives the rear wheel traversing part to move along the transverse direction through the rear wheel steering transmission assembly;
the first travel speed interval is smaller than the second travel speed interval.
3. A vehicle steering system according to claim 1, wherein,
the front wheel independent steering mechanism further includes: the front wheel motor position sensor is connected with the electronic control unit of the front wheel steering motor and is used for collecting the position of a rotor in the front wheel steering motor so as to control the front wheel steering motor to commutate;
the rear wheel independent steering mechanism further includes: the rear wheel motor position sensor is connected with the electronic control unit of the rear wheel steering motor and is used for collecting the position of a rotor in the rear wheel steering motor so as to control the rear wheel steering motor to commutate.
4. A vehicle steering system according to claim 1, wherein,
the front wheel independent steering mechanism further includes: the front wheel current sensor is connected with the electronic control unit of the front wheel steering motor and is used for detecting the current of the front wheel steering motor;
the rear wheel independent steering mechanism further includes: and the rear wheel current sensor is connected with the electronic control unit of the rear wheel steering motor and is used for detecting the current of the rear wheel steering motor.
5. A vehicle steering method, characterized by applying a vehicle steering system comprising:
a front wheel steering apparatus comprising: the front wheels are connected with the disconnection assembly, the two front wheel traversing parts and the two front wheel independent steering mechanisms; the two front wheel transverse moving parts are used for being connected with the two front wheel bodies respectively, and can move along the transverse direction so as to drive the front wheel bodies to turn; the front wheel connection and disconnection assembly is used for connecting two front wheel traversing parts, and the two front wheel traversing parts move in the same direction along the transverse direction, or disconnect the two front wheel traversing parts, and the two front wheel traversing parts can move in the same direction or different directions along the transverse direction; the front wheel independent steering mechanism includes: the front wheel steering motor is connected with the front wheel steering transmission assembly, and the front wheel steering transmission assembly is connected with the front wheel traversing element; the front wheel steering motor is used for driving the front wheel steering transmission assembly to output rotary motion, and the front wheel traversing element is used for converting the rotary motion output by the front wheel steering transmission assembly into transverse motion along the transverse direction;
A rear wheel steering apparatus comprising: the rear wheels are connected with the disconnection assembly, the two rear wheel traversing parts and the two rear wheel independent steering mechanisms; the two rear wheel transverse moving parts are used for being connected with the two rear wheel bodies respectively, and can move along the transverse direction so as to drive the rear wheel bodies to turn; the rear wheel connection and disconnection assembly is used for connecting two rear wheel transverse moving parts, and the two rear wheel transverse moving parts move in the same direction along the transverse direction, or disconnect the two rear wheel transverse moving parts, and the two rear wheel transverse moving parts can move in the same direction or different directions along the transverse direction; the rear wheel independent steering mechanism includes: the rear wheel steering motor is connected with the rear wheel steering transmission assembly, and the rear wheel steering transmission assembly is connected with the rear wheel traversing element; the rear wheel steering motor is used for driving the rear wheel steering transmission assembly to output rotary motion, and the rear wheel traversing element is used for converting the rotary motion output by the rear wheel steering transmission assembly into transverse motion along the transverse direction;
a steering domain controller connected to the front wheel steering motor, the rear wheel steering motor, the front wheel connect-disconnect assembly, and the rear wheel connect-disconnect assembly;
The vehicle controller is connected with the steering domain controller;
the front wheel independent steering mechanism further includes: the front wheel steering system comprises a front wheel steering torque angle sensor, a front wheel steering motor and a front wheel steering control unit, wherein the front wheel steering torque angle sensor is connected with the electronic control unit of the front wheel steering motor and is used for acquiring the torque and the angle output by the front wheel steering transmission assembly;
the rear wheel independent steering mechanism further includes: the rear wheel torque and rotation angle sensor is connected with the electronic control unit of the rear wheel steering motor and is used for collecting the torque and rotation angle output by the rear wheel steering transmission assembly;
the vehicle steering method includes the steps of:
the vehicle controller can output a zero-radius steering instruction or a four-wheel steering instruction to the steering domain controller;
when the vehicle controller outputs a zero-radius steering instruction, the steering domain controller controls the front wheel connection and disconnection assembly to disconnect the two front wheel transverse moving parts, the two front wheel steering motors respectively drive the two front wheel steering transmission assemblies to output rotary motions with different steering directions, so that the two front wheel bodies are driven to steer in different directions through the two front wheel transverse moving parts, the rear wheel connection and disconnection assembly is controlled to disconnect the two rear wheel transverse moving parts, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output rotary motions with different steering directions, so that the two rear wheel bodies are driven to steer in different directions through the two rear wheel transverse moving parts; the two front wheel bodies and the two rear wheel bodies turn to be tangential to the same circumference;
When the vehicle controller outputs a four-wheel steering instruction, the steering domain controller controls the front wheel connecting and disconnecting assembly to enable the two front wheel traversing parts to be connected, the two front wheel steering motors respectively drive the two front wheel steering transmission assemblies to output the same steering rotary motion so as to drive the two front wheel bodies to steer in the same direction through the two front wheel traversing parts, and controls the rear wheel connecting and disconnecting assembly to enable the two rear wheel traversing parts to be connected, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output the same steering rotary motion so as to drive the two rear wheel bodies to steer in the same direction through the two rear wheel traversing parts; the steering direction of the front wheel body is the same as or different from the steering direction of the rear wheel body;
under the power-assisted steering function, when a vehicle controller outputs a zero-radius steering instruction to a steering domain controller, the front wheel torque and angle sensor acquires the first front wheel torque and the first front wheel angle of a front wheel steering transmission assembly connected with a steering wheel and outputs the first front wheel torque and the first front wheel angle to an electronic control unit of a corresponding front wheel steering motor, the steering domain controller controls the other front wheel steering motor to drive the other front wheel steering transmission assembly corresponding to the other front wheel steering motor to output the torque and angle opposite to the first front wheel torque and the first front wheel angle, and the two rear wheel steering motors respectively drive the two rear wheel steering transmission assemblies to output different steering rotary motions so as to enable the two front wheel bodies and the two rear wheel bodies to steer tangentially to the same circumference; when the vehicle controller outputs a four-wheel steering instruction to the steering domain controller, the front wheel torque and rotation angle sensor collects second front wheel torque and second front wheel rotation angle of the front wheel steering transmission assembly connected with the steering wheel and outputs the second front wheel torque and the second front wheel rotation angle to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the other front wheel steering motor to drive the other front wheel steering transmission assembly corresponding to the other front wheel steering motor to output torque and rotation angle which are the same as the second front wheel torque and the second front wheel rotation angle; the steering domain controller outputs a first expected rear wheel steering angle through the second front wheel torque and the second front wheel steering angle, and controls the two rear wheel steering motors to respectively drive the two rear wheel steering transmission assemblies to output rotary motions which are the same as the second front wheel torque and the second front wheel steering angle according to the first expected rear wheel steering angle so as to enable the steering angle of the rear wheel body to be the first expected rear wheel steering angle;
Under the active steering function, when a vehicle controller outputs a zero-radius steering command to a steering domain controller, the steering domain controller controls two front wheel steering motors to respectively drive two front wheel steering transmission assemblies to output different steering rotary motions so as to drive two front wheel bodies to steer in different directions through two front wheel traversing members, and controls two rear wheel steering motors to respectively drive two rear wheel steering transmission assemblies to output different steering rotary motions so as to drive two rear wheel bodies to steer in different directions through two rear wheel traversing members and enable the two front wheel bodies and the two rear wheel bodies to steer to be tangential to the same circumference; when the vehicle controller outputs a four-wheel steering instruction to the steering domain controller, the front wheel steering torque and angle sensor acquires the current torque and angle of the front wheel steering transmission assembly and outputs the current torque and angle to the electronic control unit of the corresponding front wheel steering motor, and the steering domain controller controls the front wheel steering motor to drive the front wheel steering transmission assembly to output the torque and angle of the difference value according to the current torque and angle and the difference value of the expected torque and angle; the steering domain controller outputs a second expected rear wheel steering angle according to the expected torque and the steering angle, and controls the two rear wheel steering motors to respectively drive the two rear wheel steering transmission assemblies to output the same steering and torque rotation motions according to the second expected rear wheel steering angle so that the steering angle of the rear wheel body is the second expected rear wheel steering angle;
The steering domain controller judges whether a front-wheel independent steering mechanism is faulty or not through an electronic control unit of the front-wheel steering motor, if the front-wheel independent steering mechanism is faulty, the vehicle controller is further used for outputting a front-wheel redundancy reconstruction instruction to the steering domain controller, and the steering domain controller increases the output power of the other front-wheel steering motor according to the front-wheel redundancy reconstruction instruction; or the steering domain controller judges whether the independent steering mechanism of the rear wheel is faulty or not through the electronic control unit of the steering motor of the rear wheel, if one independent steering mechanism of the rear wheel is faulty, the vehicle controller is further used for outputting a rear wheel redundancy reconstruction instruction to the steering domain controller, and the steering domain controller increases the output power of the other steering motor of the rear wheel according to the rear wheel redundancy reconstruction instruction.
6. The vehicle steering method according to claim 5, wherein,
when the vehicle is in a first running speed interval and the vehicle controller outputs a four-wheel steering instruction, the front wheel steering motor drives the front wheel traversing part to move in the same direction along the transverse direction through the front wheel steering transmission assembly and the rear wheel steering motor drives the rear wheel traversing part to move in the same direction along the transverse direction through the rear wheel steering transmission assembly;
When the vehicle is in a second running speed interval and the vehicle controller outputs a four-wheel steering instruction, the front wheel steering motor drives the front wheel traversing part to move in the same direction along the transverse direction through the front wheel steering transmission assembly, and the rear wheel steering motor drives the rear wheel traversing part to move along the transverse direction through the rear wheel steering transmission assembly;
the first travel speed interval is smaller than the second travel speed interval.
CN202210682319.1A 2022-06-16 2022-06-16 Vehicle steering system and steering method Active CN114954646B (en)

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