CN207773223U - The electric power-assisted steering apparatus of integrated semiautomatic parking function - Google Patents
The electric power-assisted steering apparatus of integrated semiautomatic parking function Download PDFInfo
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- CN207773223U CN207773223U CN201820003304.7U CN201820003304U CN207773223U CN 207773223 U CN207773223 U CN 207773223U CN 201820003304 U CN201820003304 U CN 201820003304U CN 207773223 U CN207773223 U CN 207773223U
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Abstract
The utility model discloses a kind of electric power-assisted steering apparatus of integrated semiautomatic parking function, including steering wheel, steering input shaft, worm gear mechanism, motor, steering output shaft, rack, torque angle sensor, vehicle speed sensor, engine speed sensor, ultrasonic radar, command switch of parking, controller, human-computer interaction interface and motor rotor position sensor；The motor rotor position sensor, vehicle speed sensor, engine speed sensor, ultrasonic radar, parks command switch and human-computer interaction interface is connect with controller signals at torque angle sensor, and the controller is connected to the motor by motor control assembly.The device integrated level is high, automatic parking controller is eliminated, semiautomatic parking function and electric boosted function are integrated in electric boosting steering system, cost is saved, both the product competitiveness of electric boosting steering system had been increased, the application popularization of automatic parking technology has also been pushed.
Description
Technical field
The utility model is related to intelligent driving technical field of vehicle, and in particular to a kind of electricity of integrated semiautomatic parking function
Dynamic servo steering device.
Background technology
The new power that " intelligent vehicle " becomes the hot spot of world's Vehicle Engineering research in recent years and auto industry increases.
By introducing new sensor, controller, actuator, vehicle-mounted sensor-based system and information terminal can realize the intelligence on people, vehicle, road etc.
Information exchange makes vehicle have the intelligent ability operated instead of driver.
An important branch of the ADAS (advanced driving assistance system) as intelligent vehicle field is the unmanned technology of structure
Bridge, make Automobile Enterprises enter unpiloted gradual road.One as driving assistance system of automatic parking technology
Point, the development of high speed has also been obtained in recent years, but due to the realization difficulty and cost of new technology, be also difficult to universal answer
With.
Electric power steering experienced the development of decades, it has also become the standard configuration of Hyundai Motor.How to existing
Steering is optimized and is improved, and also becomes a popular project.And as the execution unit of automated parking system it
One, electric boosting steering system can be realized semiautomatic parking function, both adapted to intelligence by the integration environment detecting sensor
The lower cost solution that the idea of development of automobile and a kind of steering function evolution and automatic parking technology are popularized.
Utility model content
The utility model aim is to provide a kind of electric power-assisted steering apparatus of integrated semiautomatic parking function, the device collection
It is high at degree, automatic parking controller is eliminated, semiautomatic parking function and electric boosted function are integrated in electric power steering
In system, cost is saved, has both increased the product competitiveness of electric boosting steering system, has also pushed automatic parking technology
Application popularization.
The utility model solves technical problem and adopts the following technical scheme that：A kind of integrated the electronic of semiautomatic parking function helps
Power transfer comprising steering wheel turns to input shaft, worm gear mechanism, motor, turns to output shaft, rack, rotation angle of torque
Sensor, vehicle speed sensor, engine speed sensor, ultrasonic radar, command switch of parking, controller, human-computer interaction circle
Face and motor rotor position sensor；
The steering wheel is separately connected steering with input axis connection, the axial both ends of the worm gear of worm gear mechanism are turned to
Input shaft is overlapped with output shaft, the axis of the worm gear is turned to the axis of the steering input shaft and steering output shaft；
The worm screw of the worm gear mechanism connect with motor drive, and the rear end of motor is provided with the motor rotor position
Sensor, the torque angle sensor are connected to by torsion bar and are turned between input shaft and worm gear mechanism, the steering
The lower end of output shaft is fixed with gear, the wheel and rack engagement；
The motor rotor position sensor, vehicle speed sensor, engine speed sensor, surpasses torque angle sensor
Sound radar parks command switch and human-computer interaction interface is connect with controller signals, and the controller is controlled by motor
Device is connected to the motor.
Optionally, the electric power-assisted steering apparatus of the integrated semiautomatic parking function further includes being connect with the rack
Track rod.
The utility model has the advantages that：
1, integrated level is high：Cancel control system of parking, parking system and traditional electric boosting steering system are integrated, it is made
It is provided simultaneously with and parks and assist function.
2, intelligent：The introducing of semiautomatic parking function makes electric power-assisted steering apparatus adapt to vehicle intellectualized hair
Exhibition trend.
3, relevance factor is high：It only needs that ultrasonic radar, command switch of parking are added in traditional electric boosting steering system
And human-computer interaction interface, it is suitable for all assembly electric boosting steering system vehicles；
4, safe：The perfect switching of power-assisted and function of parking, and in parking process are realized by control logic, it can
By driver's intervention, system is made to exit automatic parking control in time.
5, human-computer interaction degree is high：Man-machine interface shows vehicle location and ambient condition information, and sends driver assistance
It parks order (braking, shift)；Prepare to park after order receiving driver, man-machine interface will also inform driver's ambient enviroment
And whether existing vehicle-state has the condition of semiautomatic parking.
Description of the drawings
Fig. 1 is the structural schematic diagram of the electric power-assisted steering apparatus of the integrated semiautomatic parking function of the utility model；
The mark in the figure shows：1- steering wheels；2- turns to input shaft；3- torque angle sensors；4- worm gear mechanisms；
5- motors；6- turns to output shaft；7- racks；8- track rods；9- vehicle speed sensor；10- engine speed sensors；11-
Ultrasonic radar；12- human-computer interaction interfaces；13- parks command switch；14- controllers；15- motor rotor position sensors.
Specific implementation mode
The technical solution of the utility model is further elaborated with reference to embodiment and attached drawing.
Embodiment 1
Present embodiments provide a kind of electric power-assisted steering apparatus of integrated semiautomatic parking function comprising steering wheel 1,
It turns to input shaft 2, worm gear mechanism 4, motor 5, turn to output shaft 6, rack 7, track rod 8, torque angle sensor
3, vehicle speed sensor 9, engine speed sensor 10, ultrasonic radar 11, command switch 13 of parking, controller 14, man-machine friendship
Mutual interface 12 and motor rotor position sensor 15.
As shown in Figure 1, steering wheel 1 is connect with input shaft 2 is turned to, the axial both ends point of the worm gear of worm gear mechanism 4
Input shaft 2 Lian Jie not turned to and turn to output shaft 6, i.e., the axis of the described worm gear and the steering input shaft 2 and steering output shaft 6
Axis overlap, at this point, power is transferred to by the steerings input shaft 2 by worm gear turns to output shaft 6, moreover, when worm gear turn
When dynamic, it can also drive and turn to the rotation of output shaft 6.
The worm screw of the worm gear mechanism is sequentially connected with motor 5, and the rear end of motor 5 is provided with motor rotor position biography
Sensor, the torque angle sensor 3 are connected to by torsion bar and are turned between input shaft 2 and worm gear mechanism 4, the steering
The lower end of output shaft 6 is fixed with gear, and the wheel and rack 7 engages, and the rack 7 is connect with track rod 8, thus
When the steering output shaft 6 rotates, it can make wheel steering by the track rod.
The motor 5, motor rotor position sensor 15, torque angle sensor 3, vehicle speed sensor 9, engine speed
Sensor 10, ultrasonic radar 11, command switch 13 of parking, human-computer interaction interface 12 are connected by corresponding harness and controller 14
It connects.
The torque angle sensor 3 operates steering wheel torque and steering wheel angle signal, speed for acquiring driver
Sensor 9 is used for collection vehicle speed signal, and engine speed sensor 10 is for acquiring engine rotational speed signal, ultrasonic wave thunder
Up to 11 for acquiring parking space information and vehicle position information, motor rotor position sensor 15 is for acquiring motor rotor position letter
Number, command switch 13 of parking is parked sign on for sending, and controller 14 is to handle each sensor signal, and according to corresponding
Logic realizes that electric boosted and semiautomatic parking function control and switching, controller are also connected by motor control assembly and motor
It connects, control result is worked to driving motor, man-machine interface is when function of parking is opened, man-machine friendship that display controller is sent out
Mutually order, driver execute relevant operation according to order, and collaboration electric power-assisted steering apparatus completes action of parking.
The controller 14, main body control component is microprocessor, such as company of Infineon may be used
TriCore series TC1782 microcontrollers.Core of the microprocessor as entire transfer mainly has two control work(
Energy：When according to the signal of the acquisitions such as torque sensor, vehicle speed sensor, and according to steering wheel ideal force characteristic, driving motor
Output torque provides power-assisted for the steering operation of driver, improves the ease of steering of driver；Second is that device has in driver
Park request when, the parking stall acquired according to ultrasonic radar and vehicle position information execute steering operation, and give driver's hair
The operational order for sending shift, braking completes action of parking under the collaborative work of driver.
The torque angle sensor 3 uses the CIPOS contactless torque corner integrated sensors of Hai La companies；It is described
Vehicle speed sensor 9 uses the 1H0927807D type wheel speed sensors of SKTOO companies；The motor rotor position sensor 15 uses
The AS5147 linear hall sensors of Austrian Microtronic A/S；The engine speed sensor 10 uses the ZS of Yu Hong companies
Serial speed probe.
The ultrasonic radar 11 uses Haikang Products, totally 12, is evenly arranged in around body of a motor car：Headstock 4
It is a；The tailstock 4；Each one before and after left side body；Each one before and after right side bodies.Ultrasonic radar 11 is for detecting available pool
Truck position and measurement vehicle are at a distance from neighbouring barrier, to make controller 14 calculate rational track of parking.
The electric power-assisted steering apparatus of integrated semiautomatic parking function provided by the utility model, the course of work are：Electricity
Dynamic power assisting device is defaulted as electric boosted pattern, and under this operating mode, electric power-assisted steering apparatus is sensed according to rotation angle of torque
Device 3, vehicle speed sensor 9, the 10 collected signal of institute of engine speed sensor, driving motor 5 carry for Driver Steering Attention
For suitable power-assisted and positive auxiliary force is returned, and driver's feel is improved by corresponding indemnifying measure, improves low vehicle speeds
Ease of steering and steering stability when high speed；When driver parks demand, command switch 13 of parking, device are pressed
Start to detect whether vehicle has semiautomatic parking condition：Speed does not operate steering wheel less than 15km/h, driver, if condition
Meet then device and be switched to corner control model of parking, ultrasonic radar 11 is started to work, and searching suitably waits for parking position, parking stall
After searching out, system sends shift and brake command by man-machine interface 12 to driver, when receiving driver's operational feedback
Afterwards, the speed signal that the vehicle location acquired according to ultrasonic radar 11 is acquired with environmental information and vehicle speed sensor 9 is planned
Track of vehicle, the control of 5 corner of actuating motor, (procedures system of entirely parking can multipass people under the Collaborative Control of driver
Machine interface 12 sends shift, braking instruction to driver), drive vehicle to enter parking place.Under park mode, if driver
Park command switch 13 or manipulation direction disk 1 are pressed again, and system will jump out park mode and enter electric boosted pattern, at this time
It will be carried out manually turning to parking manoeuvres by driver's take over steering wheel 1.
The sequencing of above example is only for ease of description, can not represent the quality of embodiment.
Finally it should be noted that：Above example is only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：
It still can be with technical scheme described in the above embodiments is modified, or is carried out to which part technical characteristic etc.
With replacement；And these modifications or replacements, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (2)
1. a kind of electric power-assisted steering apparatus of integrated semiautomatic parking function, which is characterized in that including steering wheel, turn to input
Axis, motor, turns to output shaft, rack, torque angle sensor, vehicle speed sensor, engine speed sensing at worm gear mechanism
Device, ultrasonic radar, command switch of parking, controller, human-computer interaction interface and motor rotor position sensor；
The steering wheel is separately connected steering input with input axis connection, the axial both ends of the worm gear of worm gear mechanism are turned to
Axis is overlapped with output shaft, the axis of the worm gear is turned to the axis of the steering input shaft and steering output shaft；
The worm screw of the worm gear mechanism connect with motor drive, and the rear end of motor is provided with the motor rotor position sensing
Device, the torque angle sensor are connected to by torsion bar and are turned between input shaft and worm gear mechanism, the steering output
The lower end of axis is fixed with gear, the wheel and rack engagement；
The motor rotor position sensor, torque angle sensor, vehicle speed sensor, engine speed sensor, ultrasonic wave
Radar parks command switch and human-computer interaction interface is connect with controller signals, and the controller passes through motor control assembly
It is connected to the motor.
2. the electric power-assisted steering apparatus of integrated semiautomatic parking function according to claim 1, which is characterized in that also wrap
Include the track rod being connect with the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820003304.7U CN207773223U (en) | 2018-01-02 | 2018-01-02 | The electric power-assisted steering apparatus of integrated semiautomatic parking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820003304.7U CN207773223U (en) | 2018-01-02 | 2018-01-02 | The electric power-assisted steering apparatus of integrated semiautomatic parking function |
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| Publication Number | Publication Date |
|---|---|
| CN207773223U true CN207773223U (en) | 2018-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820003304.7U Active CN207773223U (en) | 2018-01-02 | 2018-01-02 | The electric power-assisted steering apparatus of integrated semiautomatic parking function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110920747A (en) * | 2019-12-12 | 2020-03-27 | 上海衡鲁汽车科技有限公司 | Motor steering device of active steering system and corner power-assisted torque estimation method |
| CN113715810A (en) * | 2021-10-15 | 2021-11-30 | 广州小鹏汽车科技有限公司 | Parking method, parking device, vehicle and readable storage medium |
-
2018
- 2018-01-02 CN CN201820003304.7U patent/CN207773223U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110920747A (en) * | 2019-12-12 | 2020-03-27 | 上海衡鲁汽车科技有限公司 | Motor steering device of active steering system and corner power-assisted torque estimation method |
| CN113715810A (en) * | 2021-10-15 | 2021-11-30 | 广州小鹏汽车科技有限公司 | Parking method, parking device, vehicle and readable storage medium |
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