阅读说明：本技术 一种智能车线控转向系统、智能车及其控制方法 (Intelligent vehicle line control steering system, intelligent vehicle and control method thereof ) 是由 刘玮 张庆杰 程锦 马永恒 万平 于 2021-08-30 设计创作，主要内容包括：本发明公开了一种智能车线控转向系统、智能车及其控制方法,属于汽车转向控制技术领域。包括设置在智能车上的转向控制器、与转向控制器机电连接的转向执行机构和多种传感器；所述转向执行机构包括驱动电机、与驱动电机相连的转向横拉杆、与转向横拉杆相连的转向节臂；所述转向执行机构与智能车轮毂相连。本发明相较于传统线控转向系统,在转向精度上有了很大的提高,同时能够适应更加复杂的工况,不仅结构简单,性能更加稳定,可以实现更好的转向效果。(The invention discloses an intelligent vehicle linear control steering system, an intelligent vehicle and a control method thereof, and belongs to the technical field of automobile steering control. The intelligent vehicle steering system comprises a steering controller arranged on the intelligent vehicle, a steering actuating mechanism electrically and mechanically connected with the steering controller and a plurality of sensors; the steering actuating mechanism comprises a driving motor, a steering tie rod connected with the driving motor and a steering knuckle arm connected with the steering tie rod; and the steering actuating mechanism is connected with the intelligent wheel hub. Compared with the traditional steer-by-wire system, the invention greatly improves the steering precision, can adapt to more complex working conditions, has simple structure and more stable performance, and can realize better steering effect.)

1. The intelligent vehicle linear control steering system is characterized by comprising a steering controller arranged on an intelligent vehicle, a steering actuating mechanism electrically and mechanically connected with the steering controller and a plurality of sensors; the steering actuating mechanism comprises a driving motor, a steering tie rod connected with the driving motor and a steering knuckle arm connected with the steering tie rod; and the steering actuating mechanism is connected with the intelligent wheel hub.

2. The intelligent vehicle steer-by-wire system of claim 1, wherein the drive motor is a servo linear push rod motor.

3. The intelligent vehicle steer-by-wire system of claim 1, wherein the steering controller is an intelligent vehicle ECU.

4. The intelligent vehicle steer-by-wire system of claim 1, wherein said sensors monitor intelligent vehicle lateral velocity, longitudinal velocity, and yaw rate in real time.

5. An intelligent vehicle, characterized in that the intelligent vehicle steer-by-wire system of any one of claims 1 to 4 is adopted for steering control.

6. The control method of the intelligent vehicle-line control steering system according to any one of claims 1 to 4, characterized by comprising the following steps:

the sensor monitors the running state of the automobile to be turned and feeds the running state back to the steering controller of the intelligent automobile;

the steering controller sends a steering instruction to the steering actuating mechanism, and the driving motor of the steering actuating mechanism outputs torque to control the steering tie rod and the steering knuckle arm, so that the wheel steering of the intelligent vehicle is completed.

7. The control method of the intelligent vehicle steer-by-wire system according to claim 6, further comprising the step of acquiring the steering angle data of the intelligent vehicle in real time by a sensor in the steering process, feeding the steering angle data back to a steering controller of the intelligent vehicle, and outputting an adjustment instruction in real time by the steering controller.

Technical Field

The invention relates to an intelligent vehicle linear control steering system, an intelligent vehicle and a control method thereof, and belongs to the technical field of automobile steering control.

Background

With the development of vehicle technology, the running density of vehicle roads is continuously increasing. The four-wheel steering is paid attention to because of the realization of active safety, and the four-wheel steering has the advantage that the mass center slip angle can be basically zero in the steering process of the automobile. The yaw angular velocity and the lateral acceleration transient performance index are improved to a great extent, in addition, the turning radius of the vehicle can be reduced at low speed, the vehicle is more flexible when running at low speed, and the motion track and the posture of the vehicle can be independently controlled, so that the direction angle and the posture angle are coincided, and the lateral stability of the vehicle is improved. When the same-phase front wheels are steered during high-speed running, the time for generating the turning force by the rear wheels is relatively lagged, so that the deviation between the direction of the vehicle body and the actual running direction is reduced, and the vehicle has better stability.

Meanwhile, the maneuverability of the vehicle can be improved at low speed, a smaller turning radius can be obtained, the vehicle can flexibly and freely pass through the turning device in a crowded environment, the stability and the driving tracking capability of the vehicle at high speed are improved, and the driving safety of the vehicle is improved.

The steering system is a structure of a vehicle, which realizes the change or the maintenance of the driving direction of the vehicle in the working process through a steering device. The most critical function of the automobile steering system is to change the driving direction of the vehicle according to the working conditions encountered in the actual driving process. With the modernization of automotive technology, automotive steering systems have also evolved from mechanical steering systems to today's steer-by-wire control systems.

Disclosure of Invention

The invention aims to overcome the defects in the prior art, and provides an intelligent vehicle steering-by-wire system, an intelligent vehicle and a control method thereof, so as to solve the technical problem that the steering-by-wire system in the prior art is poor in steering accuracy and stability.

In order to solve the technical problem, the invention is realized by adopting the following scheme:

the invention provides an intelligent vehicle steer-by-wire system, which comprises a steering controller arranged on an intelligent vehicle, a steering actuating mechanism electrically and mechanically connected with the steering controller and a plurality of sensors; the steering actuating mechanism comprises a driving motor, a steering tie rod connected with the driving motor and a steering knuckle arm connected with the steering tie rod; and the steering actuating mechanism is connected with the intelligent wheel hub.

Preferably, the driving motor is a servo linear push rod motor.

Preferably, the steering controller is an intelligent vehicle ECU.

Preferably, the sensors monitor the lateral speed, the longitudinal speed and the yaw speed of the intelligent vehicle in real time.

The invention also provides an intelligent vehicle, and the steering control is carried out by adopting the intelligent vehicle linear control steering system.

The invention also provides a control method of the intelligent vehicle linear control steering system, which comprises the following steps: the sensor monitors the running state of the automobile to be turned and feeds the running state back to the steering controller of the intelligent automobile; the steering controller sends a steering instruction to the steering actuating mechanism, and the driving motor of the steering actuating mechanism outputs torque to control the steering tie rod and the steering knuckle arm, so that the wheel steering of the intelligent vehicle is completed.

Preferably, the method further comprises the step of acquiring the turning angle data of the intelligent vehicle in real time by a sensor in the steering process, feeding the turning angle data back to a steering controller of the intelligent vehicle, and outputting an adjusting instruction in real time by the steering controller.

Compared with the prior art, the invention has the following beneficial effects:

1. compared with the traditional steer-by-wire system, the invention greatly improves the steering precision, can adapt to more complex working conditions, has simple structure and more stable performance, and can realize better steering effect.

2. Compared with the traditional steer-by-wire system, the invention omits a steering wheel assembly, the steering of the vehicle does not need to be carried out by manual operation, and the intelligent degree is high.

Drawings

FIG. 1 is a schematic diagram of an intelligent vehicle steer-by-wire system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a steering actuator of the intelligent vehicle steer-by-wire system according to an embodiment of the present invention.

Wherein the reference numerals are: 1. a servo linear push rod motor; 2. a tie rod; 3. a knuckle arm.

Detailed Description

The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Example 1

As shown in fig. 1 and 2, the present embodiment provides an intelligent vehicle steer-by-wire system, which mainly comprises a steering controller, a steering actuator and a plurality of sensors, wherein the steering controller is disposed on an intelligent vehicle, the steering actuator is connected to the steering controller, and the plurality of sensors are electrically and mechanically connected to the steering controller. Wherein, turn to actuating mechanism including driving motor, the tie rod 2 that links to each other with driving motor, the knuckle arm 3 that links to each other with tie rod 2, knuckle arm 3 and intelligent wheel hub fixed connection. Compared with a traditional steer-by-wire system, the steering wheel assembly is omitted, the steering of the vehicle is not required to be carried out through manual operation, and the intelligent degree is high.

Compared with the traditional steer-by-wire system, the latest ECU (electronic control unit) is used as a steering controller to realize the control of the steering process, the original steering wheel assembly and a part of steering mechanical structure are cancelled, and the problem of constraint among the parts is avoided; the use of some mechanical structures is reduced, so that the structure of the whole vehicle is simpler and higher, the occupation of space is reduced, and the quality of the whole vehicle is reduced. The ECU sends out instructions according to the needs, so that the power consumption is avoided, and a certain energy-saving effect is achieved in the aspect of energy.

The drive motor adopted by the steer-by-wire system provided by the embodiment is the servo linear push rod motor 1, has the characteristics of high control precision, closed-loop control, signal feedback, quick response and the like, and can convert an input voltage signal into a mechanical output quantity on a motor shaft to drag a controlled element, thereby achieving the purpose of control. The servo motor requires the rotation speed of the motor to be controlled by an applied voltage signal; the rotation speed can also change along with the voltage, and the motor has quick response. The whole vehicle can be more flexible in structural arrangement; the servo linear push rod motor 1 provides steering power, and the use of some hydraulic devices is eliminated, so that the problem of oil leakage of a hydraulic structure is avoided;

the sensor that this embodiment provided can real-time supervision car the travel state, gathers real-time lateral velocity, longitudinal velocity and yaw rate of car, and in the aspect of the control, the control effect of steer-by-wire system is more accurate than artificial control. Through the real-time monitoring to data to realize accurate control. The steering stability is greatly improved.

Example 2

The embodiment provides an intelligent vehicle, adopts embodiment 1 the automatically controlled braking system of intelligent vehicle carry out brake control, realized that intelligent vehicle is safe, slow down steadily and accurate braking.

As shown in figures 1 and 2, the intelligent vehicle linear control steering system mainly comprises a steering controller, a steering executing mechanism and a plurality of sensors, wherein the steering controller is arranged on an intelligent vehicle, the steering executing mechanism is connected with the steering controller, and the plurality of sensors are electrically and mechanically connected with the steering controller. Wherein, turn to actuating mechanism including driving motor, the tie rod 2 that links to each other with driving motor, the knuckle arm 3 that links to each other with tie rod 2, knuckle arm 3 and intelligent wheel hub fixed connection. Compared with a traditional steer-by-wire system, the steering wheel assembly is omitted, the steering of the vehicle is not required to be carried out through manual operation, and the intelligent degree is high.

Compared with the traditional steer-by-wire system, the latest ECU (electronic control unit) is used as a steering controller to realize the control of the steering process, the original steering wheel assembly and a part of steering mechanical structure are cancelled, and the problem of constraint among the parts is avoided; the use of some mechanical structures is reduced, so that the structure of the whole vehicle is simpler and higher, the occupation of space is reduced, and the quality of the whole vehicle is reduced. The ECU sends out instructions according to the needs, so that the power consumption is avoided, and a certain energy-saving effect is achieved in the aspect of energy.

The drive motor adopted by the steer-by-wire system is a servo linear push rod motor 1, has the characteristics of high control precision, closed-loop control, signal feedback, quick response and the like, can convert an input voltage signal into a mechanical output quantity on a motor shaft, and drags a controlled element, thereby achieving the purpose of control. The servo motor requires the rotation speed of the motor to be controlled by an applied voltage signal; the rotation speed can also vary with the voltage; the motor reacts quickly. The whole vehicle can be more flexible in structural arrangement; the servo linear push rod motor 1 provides steering power, and the use of some hydraulic devices is eliminated, so that the problem of oil leakage of a hydraulic structure is avoided;

the sensor can real-time supervision car the running state, gathers real-time lateral velocity, longitudinal velocity and yaw velocity of car, and in the aspect of the control, the control effect of steer-by-wire system is more accurate than artificial control. Through the real-time monitoring to data to realize accurate control. The steering stability is greatly improved.

Example 3

The embodiment provides a control method of an intelligent vehicle linear control steering system, which comprises the following steps: the sensor monitors the running state of the automobile to be turned and feeds the running state back to the steering controller of the intelligent automobile; the steering controller sends a steering instruction to the steering actuating mechanism, and the driving motor of the steering actuating mechanism outputs torque to control the steering tie rod and the steering knuckle arm, so that the wheel steering of the intelligent vehicle is completed.

As shown in figures 1 and 2, the intelligent vehicle linear control steering system mainly comprises a steering controller, a steering executing mechanism and a plurality of sensors, wherein the steering controller is arranged on an intelligent vehicle, the steering executing mechanism is connected with the steering controller, and the plurality of sensors are electrically and mechanically connected with the steering controller. Wherein, turn to actuating mechanism including driving motor, the tie rod 2 that links to each other with driving motor, the knuckle arm 3 that links to each other with tie rod 2, knuckle arm 3 and intelligent wheel hub fixed connection. Compared with a traditional steer-by-wire system, the steering wheel assembly is omitted, the steering of the vehicle is not required to be carried out through manual operation, and the intelligent degree is high.

Compared with the traditional steer-by-wire system, the latest ECU (electronic control unit) is used as a steering controller to realize the control of the steering process, the original steering wheel assembly and a part of steering mechanical structure are cancelled, and the problem of constraint among the parts is avoided; the use of some mechanical structures is reduced, so that the structure of the whole vehicle is simpler and higher, the occupation of space is reduced, and the quality of the whole vehicle is reduced. The ECU sends out instructions according to the needs, so that the power consumption is avoided, and a certain energy-saving effect is achieved in the aspect of energy.

The drive motor adopted by the steer-by-wire system is a servo linear push rod motor 1, has the characteristics of high control precision, closed-loop control, signal feedback, quick response and the like, can convert an input voltage signal into a mechanical output quantity on a motor shaft, and drags a controlled element, thereby achieving the purpose of control. The servo motor requires the rotation speed of the motor to be controlled by an applied voltage signal; the rotation speed can also change along with the voltage, and the motor has quick response. The whole vehicle can be more flexible in structural arrangement; the servo linear push rod motor 1 provides steering power, and the use of some hydraulic devices is eliminated, so that the problem of oil leakage of a hydraulic structure is avoided;

the sensor can real-time supervision car the running state, gathers real-time lateral velocity, longitudinal velocity and yaw velocity of car, and in the aspect of the control, the control effect of steer-by-wire system is more accurate than artificial control. Through the real-time monitoring to data to realize accurate control. The steering stability is greatly improved.

The control method of the brake-by-wire system adopts a linear motor pushing mode of realizing closed-loop control and signal feedback through an encoder as a power source for steering, so that the transverse motion of a steering tie rod 2 is pushed, and then the steering tie rod pulls wheels through a knuckle arm 3 to steer.

In addition, in the steering process, the sensor continuously collects real-time data information such as a steering angle and the like and feeds the data information back to the ECU, and the ECU processes an adjusting instruction to realize real-time accurate steering control.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.