WO2020173122A1 - 一种双电机双电源线控转向***及其容错控制方法 - Google Patents
一种双电机双电源线控转向***及其容错控制方法 Download PDFInfo
- Publication number
- WO2020173122A1 WO2020173122A1 PCT/CN2019/115624 CN2019115624W WO2020173122A1 WO 2020173122 A1 WO2020173122 A1 WO 2020173122A1 CN 2019115624 W CN2019115624 W CN 2019115624W WO 2020173122 A1 WO2020173122 A1 WO 2020173122A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- power supply
- contact
- relay
- steering
- Prior art date
Links
Images
Classifications
-
- 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
-
- 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
Definitions
- the invention belongs to the technical field of automobile steering systems, and specifically refers to a dual-motor dual-power wire-controlled steering system and a fault-tolerant control method thereof.
- Intelligence and wire control are the development trend of automotive steering systems, as well as a key technology for smart cars and new energy vehicles. Since the wire-controlled steering cancels the mechanical connection of the traditional steering system and uses electronic control for steering control, system reliability is particularly important.
- the existing wire-controlled steering usually uses a dual-motor actuator. When one of the motors fails, the other motor can still perform the steering and has a fault-tolerant function.
- the Chinese patent application number is CN201711346835.2, and the patent name is "a fault-tolerant multi-motor steer-by-wire system and control method". It proposes a fault-tolerant control that separates the electromagnetic clutch corresponding to the faulty motor through the motor controller.
- the existing dual-motor steering system uses a single power supply for power supply, and does not take into account the fault tolerance in the case of power failure. Once the power supply fails, both motors cannot work, causing the driver to completely lose control of the vehicle direction. This causes a great safety hazard.
- the purpose of the present invention is to provide a dual-motor dual-power wire-controlled steering system and a fault-tolerant control method thereof, so as to solve the difficulty in implementing dual-motor steering system power redundancy and power fault-tolerant control in the prior art The problem.
- a dual-motor dual-power wire-controlled steering system of the present invention includes: a steering wheel, a steering column, a road-sensing simulation device, a dual-motor steering module, a main controller, a power supply fault tolerance device, a steering tie rod, and a steering wheel unit;
- the steering wheel is connected to a steering column, a third torque sensor and a rotation angle sensor are respectively fixedly installed on the steering column, and the force input by the steering wheel acts on the road feeling simulation device through the steering column;
- the dual-motor steering module includes: a first motor, a second motor, a first torque sensor, a second torque sensor, a first nut, a second nut, a first ball screw, and a second ball screw;
- the output of the first motor is connected to the first nut through the first torque sensor; the output of the second motor is connected to the second nut through the second torque sensor; the first ball screw and the second ball screw are fixed on the steering tie rod; The first ball screw is connected to the first nut, the second ball screw is connected to the second nut, and the steering torque output by the first motor and the second motor are respectively transmitted to the steering tie rod and superimposed; the output ends on both sides of the steering tie rod Connect the steering wheel unit to output the superimposed steering torque to complete the steering operation;
- the power supply fault tolerance device includes: a power supply controller unit, a first power supply unit, and a second power supply unit;
- the input ends of the power supply controller unit are respectively connected to the first power supply unit and the second power supply unit, and are also electrically connected to the main controller; the output ends of the power supply controller unit are respectively connected to the first motor and the second motor;
- the input end of the main controller is connected to the first torque sensor, the second torque sensor, the third torque sensor, the rotation angle sensor, the vehicle speed sensor, and the yaw rate sensor through the vehicle communication line; the output end of the main controller is connected to the circuit Sensor simulation device and power controller unit.
- the road feeling simulation device includes a motor and a deceleration mechanism, which are drivingly connected.
- the output torque of the motor acts on the steering column via the deceleration mechanism, and the steering column transmits the force to the steering wheel to form a simulated driving road feeling.
- the power controller unit includes a relay controller, a first relay, and a second relay; the input terminal of the relay controller is connected to the first power unit, the second power unit and the main controller, and the output terminal is connected to the first motor ,
- the second motor, the first relay, and the second relay are electrically connected;
- the circuit of the first power supply unit is connected to the contacts a and b of the first relay, and the output circuit of the contacts e and f of the first relay is divided into two parallel circuits
- One branch is connected to the first motor, the other branch is connected to the contacts g and h of the second relay;
- the output of the second power supply unit is divided into two parallel circuits, one branch is connected to the contacts c and d of the first relay ,
- the other branch is connected to the contacts i and j of the second relay, and the contacts k and m of the second relay are connected to the second motor.
- the fault-tolerant control method of a dual-motor dual-power wire-controlled steering system of the present invention is based on the above system and includes the following steps:
- the main controller receives the rotation angle signal A, the third torque signal B, the second torque signal C, the first torque signal D, the vehicle speed signal E, the yaw rate signal F, and calculates what the dual-motor steering module needs to provide The magnitude of steering assistance and the feedback torque required by the road-sensing simulation device, and output the main controller power control signal H to the power controller unit and the road-sensing control signal R to the road-sensing simulation device;
- the power supply controller unit receives the output signal J of the first power supply unit, the output signal K of the second power supply unit and the power control signal H of the main controller respectively.
- the relay controller controls the first relay and the second relay to select the power supply mode, and Output the first motor control signal P and the second motor control signal Q;
- step 3 specifically includes the following steps:
- the main controller judges whether the first motor and the second motor work normally according to the output signals of the first torque sensor and the second torque sensor, and outputs the main controller power supply including the working status of the first motor and the second motor Control signal;
- the power supply controller unit receives the output signal of the first power supply unit and the output signal of the second power supply unit to obtain the working status of the first power supply and the second power supply;
- the relay controller controls the first relay and The second relay selects the corresponding power supply mode;
- the power controller unit outputs the first motor control signal and the second motor control signal, and the contact a of the first relay is connected to the Point e, contact b is connected to contact f, the first power supply unit supplies power to the first motor, contact i of the second relay is connected to contact k, contact j is connected to contact m, and the second power supply unit supplies power to the second motor ,
- the steering system works normally;
- the power controller unit If the second power supply unit fails, the power controller unit outputs the first motor control signal and the second motor control signal.
- Contact a of the first relay is connected to contact e, contact b is connected to contact f, and the second relay
- the contact g of is connected to contact k, and the contact h is connected to contact m.
- the first power supply unit supplies power to the first motor and the second motor at the same time, and the power controller unit issues a fault warning to the driver;
- the power controller unit If the first motor fails and the second power supply unit fails, the power controller unit outputs the second motor control signal and stops outputting the first motor control signal.
- Contact a of the first relay is connected to contact e, and contact b is connected.
- Contact point f, contact g of the second relay is connected to contact k, contact h is connected to contact m, the first power supply unit supplies power to the second motor, the first motor is suspended, and the power controller unit issues a fault warning to the driver ;
- the power controller unit If the second motor fails and the second power supply unit fails, the power controller unit outputs the first motor control signal and stops outputting the second motor control signal. Contact a of the first relay is connected to contact e, and contact b is connected. At contact point f, the second relay is disconnected, the first power supply unit supplies power to the first motor, the second motor suspends work, and the power controller unit issues a fault warning to the driver;
- the power controller unit If the first power supply unit fails, the power controller unit outputs the first motor control signal and the second motor control signal, the contact c of the first relay is connected to the contact e, the contact d is connected to the contact f, and the Contact i is connected to contact k, contact j is connected to contact m, the second power supply unit supplies power to the first motor and the second motor, and the power controller unit issues a fault warning to the driver;
- the power controller unit If the second motor fails and the first power supply unit fails, the power controller unit outputs the first motor control signal and stops outputting the second motor control signal. Contact c of the first relay is connected to contact e, and contact d is connected. At contact point f, the second relay is disconnected, the second power supply unit supplies power to the first motor, the second motor suspends work, and the power controller unit issues a fault warning to the driver;
- the power controller unit If the first motor fails and the first power supply unit fails, the power controller unit outputs the second motor control signal and stops outputting the first motor control signal, the first relay is disconnected, and the contact i of the second relay is connected to the contact k, the contact j is connected to the contact m, the second power supply unit supplies power to the second motor, and the first motor suspends operation to issue a fault warning to the driver;
- the power controller unit stops outputting the first motor control signal and the second motor control signal, and the first relay and the second relay are both off
- the power supply controller unit issues a fault warning to the driver and prompts the driver to perform an emergency braking operation.
- the system of the present invention is equipped with a power supply redundancy device, which can ensure that in the case of a single power supply failure, the dual motors are driven by another power supply to perform steering action, so as to avoid the loss of the steering ability of the vehicle due to the power supply failure, and enhance the vehicle steering safety.
- the fault-tolerant control method of the present invention has multiple power supply modes, and can quickly switch according to the power supply and motor fault conditions, and ensures the reliability and safety of the power supply module of the steering system to the greatest extent.
- Figure 1 is a block diagram of the principle structure of the dual-motor dual-power wire-controlled steering system of the present invention
- Figure 2 is a schematic diagram of dual power switching of the present invention
- Figure 3 is a flow chart of the fault-tolerant control method of the present invention.
- a dual-motor dual-power wire-controlled steering system of the present invention includes: a steering wheel 1, a steering column 3, a road-sensing simulation device 5, a dual-motor steering module, a main controller 6, and a power supply fault tolerance device 20 , Steering tie rod 13, steering wheel unit 16;
- the steering wheel is connected to the steering column, and the third torque sensor 4 and the rotation angle sensor 2 are respectively fixedly installed on the steering column.
- the force input by the steering wheel acts on the road-sensing simulation device 5 through the steering column;
- the road-sensing simulation device includes a motor and
- the deceleration mechanism is drivingly connected between the two.
- the motor output torque acts on the steering column through the deceleration mechanism, and the steering column transmits the force to the steering wheel to form a simulated driving road feel.
- the dual-motor steering module includes: a first motor 9, a second motor 18, a first torque sensor 10, a second torque sensor 17, a first nut 11, a second nut 14, a first ball screw 12, a first Two ball screws 15;
- the output of the first motor is connected to the first nut through the first torque sensor; the output of the second motor is connected to the second nut through the second torque sensor; the first ball screw and the second ball screw are fixed on the steering tie rod; The first ball screw is connected to the first nut, the second ball screw is connected to the second nut, and the steering torque output by the first motor and the second motor are respectively transmitted to the steering tie rod 13 and superimposed; output on both sides of the steering tie rod Connect the steering wheel unit at the end to output the superimposed steering torque to complete the steering operation;
- the power supply fault tolerance device 20 includes: a power supply controller unit 7, a first power supply unit 8, and a second power supply unit 19;
- the input ends of the power supply controller unit are respectively connected to the first power supply unit and the second power supply unit, and are also electrically connected to the main controller 6; the output ends of the power supply controller unit are respectively connected to the first motor and the second motor;
- the input end of the main controller 6 is connected to the first torque sensor 10, the second torque sensor 17, the third torque sensor 4, the rotation angle sensor 2, the vehicle speed sensor, and the yaw rate sensor through the vehicle communication line; the main controller
- the output terminal is connected to the road sensing simulation device 5 and the power controller unit 7.
- the power controller unit includes a relay controller, a first relay, and a second relay; the input terminal of the relay controller is connected to the first power unit, the second power unit and the main controller, and the output terminal is connected to The first motor, the second motor, the first relay, and the second relay are electrically connected; the circuit of the first power supply unit is connected to the contacts a and b of the first relay, and the contact e and f output circuits of the first relay are divided into two One parallel circuit, one branch is connected to the first motor, the other branch is connected to the contacts g and h of the second relay; the output of the second power unit is divided into two parallel circuits, one branch is connected to the contacts of the first relay c and d, the other branch is connected to the contacts i and j of the second relay, and the contacts k and m of the second relay are connected to the second motor.
- a fault-tolerant control method for a dual-motor dual-power wire-controlled steering system of the present invention includes the following steps:
- the main controller receives the rotation angle signal A, the third torque signal B, the second torque signal C, the first torque signal D, the vehicle speed signal E, the yaw rate signal F, and calculates what the dual-motor steering module needs to provide The magnitude of steering assistance and the feedback torque required by the road-sensing simulation device, and output the main controller power control signal H to the power controller unit and the road-sensing control signal R to the road-sensing simulation device;
- the power supply controller unit receives the output signal J of the first power supply unit, the output signal K of the second power supply unit and the power control signal H of the main controller respectively.
- the relay controller controls the first relay and the second relay to select the power supply mode, and Output the first motor control signal P and the second motor control signal Q;
- the power supply mode selection in the step 3) specifically includes the following steps:
- the main controller judges whether the first motor and the second motor work normally according to the output signals of the first torque sensor and the second torque sensor, and outputs the main controller power supply including the working status of the first motor and the second motor Control signal;
- the power controller unit receives the output signal of the first power unit and the output signal of the second power unit to obtain the working status of the first power supply and the second power supply;
- the relay controller controls the first relay and The second relay selects the corresponding power supply mode;
- the power controller unit outputs the first motor control signal and the second motor control signal, and the contact a of the first relay is connected to the Point e, contact b is connected to contact f, the first power supply unit supplies power to the first motor, contact i of the second relay is connected to contact k, contact j is connected to contact m, and the second power supply unit supplies power to the second motor ,
- the steering system works normally;
- the power controller unit If the second power supply unit fails, the power controller unit outputs the first motor control signal and the second motor control signal.
- Contact a of the first relay is connected to contact e, contact b is connected to contact f, and the second relay
- the contact g of is connected to contact k, and the contact h is connected to contact m.
- the first power supply unit supplies power to the first motor and the second motor at the same time, and the power controller unit issues a fault warning to the driver;
- the power controller unit If the first motor fails and the second power supply unit fails, the power controller unit outputs the second motor control signal and stops outputting the first motor control signal.
- Contact a of the first relay is connected to contact e, and contact b is connected.
- Contact point f, contact g of the second relay is connected to contact k, contact h is connected to contact m, the first power supply unit supplies power to the second motor, the first motor is suspended, and the power controller unit issues a fault warning to the driver ;
- the power controller unit If the second motor fails and the second power supply unit fails, the power controller unit outputs the first motor control signal and stops outputting the second motor control signal. Contact a of the first relay is connected to contact e, and contact b is connected. At contact point f, the second relay is disconnected, the first power supply unit supplies power to the first motor, the second motor suspends work, and the power controller unit issues a fault warning to the driver;
- the power controller unit If the first power supply unit fails, the power controller unit outputs the first motor control signal and the second motor control signal, the contact c of the first relay is connected to the contact e, the contact d is connected to the contact f, and the Contact i is connected to contact k, contact j is connected to contact m, the second power supply unit supplies power to the first motor and the second motor, and the power controller unit issues a fault warning to the driver;
- the power controller unit If the second motor fails and the first power supply unit fails, the power controller unit outputs the first motor control signal and stops outputting the second motor control signal. Contact c of the first relay is connected to contact e, and contact d is connected. At contact point f, the second relay is disconnected, the second power supply unit supplies power to the first motor, the second motor suspends work, and the power controller unit issues a fault warning to the driver;
- the power controller unit If the first motor fails and the first power supply unit fails, the power controller unit outputs the second motor control signal and stops outputting the first motor control signal, the first relay is disconnected, and the contact i of the second relay is connected to the contact k, the contact j is connected to the contact m, the second power supply unit supplies power to the second motor, and the first motor suspends operation to issue a fault warning to the driver;
- the power controller unit stops outputting the first motor control signal and the second motor control signal, and the first relay and the second relay are both off
- the power supply controller unit issues a fault warning to the driver and prompts the driver to perform an emergency braking operation.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
一种双电机双电源线控转向***及其容错控制方法，该***包括：方向盘（1），转向管柱（3）、路感模拟装置（5）、双电机转向模块、主控制器（6）、电源容错装置（20）、转向横拉杆（13）、转向车轮单元（16）；电源容错装置（20）包括电源控制器单元（7）、第一电源单元（8）、第二电源单元（19）；电源控制器单元（7）控制第一继电器和第二继电器进行供电模式选择，并输出第一电机控制信号和第二电机控制信号。该容错控制方法具备多种供电模式，并能够根据电源和电机故障情况进行快速切换，保证单个电源故障情况下，由另一个电源驱动双电机进行转向动作，避免电源故障导致车辆丧失转向能力，增强了车辆转向安全性。
Description
本发明属于汽车转向***技术领域，具体指代一种双电机双电源线控转向***及其容错控制方法。
智能化和线控化是汽车转向***的发展趋势，也是智能汽车和新能源汽车的一项关键技术。由于线控转向取消了传统转向***的机械连接，采用电控的方式进行转向控制，因此***可靠性显得尤为重要。现有的线控转向，通常采用双电机执行装置，在其中一个电机发生故障时，另一个电机仍可以进行转向，具有容错功能。例如中国专利申请号为CN201711346835.2，专利名称为“一种具有容错功能的多电机线控转向***及控制方法”中提出了一种通过电机控制器将故障电机对应的电磁离合器分离的容错控制方法；中国专利申请号为CN201711344340.6，专利名称为“一种双电机冗余线控转向装置及其控制方法”中提出一种在线控转向机构故障时，电磁离合器合上，电机反转使转向器小齿轮和转向器齿条完成转向的容错方法。
但是现有的双电机转向***均采用单一电源进行供电，没有考虑到电源失效情况下的容错问题，一旦电源发生故障，则两个电机均无法工作，使驾驶员完全失去对车辆方向的控制，从而造成极大的安全隐患。
发明内容
针对于上述现有技术的不足，本发明的目的在于提供一种双电机双电源线控转向***及其容错控制方法，以解决现有技术中难以实现双电机转向***电源冗余及电源容错控制的问题。
为达到上述目的，本发明采用的技术方案如下：
本发明的一种双电机双电源线控转向***，包括：方向盘，转向管柱、路感模拟装置、双电机转向模块、主控制器、电源容错装置、转向横拉杆、转向车轮单元；
所述方向盘连接转向管柱，转向管柱上分别固定安装第三转矩传感器、转角传感器，方向盘输入的作用力经过转向管柱作用于路感模拟装置；
所述双电机转向模块包括：第一电机、第二电机、第一转矩传感器、第二转矩传感器、第一螺母、第二螺母、第一滚珠丝杠、第二滚珠丝杠；
第一电机输出端通过第一转矩传感器连接第一螺母；第二电机输出端通过第二转矩传感器连 接第二螺母；第一滚珠丝杠和第二滚珠丝杠固定于转向横拉杆上；第一滚珠丝杠连接第一螺母，第二滚珠丝杠连接第二螺母，并分别将第一电机和第二电机输出的转向力矩传递至转向横拉杆并进行叠加；转向横拉杆两侧输出端连接转向车轮单元，输出叠加的转向力矩，完成转向操作；
所述电源容错装置包括：电源控制器单元、第一电源单元、第二电源单元；
电源控制器单元的输入端分别连接第一电源单元和第二电源单元，同时还与主控制器电气连接；电源控制器单元的输出端分别连接第一电机和第二电机；
所述主控制器的输入端通过车载通讯线路连接第一转矩传感器、第二转矩传感器、第三转矩传感器、转角传感器、车速传感器、横摆角速度传感器；主控制器的输出端连接路感模拟装置和电源控制器单元。
进一步的，所述路感模拟装置包括电机和减速机构，二者驱动连接，电机输出力矩经减速机构作用在转向管柱上，转向管柱将作用力传递至方向盘，形成模拟驾驶路感。
进一步的，所述电源控制器单元包括继电控制器、第一继电器及第二继电器；继电控制器输入端连接第一电源单元、第二电源单元及主控制器，输出端与第一电机、第二电机、第一继电器、第二继电器电气连接；第一电源单元的电路与第一继电器的触点a、b连接，第一继电器的触点e、f输出电路分为两个并联电路，一个支路连接第一电机，另一个支路连接第二继电器的触点g、h；第二电源单元输出端分为两个并联电路，一个支路连接第一继电器的触点c、d，另一个支路和第二继电器的触点i、j连接，第二继电器的触点k、m连接第二电机。
本发明的一种双电机双电源线控转向***的容错控制方法，基于上述***，包括以下步骤：
1)根据车辆行驶情况，通过方向盘输入一定的转向角度；
2)主控制器接收转角信号A，第三转矩信号B，第二转矩信号C，第一转矩信号D，车速信号E，横摆角速度信号F，计算出双电机转向模块需要提供的转向助力大小及路感模拟装置需要的反馈力矩大小，并向电源控制器单元输出主控制器电源控制信号H及向路感模拟装置输出路感控制信号R；
3)电源控制器单元分别接收第一电源单元输出信号J、第二电源单元输出信号K以及主控制器电源控制信号H，继电控制器控制第一继电器和第二继电器进行供电模式选择，并输出第一电机控制信号P和第二电机控制信号Q；
4)第一电机和第二电机输出的转向力矩在转向横拉杆上进行叠加，传递至转向车轮单元， 完成车轮转向操作；路感模拟装置输出的反馈力矩经转向管柱和方向盘传递至驾驶员，完成路感模拟操作。
进一步地，所述步骤3)中供电模式选择具体包括以下步骤：
31)主控制器根据第一转矩传感器和第二转矩传感器的输出信号，判断第一电机和第二电机是否正常工作，并输出包含第一电机和第二电机工作状态的主控制器电源控制信号；电源控制器单元接收第一电源单元输出信号和第二电源单元输出信号，得到第一电源和第二电源工作状态；继电控制器通过各电机和电源工作状态，控制第一继电器和第二继电器选择相应的供电模式；
32)若第一电机、第二电机、第一电源单元、第二电源单元均正常工作，电源控制器单元输出第一电机控制信号和第二电机控制信号，第一继电器的触点a连接触点e,触点b连接触点f，第一电源单元给第一电机供电，第二继电器的触点i连接触点k，触点j连接触点m，第二电源单元给第二电机供电，转向***正常工作；
33)若第二电源单元出现故障，电源控制器单元输出第一电机控制信号和第二电机控制信号，第一继电器的触点a连接触点e，触点b连接触点f,第二继电器的触点g连接触点k，触点h连接触点m，第一电源单元同时给第一电机和第二电机供电，电源控制器单元向驾驶员发出故障警告；
34)若第一电机故障且第二电源单元故障，电源控制器单元输出第二电机控制信号，并停止输出第一电机控制信号，第一继电器的触点a连接触点e，触点b连接触点f，第二继电器的触点g连接触点k，触点h连接触点m，第一电源单元给第二电机供电，第一电机暂停工作，电源控制器单元向驾驶员发出故障警告；
35)若第二电机故障且第二电源单元故障，电源控制器单元输出第一电机控制信号，并停止输出第二电机控制信号，第一继电器的触点a连接触点e，触点b连接触点f，第二继电器断开，第一电源单元给第一电机供电，第二电机暂停工作，电源控制器单元向驾驶员发出故障警告；
36)若第一电源单元故障，电源控制器单元输出第一电机控制信号和第二电机控制信号，第一继电器的触点c连接触点e，触点d连接触点f，第二继电器的触点i连接触点k，触点j连接触点m，第二电源单元给第一电机供电和第二电机供电，电源控制器单元向驾驶员发出故障警告；
37)若第二电机故障且第一电源单元故障，电源控制器单元输出第一电机控制信号，并停止输出第二电机控制信号，第一继电器的触点c连接触点e，触点d连接触点f,第二继电器断 开，第二电源单元给第一电机供电，第二电机暂停工作，电源控制器单元向驾驶员发出故障警告；
38)若第一电机故障且第一电源单元故障，电源控制器单元输出第二电机控制信号，并停止输出第一电机控制信号，第一继电器断开，第二继电器的触点i连接触点k，触点j连接触点m，第二电源单元给第二电机供电，第一电机暂停工作，向驾驶员发出故障警告；
39)若第一电机、第二电机、第一电源单元、第二电源单元均故障，电源控制器单元停止输出第一电机控制信号和第二电机控制信号，第一继电器与第二继电器均断开，第一电机和第二电机暂停工作，电源控制器单元向驾驶员发出故障警告，并提示驾驶员进行紧急制动操作。
本发明的有益效果：
本发明的***具备电源冗余装置，能够保证单个电源故障情况下，由另一个电源驱动双电机进行转向动作，避免电源故障导致车辆丧失转向能力，增强了车辆转向安全性。
本发明的容错控制方法，具备多种供电模式，并能够根据电源和电机故障情况进行快速切换，最大程度保证转向***供电模块的可靠性和安全性。
图1为本发明双电机双电源线控转向***原理结构框图；
图2为本发明双电源切换原理图；
图3为本发明容错控制方法流程图；
图中，1-方向盘，2-转角传感器，3-转向管柱，4-第三转矩传感器，5-路感模拟装置，6-主控制器，7-电源控制器单元，8-第一电源单元，9-第一电机，10-第一转矩传感器，11-第一螺母，12-第一滚珠丝杠，13-转向横拉杆，14-第二螺母，15-第二滚珠丝杠，16-转向车轮单元，17-第二转矩传感器，18-第二电机，19-第二电源单元，20-电源容错装置；
A-转角信号，B-第三转矩信号，C-第二转矩信号，D-第一转矩信号，E-车速信号，F-横摆角速度信号，H-主控制器电源控制信号，J-第一电源单元输出信号，K-第二电源单元输出信号，P-第一电机控制信号，Q-第二电机控制信号，R-路感控制信号。
为了便于本领域技术人员的理解，下面结合实施例与附图对本发明作进一步的说明，实施方式提及的内容并非对本发明的限定。
参照图1所示，本发明的一种双电机双电源线控转向***，包括：方向盘1，转向管柱3、路感模拟装置5、双电机转向模块、主控制器6、电源容错装置20、转向横拉杆13、 转向车轮单元16；
所述方向盘连接转向管柱，转向管柱上分别固定安装第三转矩传感器4、转角传感器2，方向盘输入的作用力经过转向管柱作用于路感模拟装置5；路感模拟装置包括电机和减速机构，二者驱动连接，电机输出力矩经减速机构作用在转向管柱上，转向管柱将作用力传递至方向盘，形成模拟驾驶路感。
所述双电机转向模块包括：第一电机9、第二电机18、第一转矩传感器10、第二转矩传感器17、第一螺母11、第二螺母14、第一滚珠丝杠12、第二滚珠丝杠15；
第一电机输出端通过第一转矩传感器连接第一螺母；第二电机输出端通过第二转矩传感器连接第二螺母；第一滚珠丝杠和第二滚珠丝杠固定于转向横拉杆上；第一滚珠丝杠连接第一螺母，第二滚珠丝杠连接第二螺母，并分别将第一电机和第二电机输出的转向力矩传递至转向横拉杆13并进行叠加；转向横拉杆两侧输出端连接转向车轮单元，输出叠加的转向力矩，完成转向操作；
所述电源容错装置20包括：电源控制器单元7、第一电源单元8、第二电源单元19；
电源控制器单元的输入端分别连接第一电源单元和第二电源单元，同时还与主控制器6电气连接；电源控制器单元的输出端分别连接第一电机和第二电机；
所述主控制器6的输入端通过车载通讯线路连接第一转矩传感器10、第二转矩传感器17、第三转矩传感器4、转角传感器2、车速传感器、横摆角速度传感器；主控制器的输出端连接路感模拟装置5和电源控制器单元7。
参照图2所示，所述电源控制器单元包括继电控制器、第一继电器及第二继电器；继电控制器输入端连接第一电源单元、第二电源单元及主控制器，输出端与第一电机、第二电机、第一继电器、第二继电器电气连接；第一电源单元的电路与第一继电器的触点a、b连接，第一继电器的触点e、f输出电路分为两个并联电路，一个支路连接第一电机，另一个支路连接第二继电器的触点g、h；第二电源单元输出端分为两个并联电路，一个支路连接第一继电器的触点c、d，另一个支路和第二继电器的触点i、j连接，第二继电器的触点k、m连接第二电机。
参照图3所示，本发明的一种双电机双电源线控转向***的容错控制方法，基于上述***，包括以下步骤：
1)根据车辆行驶情况，驾驶员通过方向盘输入一定的转向角度；
2)主控制器接收转角信号A，第三转矩信号B，第二转矩信号C，第一转矩信号D，车速信号E，横摆角速度信号F，计算出双电机转向模块需要提供的转向助力大小及路感模拟装 置需要的反馈力矩大小，并向电源控制器单元输出主控制器电源控制信号H及向路感模拟装置输出路感控制信号R；
3)电源控制器单元分别接收第一电源单元输出信号J、第二电源单元输出信号K以及主控制器电源控制信号H，继电控制器控制第一继电器和第二继电器进行供电模式选择，并输出第一电机控制信号P和第二电机控制信号Q；
4)第一电机和第二电机输出的转向力矩在转向横拉杆上进行叠加，传递至转向车轮单元，完成车轮转向操作；路感模拟装置输出的反馈力矩经转向管柱和方向盘传递至驾驶员，完成路感模拟操作。
其中，所述步骤3)中供电模式选择具体包括以下步骤：
31)主控制器根据第一转矩传感器和第二转矩传感器的输出信号，判断第一电机和第二电机是否正常工作，并输出包含第一电机和第二电机工作状态的主控制器电源控制信号；电源控制器单元接收第一电源单元输出信号和第二电源单元输出信号，得到第一电源和第二电源工作状态；继电控制器通过各电机和电源工作状态，控制第一继电器和第二继电器选择相应的供电模式；
32)若第一电机、第二电机、第一电源单元、第二电源单元均正常工作，电源控制器单元输出第一电机控制信号和第二电机控制信号，第一继电器的触点a连接触点e,触点b连接触点f，第一电源单元给第一电机供电，第二继电器的触点i连接触点k，触点j连接触点m，第二电源单元给第二电机供电，转向***正常工作；
33)若第二电源单元出现故障，电源控制器单元输出第一电机控制信号和第二电机控制信号，第一继电器的触点a连接触点e，触点b连接触点f,第二继电器的触点g连接触点k，触点h连接触点m，第一电源单元同时给第一电机和第二电机供电，电源控制器单元向驾驶员发出故障警告；
34)若第一电机故障且第二电源单元故障，电源控制器单元输出第二电机控制信号，并停止输出第一电机控制信号，第一继电器的触点a连接触点e，触点b连接触点f，第二继电器的触点g连接触点k，触点h连接触点m，第一电源单元给第二电机供电，第一电机暂停工作，电源控制器单元向驾驶员发出故障警告；
35)若第二电机故障且第二电源单元故障，电源控制器单元输出第一电机控制信号，并停止输出第二电机控制信号，第一继电器的触点a连接触点e，触点b连接触点f，第二继电器断开，第一电源单元给第一电机供电，第二电机暂停工作，电源控制器单元向驾驶员发出故障警告；
36)若第一电源单元故障，电源控制器单元输出第一电机控制信号和第二电机控制信号，第一继电器的触点c连接触点e，触点d连接触点f，第二继电器的触点i连接触点k，触点j连接触点m，第二电源单元给第一电机供电和第二电机供电，电源控制器单元向驾驶员发出故障警告；
37)若第二电机故障且第一电源单元故障，电源控制器单元输出第一电机控制信号，并停止输出第二电机控制信号，第一继电器的触点c连接触点e，触点d连接触点f,第二继电器断开，第二电源单元给第一电机供电，第二电机暂停工作，电源控制器单元向驾驶员发出故障警告；
38)若第一电机故障且第一电源单元故障，电源控制器单元输出第二电机控制信号，并停止输出第一电机控制信号，第一继电器断开，第二继电器的触点i连接触点k，触点j连接触点m，第二电源单元给第二电机供电，第一电机暂停工作，向驾驶员发出故障警告；
39)若第一电机、第二电机、第一电源单元、第二电源单元均故障，电源控制器单元停止输出第一电机控制信号和第二电机控制信号，第一继电器与第二继电器均断开，第一电机和第二电机暂停工作，电源控制器单元向驾驶员发出故障警告，并提示驾驶员进行紧急制动操作。
本发明具体应用途径很多，以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以作出若干改进，这些改进也应视为本发明的保护范围。
Claims (5)
- 一种双电机双电源线控转向***，其特征在于，包括：方向盘，转向管柱、路感模拟装置、双电机转向模块、主控制器、电源容错装置、转向横拉杆、转向车轮单元；所述方向盘连接转向管柱，转向管柱上分别固定安装第三转矩传感器、转角传感器，方向盘输入的作用力经过转向管柱作用于路感模拟装置；所述双电机转向模块包括：第一电机、第二电机、第一转矩传感器、第二转矩传感器、第一螺母、第二螺母、第一滚珠丝杠、第二滚珠丝杠；第一电机输出端通过第一转矩传感器连接第一螺母；第二电机输出端通过第二转矩传感器连接第二螺母；第一滚珠丝杠和第二滚珠丝杠固定于转向横拉杆上；第一滚珠丝杠连接第一螺母，第二滚珠丝杠连接第二螺母，并分别将第一电机和第二电机输出的转向力矩传递至转向横拉杆并进行叠加；转向横拉杆两侧输出端连接转向车轮单元，输出叠加的转向力矩，完成转向操作；所述电源容错装置包括：电源控制器单元、第一电源单元、第二电源单元；电源控制器单元的输入端分别连接第一电源单元和第二电源单元，同时还与主控制器电气连接；电源控制器单元的输出端分别连接第一电机和第二电机；所述主控制器的输入端通过车载通讯线路连接第一转矩传感器、第二转矩传感器、第三转矩传感器、转角传感器、车速传感器、横摆角速度传感器；主控制器的输出端连接路感模拟装置和电源控制器单元。
- 根据权利要求1所述的双电机双电源线控转向***，其特征在于，所述路感模拟装置包括电机和减速机构，二者驱动连接，电机输出力矩经减速机构作用在转向管柱上，转向管柱将作用力传递至方向盘，形成模拟驾驶路感。
- 根据权利要求1所述的双电机双电源线控转向***，其特征在于，所述电源控制器单元包括继电控制器、第一继电器及第二继电器；继电控制器输入端连接第一电源单元、第二电源单元及主控制器，输出端与第一电机、第二电机、第一继电器、第二继电器电气连接；第一电源单元的电路与第一继电器的触点a、b连接，第一继电器的触点e、f输出电路分为两个并联电路，一个支路连接第一电机，另一个支路连接第二继电器的触点g、h；第二电源单元输出端分为两个并联电路，一个支路连接第一继电器的触点c、d，另一个支路和第二继电器的触点i、j连接，第二继电器的触点k、m连接第二电机。
- 一种双电机双电源线控转向***的容错控制方法，基于上述权利要求3所述的***，其特征在于，包括以下步骤：1)根据车辆行驶情况，通过方向盘输入一定的转向角度；2)主控制器接收转角信号A，第三转矩信号B，第二转矩信号C，第一转矩信号D，车速信号E，横摆角速度信号F，计算出双电机转向模块需要提供的转向助力大小及路感模拟装置需要的反馈力矩大小，并向电源控制器单元输出主控制器电源控制信号H及向路感模拟装置输出路感控制信号R；3)电源控制器单元分别接收第一电源单元输出信号J、第二电源单元输出信号K以及主控制器电源控制信号H，继电控制器控制第一继电器和第二继电器进行供电模式选择，并输出第一电机控制信号P和第二电机控制信号Q；4)第一电机和第二电机输出的转向力矩在转向横拉杆上进行叠加，传递至转向车轮单元，完成车轮转向操作；路感模拟装置输出的反馈力矩经转向管柱和方向盘传递至驾驶员，完成路感模拟操作。
- 根据权利要求4所述的双电机双电源线控转向***的容错控制方法，其特征在于，所述步骤3)中供电模式选择具体包括以下步骤：31)主控制器根据第一转矩传感器和第二转矩传感器的输出信号，判断第一电机和第二电机是否正常工作，并输出包含第一电机和第二电机工作状态的主控制器电源控制信号；电源控制器单元接收第一电源单元输出信号和第二电源单元输出信号，得到第一电源和第二电源工作状态；继电控制器通过各电机和电源工作状态，控制第一继电器和第二继电器选择相应的供电模式；32)若第一电机、第二电机、第一电源单元、第二电源单元均正常工作，电源控制器单元输出第一电机控制信号和第二电机控制信号，第一继电器的触点a连接触点e,触点b连接触点f，第一电源单元给第一电机供电，第二继电器的触点i连接触点k，触点j连接触点m，第二电源单元给第二电机供电，转向***正常工作；33)若第二电源单元出现故障，电源控制器单元输出第一电机控制信号和第二电机控制信号，第一继电器的触点a连接触点e，触点b连接触点f,第二继电器的触点g连接触点k，触点h连接触点m，第一电源单元同时给第一电机和第二电机供电，电源控制器单元向驾驶员发出故障警告；34)若第一电机故障且第二电源单元故障，电源控制器单元输出第二电机控制信号，并停止输出第一电机控制信号，第一继电器的触点a连接触点e，触点b连接触点f，第二继电器的触点g连接触点k，触点h连接触点m，第一电源单元给第二电机供电，第一电机暂停工作，电源控制器单元向驾驶员发出故障警告；35)若第二电机故障且第二电源单元故障，电源控制器单元输出第一电机控制信号，并停止 输出第二电机控制信号，第一继电器的触点a连接触点e，触点b连接触点f，第二继电器断开，第一电源单元给第一电机供电，第二电机暂停工作，电源控制器单元向驾驶员发出故障警告；36)若第一电源单元故障，电源控制器单元输出第一电机控制信号和第二电机控制信号，第一继电器的触点c连接触点e，触点d连接触点f，第二继电器的触点i连接触点k，触点j连接触点m，第二电源单元给第一电机供电和第二电机供电，电源控制器单元向驾驶员发出故障警告；37)若第二电机故障且第一电源单元故障，电源控制器单元输出第一电机控制信号，并停止输出第二电机控制信号，第一继电器的触点c连接触点e，触点d连接触点f,第二继电器断开，第二电源单元给第一电机供电，第二电机暂停工作，电源控制器单元向驾驶员发出故障警告；38)若第一电机故障且第一电源单元故障，电源控制器单元输出第二电机控制信号，并停止输出第一电机控制信号，第一继电器断开，第二继电器的触点i连接触点k，触点j连接触点m，第二电源单元给第二电机供电，第一电机暂停工作，向驾驶员发出故障警告；39)若第一电机、第二电机、第一电源单元、第二电源单元均故障，电源控制器单元停止输出第一电机控制信号和第二电机控制信号，第一继电器与第二继电器均断开，第一电机和第二电机暂停工作，电源控制器单元向驾驶员发出故障警告，并提示驾驶员进行紧急制动操作。
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910136329.3 | 2019-02-25 | ||
| CN201910136329.3A CN109850008B (zh) | 2019-02-25 | 2019-02-25 | 一种双电机双电源线控转向***及其容错控制方法 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2020173122A1 true WO2020173122A1 (zh) | 2020-09-03 |
Family
ID=66898777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2019/115624 WO2020173122A1 (zh) | 2019-02-25 | 2019-11-05 | 一种双电机双电源线控转向***及其容错控制方法 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109850008B (zh) |
| WO (1) | WO2020173122A1 (zh) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114454950A (zh) * | 2021-12-30 | 2022-05-10 | 南京航空航天大学 | 一种双电机线控转向***及其容错控制方法 |
| US20230040044A1 (en) * | 2020-04-20 | 2023-02-09 | Thyssenkrupp Presta Ag | Degradation concept for a steer-by-wire steering system |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109850008B (zh) * | 2019-02-25 | 2020-07-28 | 南京航空航天大学 | 一种双电机双电源线控转向***及其容错控制方法 |
| CN112477977A (zh) * | 2019-09-12 | 2021-03-12 | 比亚迪股份有限公司 | 一种车辆助力转向装置及其控制方法 |
| CN111038578B (zh) * | 2019-12-11 | 2020-12-01 | 南京航空航天大学 | 一种双源双绕组电机线控转向***及其容错控制方法 |
| CN111055918B (zh) * | 2019-12-18 | 2021-01-08 | 南京航空航天大学 | 一种基于双绕组电机的双电机线控转向***及其控制方法 |
| CN111017010B (zh) * | 2020-01-03 | 2023-11-07 | 南京航空航天大学 | 一种双电机智能线控转向***及同步控制方法 |
| CN111361634B (zh) * | 2020-04-02 | 2023-07-04 | 株洲易力达机电有限公司 | 一种电动助力转向*** |
| CN111634326A (zh) * | 2020-05-07 | 2020-09-08 | 中国第一汽车股份有限公司 | 一种冗余线控转向装置、***架构以及驾驶设备 |
| CN114666942A (zh) * | 2020-12-23 | 2022-06-24 | 常州星宇车灯股份有限公司 | 一种控制电路 |
| CN112865408B (zh) * | 2021-01-11 | 2021-11-02 | 北京航空航天大学 | 双余度机电作动器 |
| CN113320592A (zh) * | 2021-06-11 | 2021-08-31 | 浙江国芯科技有限公司 | 一种远程操控式agv叉车线控转向装置 |
| WO2023197197A1 (zh) * | 2022-04-13 | 2023-10-19 | 华为技术有限公司 | 一种转向控制装置、转向***和汽车 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012045978A (ja) * | 2010-08-24 | 2012-03-08 | Jtekt Corp | 車両用操舵装置 |
| CN105313952A (zh) * | 2014-07-31 | 2016-02-10 | 株式会社电装 | 电力转向***以及包括电力转向***的车辆控制*** |
| CN206954014U (zh) * | 2017-03-28 | 2018-02-02 | 深圳市知行智驱技术有限公司 | 一种电动汽车双向dcdc助力转向供电*** |
| DE102017106671A1 (de) * | 2017-03-28 | 2018-10-04 | Thyssenkrupp Ag | Lenkgetriebe für Einzelradlenkung eines Kraftfahrzeugs mit Steer-by-Wire Lenksystem |
| CN208165094U (zh) * | 2018-02-13 | 2018-11-30 | 重庆长安汽车股份有限公司 | 自动驾驶车辆的冗余电子转向*** |
| CN208278156U (zh) * | 2017-10-26 | 2018-12-25 | 天津市松正电动汽车技术股份有限公司 | 一种双源电动助力转向*** |
| CN208530686U (zh) * | 2018-06-22 | 2019-02-22 | 北京汽车股份有限公司 | 电动助力转向控制*** |
| CN109850008A (zh) * | 2019-02-25 | 2019-06-07 | 南京航空航天大学 | 一种双电机双电源线控转向***及其容错控制方法 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07251749A (ja) * | 1994-03-16 | 1995-10-03 | Mitsubishi Electric Corp | 電動パワーステアリング制御装置 |
| JP5444992B2 (ja) * | 2009-09-24 | 2014-03-19 | 株式会社ジェイテクト | 電動パワーステアリング装置 |
| JP5898244B2 (ja) * | 2014-01-20 | 2016-04-06 | 本田技研工業株式会社 | 車両用操舵装置 |
| CN206606260U (zh) * | 2017-03-20 | 2017-11-03 | 深圳大学 | 一种线控转向路感力矩的模拟*** |
| US10442459B2 (en) * | 2017-07-07 | 2019-10-15 | GM Global Technology Operations LLC | Fail operational control of steer-by-wire system without mechanical backup connection |
| CN107792168B (zh) * | 2017-09-26 | 2024-03-01 | 浙江万达汽车方向机有限公司 | 一种套筒电机线控转向装置及控制方法 |
| CN109291991B (zh) * | 2018-12-01 | 2023-10-24 | 南京天航智能装备研究院有限公司 | 一种双电机线控复合转向***及其控制方法 |
-
2019
- 2019-02-25 CN CN201910136329.3A patent/CN109850008B/zh active Active
- 2019-11-05 WO PCT/CN2019/115624 patent/WO2020173122A1/zh active Application Filing
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012045978A (ja) * | 2010-08-24 | 2012-03-08 | Jtekt Corp | 車両用操舵装置 |
| CN105313952A (zh) * | 2014-07-31 | 2016-02-10 | 株式会社电装 | 电力转向***以及包括电力转向***的车辆控制*** |
| CN206954014U (zh) * | 2017-03-28 | 2018-02-02 | 深圳市知行智驱技术有限公司 | 一种电动汽车双向dcdc助力转向供电*** |
| DE102017106671A1 (de) * | 2017-03-28 | 2018-10-04 | Thyssenkrupp Ag | Lenkgetriebe für Einzelradlenkung eines Kraftfahrzeugs mit Steer-by-Wire Lenksystem |
| CN208278156U (zh) * | 2017-10-26 | 2018-12-25 | 天津市松正电动汽车技术股份有限公司 | 一种双源电动助力转向*** |
| CN208165094U (zh) * | 2018-02-13 | 2018-11-30 | 重庆长安汽车股份有限公司 | 自动驾驶车辆的冗余电子转向*** |
| CN208530686U (zh) * | 2018-06-22 | 2019-02-22 | 北京汽车股份有限公司 | 电动助力转向控制*** |
| CN109850008A (zh) * | 2019-02-25 | 2019-06-07 | 南京航空航天大学 | 一种双电机双电源线控转向***及其容错控制方法 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230040044A1 (en) * | 2020-04-20 | 2023-02-09 | Thyssenkrupp Presta Ag | Degradation concept for a steer-by-wire steering system |
| CN114454950A (zh) * | 2021-12-30 | 2022-05-10 | 南京航空航天大学 | 一种双电机线控转向***及其容错控制方法 |
| CN114454950B (zh) * | 2021-12-30 | 2022-12-23 | 南京航空航天大学 | 一种双电机线控转向***及其容错控制方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109850008A (zh) | 2019-06-07 |
| CN109850008B (zh) | 2020-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2020173122A1 (zh) | 一种双电机双电源线控转向***及其容错控制方法 | |
| KR101708083B1 (ko) | 자율적으로 구동하는 차량의 안전한 스티어링 시스템 | |
| US6820715B2 (en) | Electrical steering for vehicle, with triple redundancy | |
| US6548969B2 (en) | Redundant steer-by-wire system | |
| WO2021114566A1 (zh) | 一种双源双绕组电机线控转向***及其容错控制方法 | |
| WO2021249223A1 (zh) | 一种冗余机构线控转向装置和控制方法 | |
| CN208053433U (zh) | 车辆冗余电子转向制动*** | |
| CN109733461A (zh) | 自动驾驶车辆的冗余电子转向***及控制方法 | |
| CN208165094U (zh) | 自动驾驶车辆的冗余电子转向*** | |
| CN110712677B (zh) | 一种自动驾驶车辆的冗余电动助力转向***及其控制方法 | |
| US6622813B2 (en) | Hybrid steer-by-wire with mechanical link | |
| CN208053434U (zh) | 车辆冗余电子助力转向*** | |
| CN114524019A (zh) | 一种商用车双绕组双电机线控转向***及其控制方法 | |
| US20230040044A1 (en) | Degradation concept for a steer-by-wire steering system | |
| WO2023125450A1 (zh) | 电控制动*** | |
| JP2001088727A (ja) | 車両用操舵装置 | |
| CN216833883U (zh) | 一种双控冗余线控转向*** | |
| CN207955769U (zh) | 车辆冗余电子转向*** | |
| CN110562320A (zh) | 一种用于汽车爆胎后行驶方向稳定控制的转向器 | |
| US20080147247A1 (en) | Circuit for controlling an acceleration, braking and steering system of a vehicle | |
| JP7182113B2 (ja) | 車両および停止スイッチ装置 | |
| CN114379644A (zh) | 一种智能驾驶汽车的冗余式电动助力转向***及工作方法 | |
| CN210882296U (zh) | 一种用于汽车爆胎后行驶方向稳定控制的转向器 | |
| JP2011093442A (ja) | 電動パワーステアリング装置の制御装置 | |
| JPH0538005A (ja) | 鉄道車両自動運転装置の運用方法 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19916657 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 19916657 Country of ref document: EP Kind code of ref document: A1 |
|
| 32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 07/03/2022) |