CN106828589A - A kind of automobile steering control system and its control method - Google Patents
A kind of automobile steering control system and its control method Download PDFInfo
- Publication number
- CN106828589A CN106828589A CN201710199906.4A CN201710199906A CN106828589A CN 106828589 A CN106828589 A CN 106828589A CN 201710199906 A CN201710199906 A CN 201710199906A CN 106828589 A CN106828589 A CN 106828589A
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 5
- 238000009790 rate-determining step (RDS) Methods 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 abstract description 3
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to a kind of automobile steering control system and its control method, including automobile steering control system, including planet circular system device between steering wheel and car steering linkage mechanism is installed on, the camera of vehicle front is arranged at and is arranged at the radar that vehicle two is leaned to one side；Automobile ECU is connected with planet circular system device, camera and radar communication respectively；Camera is monitored to the lines on traveling lane both sides；The line information that camera will be photographed sends automobile ECU to, and radar launches radar signal to the rear of turn side, by, to automobile ECU, automobile ECU controls the keying of planet circular system device with the vehicle distances information transmission at rear；Planet circular system device realizes that vehicle low speed assisted diversion or vehicle high-speed restriction are turned to.The present invention can play steering protective effect under different driving states so that motor turning is more safe and reliable.
Description
Technical field
The present invention relates to a kind of automobile steering control system and its control method, belong to Automotive Steering Technology field.
Background technology
When driving at low speed, passing in and out parking stall and turn around, driver often wants large rotation angle steering wheel when turning to.
And in order to not hinder tire, often vehicle beats steering wheel in traveling.At this time, because the angle for needing steering wheel to rotate is larger,
Then steering wheel can not be turned to ideal position by some drivers when vehicle is advanced, and understeer occurs, so as to cause
Vehicle scratches even collision pedestrian so as to cause the accident.When running at high speed, especially on a highway, driver
Carelessness somewhat, making steering wheel have slight rotation to can frequently result in vehicle has very big lateral movement, not only easily and rear
Vehicle collides, and vehicle itself also has the danger for scratching guardrail and rollover.
Based on above-mentioned background, if vehicle is under low speed and high-speed condition, can be accustomed to distinguishing according to the driving of driver
The rotation ratio of selection wheel and steering wheel, then can realize that, in low speed, driver's steering wheel rotation somewhat can just make
Obtaining vehicle carries out large rotation angle, and in high speed, even if because the larger rotation of steering wheel occurs in carelessness, vehicle is also only
There is the sidesway of low-angle, and cause there is the leeway of amendment in vehicle travel process, and then practical protect vehicle driver
And the security of the lives and property of traffic route personnel.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention provides a kind of automobile steering control system and its control method, the vapour
Car steering control system and its control method can play steering protective effect under different driving states so that motor turning is more
Plus it is safe and reliable.
Technical scheme is as follows：
A kind of automobile steering control system, including it is installed on the planet circular system dress between steering wheel and car steering linkage mechanism
Put, be arranged at the camera of vehicle front and be arranged at the radar that vehicle two is leaned to one side；Automobile ECU is filled with planet circular system respectively
Put, camera and radar communication are connected；Camera is monitored to the lines on traveling lane both sides；Camera will be photographed
Line information sends automobile ECU to, and radar launches radar signal to the rear of turn side, will be passed with the vehicle distances information at rear
Automobile ECU is given, automobile ECU controls the keying of planet circular system device；Planet circular system device realize vehicle low speed assisted diversion or
Vehicle high-speed restriction is turned to.
Wherein, the planet circular system device includes that turning to input gear, angle control gear and two turns to output gear；Turn
It is internal gear to input gear, angle control gear and two steering output gears are arranged in steering input gear, turn to input
Gear and angle control gear for sun gear, and two turn to output gear for planetary gear；Turn to input gear middle part and an input shaft
It is fixedly connected, the other end of input shaft is fixedly connected with steering wheel；One output shaft one end is connected with car steering linkage mechanism, separately
One end is fixedly connected with the center of two steering output gears, and angle control gear is driven by a slow speed motor, automobile ECU and at a slow speed
Motor electric signal is connected.
Wherein, described automobile steering control system, also including locking system, locking device include platen, be arranged at it is defeated
The closing piece plane for going out Axial and radial and the pressure latch mechanism that platen is pressed to closing piece plane, set one and consolidate with output shaft in closing piece plane
The closing piece of fixed connection, be provided with platen output shaft by hole and the lockhole being engaged with closing piece；Pressure latch mechanism includes moving
Dynamic portion and the depression bar parallel with output shaft；Move portion one end is connected with the expansion link of hydraulic cylinder, and the other end is consolidated with platen
Fixed connection；Mobile cavity is provided with move portion, depression bar one end is the sliding block being arranged in mobile cavity, and the other end passes through platen
It is fixedly connected with closing piece plane, spring is arranged with outside the depression bar between platen and closing piece plane.
A kind of auto steering control method, including automobile steering control system described above, its rate-determining steps are as follows：
1）The line information that camera will be photographed sends automobile ECU to, when vehicle deviates traveling lane, and does not play steering indicating light
When, automobile ECU controls automobile without departing from straight trip and controls planet circular system device not start；
2）Motor turning, radar launches radar signal to the rear of turn side, if detecting, with front vehicle be safe distance,
Can normal direction of rotation, now automobile ECU control planet circular system device startup；If it is dangerous distance, vapour to measure with front vehicle
Car ECU control automobiles are not turned to and control planet circular system device not start；
3）Planet circular system device not starting state：Slow speed motor does not work, and angle control gear is motionless, and driver passes through rotation side
Steering input gear is rotated to disk, input gear rotation is turned to and is driven steering output gear to rotate, so as to divertical motion be passed
Transmission mechanism is defeated by, now normal direction disk corner is A；
4）Vehicle low speed turns to planet circular system device starting state：Automobile ECU receives vehicle low speed information and then controls electricity at a slow speed
Machine is rotated so that angle controls gear to be rotate in same direction with input gear is turned to, and turns to output gear reverse with steering input gear
Rotate；Now, low speed steering wheel angle B is much smaller than normal direction disk corner A, and then facilitates the vehicle to carry out course changing control；
5）Vehicle high-speed turns to planet circular system device starting state：Automobile ECU receives vehicle high-speed information and then controls electricity at a slow speed
Machine is rotated so that angle controls gear to be rotated backward with input gear is turned to, and turns to output gear in the same direction with steering input gear
Rotate；Now, high speed steering wheel angle C is much larger than normal direction disk corner A, and then prevents driver when running at high speed, because
Ovdersteering, causes car substantial deviation route.
Further, when automobile flat tire, locking system work, restricting vehicle is turned to, and hydraulic cylinder works drive move portion
Reach so that sliding block is moved in mobile cavity, so that platen moves forward, on lockhole set to the closing piece on platen, so that
Shaft locking must be exported, automobile is not turned to；When speed slows down, hydraulic cylinder does not work, and spring promotes platen resilience so as to unlock.
The present invention has the advantages that：
1st, the present invention can play steering protective effect under different driving states so that motor turning is more safe and reliable.
2nd, planet circular system apparatus structure of the invention is simple, and number of components is few, easily handling, Spur Gear Driving, process costs
Lower, precision is higher, more stable, and fast response time is installed between steering wheel and car steering linkage mechanism, operation regulation and control letter
It is single so as to turn to safer.
3rd, the present invention has three kinds of states, does not influence the turning driving of automobile script under off working state, under lower-speed state
So that steering is more convenient, cause that steering angle is smaller in the state of high speed so that the safer reliability of driving.
4th, the present invention is provided with radar and camera, can play more preferably monitoring traffic safety, in time feedback so that automobile
Turn to safer reliability.
5th, the present invention is provided with locking system, can limit automobile turning in automobile flat tire so that subtract after automobile straight trip
Slow degree stops, it is ensured that safety.
Brief description of the drawings
Fig. 1 is overall structural representation of the invention；
Fig. 2 is the structural representation of locking system of the invention；
Fig. 3 is the schematic diagram of closing piece plane of the invention.
Reference is expressed as in figure：
1- planet circular systems device, 2- steering wheels, 3- car steering linkage mechanisms, 4- turn to input gear, 5- angles control gear,
6- turns to output gear, 7- input shafts, 8- output shafts, 9- slow speed motors, 10- automobile ECUs, 100- locking systems, 101- closing pieces
Plane, 102- platens, 103- closing pieces, 104- lockholes, 105- depression bars, 106- move portions, 107- movement cavity, 108- sliding blocks,
109- springs.
Specific embodiment
It is next with specific embodiment below in conjunction with the accompanying drawings that the present invention will be described in detail.
Referring to Fig. 1, a kind of automobile steering control system, including be installed between steering wheel 2 and car steering linkage mechanism 3
Planet circular system device 1, be arranged at the camera of vehicle front and be arranged at the radar that vehicle two is leaned to one side；10 points of automobile ECU
It is not connected with planet circular system device 1, camera and radar communication；Camera is monitored to the lines on traveling lane both sides；
The line information that camera will be photographed sends automobile ECU 10 to, and radar launches radar signal to the rear of turn side, will with it is rear
The vehicle distances information transmission of side is to automobile ECU 10, the keying of the control planet circular system of automobile ECU 10 device 1；Planet circular system device
1 realizes that vehicle low speed assisted diversion or vehicle high-speed restriction are turned to.
Referring to Fig. 1, the planet circular system device 1 includes that turning to input gear 4, angle control gear 5 and two turns to output
Gear 6；Steering input gear 4 is internal gear, and angle control gear 5 and two turns to output gear 6 and is arranged at steering input gear 4
Interior, it is sun gear to turn to input gear 4 and angle control gear 5, and two turn to output gear 6 for planetary gear；Turn to input gear 4
Middle part is fixedly connected with an input shaft 7, and the other end of input shaft 7 is fixedly connected with steering wheel 2；The one end of one output shaft 8 and automobile
Steering gear 3 is connected, the other end with two steering output gears 6 center be fixedly connected, angle control gear 5 by one at a slow speed
Motor 9 drives, and automobile ECU 10 is connected with the electric signal of slow speed motor 9.
Referring to Fig. 2 and Fig. 3, described automobile steering control system, also including locking system 100, locking device 100 includes
Platen 102, the closing piece plane 101 for being arranged at the radial direction of output shaft 8 and platen 102 is pressed to the pressure latch mechanism of closing piece plane 101,
One closing piece 103 that is fixedly connected with output shaft 8 is set in closing piece plane 101, be provided with platen 102 output shaft 8 by hole
And the lockhole 104 being engaged with closing piece 103；Pressure latch mechanism includes move portion 106 and the depression bar parallel with output shaft 8
105；The one end of move portion 106 is connected with the expansion link of hydraulic cylinder, and the other end is fixedly connected with platen 102；Set in move portion 106
Be equipped with mobile cavity 107, the one end of depression bar 105 is the sliding block 108 being arranged in mobile cavity 107, the other end through platen 102 with
Closing piece plane 101 is fixedly connected, and spring 109 is arranged with outside the depression bar 105 between platen 102 and closing piece plane 101.
A kind of auto steering control method, referring to Fig. 1, including automobile steering control system described above, its rate-determining steps
It is as follows：
1）The line information that camera will be photographed sends automobile ECU 10 to, when vehicle deviates traveling lane, and does not play steering indicating light
When, automobile ECU 10 controls automobile without departing from straight trip and controls planet circular system device 1 not start；
2）Motor turning, radar launches radar signal to the rear of turn side, if detecting, with front vehicle be safe distance,
Can normal direction of rotation, the now control of automobile ECU 10 planet circular system device 1 starts；If it is dangerous distance to measure with front vehicle,
The control automobile of automobile ECU 10 is not turned to and controls planet circular system device 1 not start；
3）The not starting state of planet circular system device 1：Slow speed motor 9 does not work, and angle control gear 5 is motionless, and driver is by turning
Dynamic steering wheel 2 rotates steering input gear 4, turns to the rotation of input gear 4 and drives steering output gear 6 to rotate, so as to will turn
Transmission mechanism 3 is transferred to motion, now normal direction disk corner is A；
4）Vehicle low speed turns to the starting state of planet circular system device 1：Automobile ECU 10 receives vehicle low speed information and then controls at a slow speed
Motor 9 is rotated so that angle controls gear 5 to be rotate in same direction with input gear 4 is turned to, and is turned to output gear 6 and is turned to input tooth
Wheel 4 is rotated backward；Turn to output gear 6 and there is revolution and rotation in itself as planetary gear, turning to output gear 6 and turning to
When input gear 4 is reverse, will accelerate to turn to the speed that output gear 6 revolves round the sun, so as to realize that the wide-angle for turning to output gear 6 is public
Turn；Now, low speed steering wheel angle B is much smaller than normal direction disk corner A, and then facilitates the vehicle to carry out course changing control；
5）Vehicle high-speed turns to the starting state of planet circular system device 1：Automobile ECU 10 receives vehicle high-speed information and then controls at a slow speed
Motor 9 is rotated so that angle controls gear 5 to be rotated backward with input gear 4 is turned to, and is turned to output gear 6 and is turned to input tooth
Wheel 4 rotates in same direction；Turn to output gear 6 and there is revolution and rotation in itself as planetary gear, turning to output gear 6 and turning to
When input gear 4 is in the same direction, will slow down and turn to the speed that output gear 6 revolves round the sun, so as to realize that the low-angle for turning to output gear 6 is public
Turn；Now, high speed steering wheel angle C is much larger than normal direction disk corner A, and then prevents driver when running at high speed, because turning
To excessive, car substantial deviation route is caused.
Further, referring to Fig. 2 and Fig. 3, when automobile flat tire, locking system 100 is worked, and restricting vehicle is turned to, hydraulic pressure
Cylinder working, drives move portion 106 to move forward so that sliding block 108 is moved in mobile cavity 107, so that platen 102 moves forward,
On 104 sets of lockhole to closing piece 103 on platen 102, so that output shaft 8 is locked, automobile is not turned to；When speed slows down,
Hydraulic cylinder does not work, and spring 109 promotes the resilience of platen 102 so as to unlock.
Embodiments of the invention are the foregoing is only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (5)
1. a kind of automobile steering control system, it is characterised in that：Including being installed on steering wheel（2）And car steering linkage mechanism
（3）Between planet circular system device（1）, be arranged at the camera of vehicle front and be arranged at the radar that vehicle two is leaned to one side；Vapour
Car ECU（10）Respectively with planet circular system device（1）, camera and radar communication connection；Camera is to traveling lane both sides
Lines are monitored；The line information that camera will be photographed sends automobile ECU to（10）, rear from radar to turn side launch
Radar signal, by with the vehicle distances information transmission at rear to automobile ECU（10）, automobile ECU（10）Control planet circular system device
（1）Keying；Planet circular system device（1）Realize that vehicle low speed assisted diversion or vehicle high-speed restriction are turned to.
2. automobile steering control system as claimed in claim 1, it is characterised in that：The planet circular system device（1）Including turning
To input gear（4）, angle control gear（5）Output gear is turned to two（6）；Turn to input gear（4）It is internal gear, angle
Control gear（5）Output gear is turned to two（6）It is arranged at steering input gear（4）It is interior, turn to input gear（4）With angle control
Gear processed（5）It is sun gear, two turn to output gear（6）It is planetary gear；Turn to input gear（4）Middle part and an input shaft（7）
It is fixedly connected, input shaft（7）The other end and steering wheel（2）It is fixedly connected；One output shaft（8）One end and motor turning driver
Structure（3）Connection, the other end and two turns to output gear（6）Center be fixedly connected, angle control gear（5）By a slow speed motor
（9）Drive, automobile ECU（10）With slow speed motor（9）Electric signal is connected.
3. automobile steering control system as claimed in claim 2, it is characterised in that：Also include locking system（100）, locking dress
Put（100）Including platen（102）, be arranged at output shaft（8）The closing piece plane of radial direction（101）And by platen（102）Press to lock
Block plane（101）Pressure latch mechanism, closing piece plane（101）It is upper that one and output shaft are set（8）The closing piece being fixedly connected（103）, pressure
Disk（102）On be provided with output shaft（8）By hole and and closing piece（103）The lockhole being engaged（104）；Pressure latch mechanism includes
Move portion（106）And and output shaft（8）Parallel depression bar（105）；Move portion（106）The expansion link phase of one end and hydraulic cylinder
Connection, the other end and platen（102）It is fixedly connected；Move portion（106）Inside it is provided with mobile cavity（107）, depression bar（105）One end
To be arranged on mobile cavity（107）Interior sliding block（108）, the other end pass through platen（102）With closing piece plane（101）It is fixed to connect
Connect, positioned at platen（102）With closing piece plane（101）Between depression bar（105）It is arranged with spring outward（109）.
4. a kind of auto steering control method, it is characterised in that：Including automobile steering control system as claimed in claim 3,
Its rate-determining steps is as follows：
1）The line information that camera will be photographed sends automobile ECU to（10）, when vehicle deviate traveling lane, and do not spin to
During lamp, automobile ECU（10）Control automobile is without departing from straight trip and control planet circular system device（1）Do not start；
2）Motor turning, radar launches radar signal to the rear of turn side, if detecting, with front vehicle be safe distance,
Can normal direction of rotation, now automobile ECU（10）Control planet circular system device（1）Start；If measure with front vehicle for it is dangerous away from
From then automobile ECU（10）Control automobile is not turned to and controls planet circular system device（1）Do not start；
3）Planet circular system device（1）Not starting state：Slow speed motor（9）Do not work, angle control gear（5）It is motionless, driver
By steering wheel rotation（2）Make steering input gear（4）Rotate, turn to input gear（4）Rotate to drive and turn to output gear（6）
Rotate, so as to divertical motion is transferred into transmission mechanism（3）, now normal direction disk corner is A；
4）Vehicle low speed turns to planet circular system device（1）Starting state：Automobile ECU（10）Receive vehicle low speed information and then control
Slow speed motor（9）Rotate so that angle controls gear（5）With steering input gear（4）Rotate in same direction, turn to output gear（6）
With steering input gear（4）Rotate backward；Now, low speed steering wheel angle B is much smaller than normal direction disk corner A, and then convenient
Vehicle carries out course changing control；
5）Vehicle high-speed turns to planet circular system device（1）Starting state：Automobile ECU（10）Receive vehicle high-speed information and then control
Slow speed motor（9）Rotate so that angle controls gear（5）With steering input gear（4）Rotate backward, turn to output gear（6）
With steering input gear（4）Rotate in same direction；Now, high speed steering wheel angle C is much larger than normal direction disk corner A, and then prevents
Driver, because of ovdersteering, causes car substantial deviation route when running at high speed.
5. auto steering control method as claimed in claim 4, it is characterised in that：During automobile flat tire, locking system（100）Work
Make, restricting vehicle is turned to, hydraulic cylinder works, drive move portion（106）Reach so that sliding block（108）In mobile cavity（107）It is interior
It is mobile, so that platen（102）Reach, platen（102）On lockhole（104）Cover to closing piece（103）On, so that output
Axle（8）Locking, automobile is not turned to；When speed slows down, hydraulic cylinder does not work, spring（109）Promote platen（102）Resilience so as to
Unblock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710199906.4A CN106828589A (en) | 2017-03-30 | 2017-03-30 | A kind of automobile steering control system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710199906.4A CN106828589A (en) | 2017-03-30 | 2017-03-30 | A kind of automobile steering control system and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106828589A true CN106828589A (en) | 2017-06-13 |
Family
ID=59141420
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710199906.4A Pending CN106828589A (en) | 2017-03-30 | 2017-03-30 | A kind of automobile steering control system and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828589A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180016A (en) * | 2021-04-06 | 2022-10-14 | 上海汽车集团股份有限公司 | Automatic locking means of rear wheel, automatic locking system of rear wheel and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115180016A (en) * | 2021-04-06 | 2022-10-14 | 上海汽车集团股份有限公司 | Automatic locking means of rear wheel, automatic locking system of rear wheel and vehicle |
| CN115180016B (en) * | 2021-04-06 | 2024-01-12 | 上海汽车集团股份有限公司 | Automatic locking device of rear wheel, automatic locking system of rear wheel and vehicle |
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Application publication date: 20170613 |
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| RJ01 | Rejection of invention patent application after publication |