CN108216352B

CN108216352B - Vehicle auxiliary steering system with vibration function and control method thereof

Info

Publication number: CN108216352B
Application number: CN201611155169.XA
Authority: CN
Inventors: 徐锦衍; 张统凱; 叶智荣
Original assignee: Automotive Research and Testing Center
Current assignee: Automotive Research and Testing Center
Priority date: 2016-12-14
Filing date: 2016-12-14
Publication date: 2021-01-15
Anticipated expiration: 2036-12-14
Also published as: CN108216352A

Abstract

A vehicle auxiliary steering system with vibration function and a control method thereof are provided, the system is applied to a steering system of a vehicle, the steering system is provided with a first steering rod and a second steering rod, the system comprises a steering speed change device and an electronic control unit, the steering speed change device is connected between the first steering rod and the second steering rod, the steering speed change device is provided with a motor, the electronic control unit is electrically connected with the motor, the electronic control unit generates a vibration driving current when receiving a warning instruction, combines a steering driving current and the vibration driving current to generate a motor control current, and outputs the motor control current to the motor of the steering speed change device, so that the motor is excited by the vibration driving current to generate a vibration effect.

Description

Vehicle auxiliary steering system with vibration function and control method thereof

Technical Field

The present invention relates to a vehicle auxiliary steering system and a control method thereof, and more particularly, to a vehicle auxiliary steering system having a vibration function and a control method thereof.

Background

As the concept of driving safety of vehicles has been gradually increased, many driving safety related technologies have been commercialized or developed, such as an Advanced Driver Assistance System (ADAS), which can provide functions such as Lane deviation Detection (LDW), Lane Keeping (LKS), Forward Collision Warning (FCW), or Blind spot Warning (BDS) …, to provide Warning of abnormal driving of a Driver.

The existing driving abnormity warning mode comprises a warning sound or warning light, and for a driver, the driver can not judge whether the driving of the traveling vehicle is abnormal immediately according to the warning sound or the warning light because the spirit of the driver is absorbed in driving. On the other hand, if there is a passenger on the car, the warning sound or the warning light will also affect the passenger, thereby reducing the comfort level of the passenger when riding the car.

The present applicant previously proposed taiwan patent publication No. I432353, "driving device for superimposing steering angles", which has a driving motor operated according to the driving of a steering driving current. The applicant further designs the vehicle auxiliary steering system with the vibration function and the control method thereof according to the accumulated professional experience in the industry.

Disclosure of Invention

The invention mainly aims to provide a vehicle auxiliary steering system with a vibration function and a control method thereof, which can remind a driver of abnormal driving conditions by means of vibrating a steering wheel.

The invention relates to a vehicle auxiliary steering system with vibration function, which is applied to a steering system of a vehicle, wherein the steering system is provided with a first steering rod and a second steering rod, and the vehicle auxiliary steering system with vibration function comprises:

a steering speed change device connected between the first steering rod and the second steering rod, the steering speed change device having a motor; and

and the electronic control unit is electrically connected with the motor, generates a vibration driving current when receiving an alarm instruction, generates a motor control current by combining a steering driving current and the vibration driving current, and outputs the motor control current to the motor of the steering speed change device.

The invention discloses a control method of a vehicle auxiliary steering system with a vibration function, which is executed by an electronic control unit of the vehicle auxiliary steering system with the vibration function, wherein the electronic control unit is electrically connected with a motor of a steering speed change device, and the steering speed change device is connected between a first steering rod and a second steering rod of a steering system of a vehicle, and the control method comprises the following steps:

receiving an alarm instruction;

generating a vibration driving current according to the warning instruction;

combining a steering driving current and the vibration driving current to generate a motor control current; and

and outputting the motor control current to the motor of the steering speed changing device.

According to the invention, the motor of the steering speed changing device can provide a steering speed changing function according to the steering driving current, the motor of the steering speed changing device is further added with a vibration function, the first steering rod can be connected between a steering wheel and the steering speed changing device, and when the motor of the steering speed changing device receives the vibration driving current, the motor can be excited by the vibration driving current to generate a vibration effect. Therefore, because the motor is arranged in the steering speed changing device, and the first steering rod is connected between the steering wheel and the steering speed changing device, when the motor vibrates, the first steering rod and the steering wheel also vibrate together, so that a driver can feel vibration and generate alertness when holding the steering wheel by hands.

The motor for generating vibration effect is arranged on the steering speed change device, and the steering speed change device is connected with the first steering rod, so the motor is not directly arranged on the steering wheel, the invention can not additionally arrange a vibration device on the steering wheel, and can still directly remind a driver of abnormal driving condition by means of vibrating the steering wheel, and the vibration of the steering wheel can not influence passengers, thereby overcoming the problems in the prior art.

The invention is described in detail below with reference to the drawings and specific examples, but the invention is not limited thereto.

Drawings

FIG. 1: the electronic control unit is connected with a circuit schematic diagram between a warning instruction sending device and a motor;

FIG. 2: a schematic perspective view of an embodiment of a steering transmission of the present invention;

FIG. 3: the invention discloses a three-dimensional appearance schematic diagram of a motor, a worm and a worm gear combined;

FIG. 4: an embodiment of the steering transmission of the invention is applied to a plan view schematic diagram of a steering system of a vehicle;

FIG. 5: the waveform diagram (one) of the steering driving current of the invention;

FIG. 6: the waveform diagram of the steering driving current of the Invention Is (II);

FIG. 7: the waveform of the vibration driving current is shown schematically;

FIG. 8: the invention discloses a waveform diagram of a motor control current.

Detailed Description

The invention will be described in detail with reference to the following drawings, which are provided for illustration purposes and the like:

referring to fig. 1 and fig. 2, the embodiment of the vehicle auxiliary steering system with vibration function of the present invention includes a steering gear 10 and an electronic control unit 20.

Referring to fig. 2 and 3, the embodiment of the steering transmission 10 of the present invention includes a fixing frame 11, a motor 12, a worm 13 and a worm gear 14, the fixing frame 11 includes a first accommodating portion 111, a second accommodating portion 112 and a connecting seat 113, referring to fig. 4, the steering transmission of the vehicle includes a first steering rod 31, a steering wheel 32 and a second steering rod 33.

Referring to fig. 2 and 3, the first accommodating portion 111 may be fixedly disposed in the second accommodating portion 112 along a first axial direction, the second accommodating portion 112 has a first end and a second end opposite to each other along a second axial direction, and a bearing 114 is fixedly disposed in the second accommodating portion 112 along the second axial direction, wherein the first axial direction may vertically intersect with the second axial direction, as shown in fig. 2 and 3, for example, the first axial direction may be an X axial direction, and the second axial direction may be a Y axial direction. The connecting seat 113 is fixedly disposed at a first end of the second accommodating portion 112, the motor 12 is disposed in the first accommodating portion 111, the motor 12 has a rotating shaft 121, an axial direction of the rotating shaft 121 is parallel to the first axial direction, the worm 13 is fixedly connected to the rotating shaft 121 of the motor 12 and is located outside the second accommodating portion 112, an axial direction of the worm 13 is parallel to the first axial direction, the worm wheel 14 is located in the second accommodating portion 112 and is pivotally disposed on the bearing 114, so that the worm wheel 14 can rotate relative to the bearing 114 with the second axial direction as an axis, the worm wheel 14 includes a worm wheel body 141 and a connecting rod body 142, the worm wheel body 141 is engaged with the worm 13, in the embodiment of the invention, referring to fig. 2, the second accommodating portion 112 has an opening 115 on a radial surface, the worm wheel body 141 is exposed to the opening 115 and can be engaged with the worm 13, the connecting rod body 142 is connected to the worm wheel body 141 along the second axial direction, the connecting rod 142 can extend out of the second end of the second accommodating portion 112, the connecting rod 142 can be a non-cylindrical rod, such as a polygonal rod, and the connecting rod 142 of the present invention is a rectangular rod, but not limited thereto.

Referring to fig. 4, the steering and speed changing device 10 of the present invention is connected between the first steering rod 31 and the second steering rod 33 of the steering system of the vehicle, the connecting base 113 is used for fixedly connecting one end of the first steering rod 31, the other end of the first steering rod 31 is connected to the steering wheel 32, the connecting rod 142 of the worm gear 14 is fixedly connected to one end of the second steering rod 33, and the other end of the second steering rod 33 is connected to the switching mechanism (not shown) for driving the wheels to steer.

With this structure, when the driver rotates the steering wheel 32, the steering wheel 32 rotates to drive the first steering rod 31 to rotate, and the first steering rod 31 rotates to drive the fixing frame 11 to rotate along the second axial direction by the connecting seat 113, so the motor 12 disposed on the fixing frame 11 also rotates along the second axial direction along with the fixing frame 11, since the axial directions of the worm 13 and the worm wheel body 141 are staggered and disposed non-coaxially, when the motor 12 stops and does not operate, the worm 13 is in a stationary state, the stationary worm 13 can drive the worm wheel body 141 to rotate along the second axial direction, and further drive the second steering rod 33 to rotate along the second axial direction, and at this time, the rotation speed of the second steering rod 33 is the same as that of the first steering rod 31.

When the motor 12 is started to operate, the worm 13 rotates, the rotating worm 13 can drive the worm wheel body 141 to rotate, and at this time, the rotation angle of the second steering rod 33 is the sum of the rotation angle of the first steering rod 31 and the rotation angle of the worm wheel body 141 carried by the worm 13 relative to the fixed frame 11 when rotating, so that the first steering rod 31 driven by the steering wheel 32 can rotate at the same rotation speed and the same rotation speed of the second steering rod 33 when the vehicle runs at high speed and low speed respectively by controlling the operation of the motor 12.

Referring to fig. 1, the electronic control unit 20 may be an electronic circuit disposed in a vehicle, the electronic control unit 20 is electrically connected to the motor 12 and an alarm command issuing device 40, the electronic control unit 20 generates a steering driving current Id capable of starting the motor 12, the generation of the steering driving current Id is common knowledge, such as the disclosure of I432353, which is not repeated herein, the waveform of the steering driving current Id may refer to fig. 5, for convenience of description, the steering driving current Id may be a pulse signal, which appears in a time period of a steering start time point T1 and a steering end time point T2, and the high level IH of the steering driving current Id compared to the reference level Iref may represent that the steering wheel 32 and the wheels rotate clockwise; on the contrary, referring to fig. 6, the low level IL of the steering driving current Id compared to the reference level Iref can represent that the steering wheel 32 and the wheels are rotating counterclockwise; the reference level Iref may be 0 ampere, but not limited thereto.

The warning instruction issuing device 40 is used for generating a warning instruction S, in the embodiment of the present invention, the warning instruction issuing device 40 is an Advanced Driver Assistance System (ADAS) as an example, but not limited thereto, the functions of the Advanced Driver Assistance System (ADAS) are well known, such as lane deviation detection (LDW), Lane Keeping (LKS), Front Collision Warning (FCW), blind spot warning (BDS) …, and the like, and the Advanced Driver Assistance System (ADAS) can automatically detect the driving abnormality of the vehicle and automatically generate the warning instruction S.

When the electronic control unit 20 receives the warning command S, a vibration driving current Iv is generated correspondingly, the amplitude of the vibration driving current Iv is smaller than the magnitude of the steering driving current Id (i.e. the variation between the high level IH and the reference level Iref, or the variation between the reference level Iref and the low level IL), the frequency of the vibration driving current Iv is higher than the frequency of the steering driving current Id, and the dc level of the vibration driving current Iv can be the high level IH or the low level IL of the steering driving current Id. Referring to fig. 7, the waveform of the vibration driving current Iv is a sine wave current, but not limited thereto, and the vibration driving current Iv may also be a square wave current, a triangular wave current …, and the like. The electronic control unit 20 generates a motor control current Im according to the steering driving current Id and the vibration driving current Iv, the waveform of the motor control current Im can refer to fig. 8, and the electronic control unit 20 outputs the motor control current Im to the motor 12, so that the motor 12 operates according to the motor control current Im.

Referring to fig. 5, 7 and 8, for example, when the electronic control unit 20 receives the warning command S and the vibration driving current Iv is to be generated, the duration of the vibration driving current Iv generated by the electronic control unit 20 is set to a predetermined value of the electronic control unit 20, as shown in fig. 7, the electronic control unit 20 can receive the warning command S at a first time point t1 and continuously generate the vibration driving current Iv within the time period of the first time point t1 and a second time point t 2. It can be seen that the ecu 20 combines the vibration driving current Iv and the steering driving current Id to form the motor control current Im, please refer to fig. 8, it should be noted that the first time point T1 is later than the steering start time point T1, the second time point T2 may be earlier than the steering end time point T2, and the time periods of the first time point T1 and the second time point T2 are included in the time periods of the steering start time point T1 and the steering end time point T2. The motor control current Im has a current component of the vibration driving current Iv in addition to the current component of the steering driving current Id at the first time point t1 and the second time point t 2.

In this way, when the motor 12 of the steering transmission 10 receives the motor control current Im, in addition to operating according to the steering driving current Id, the current component of the vibration driving current Iv in the motor control current Im can excite the motor 12, so that the motor 12 generates vibration effect, for example, the vibration frequency of the motor 12 is equivalent to the sine wave frequency of the vibration driving current Iv.

When the steering driving current Id generated by the ecu 20 is zero, the motor control current Im has only the current component of the vibration driving current Iv, and although the motor 12 is not running, the motor 12 can still be excited by the current component of the vibration driving current Iv to generate the vibration effect.

In summary, the motor 12 is fixedly mounted on the fixing frame 11 of the steering transmission device 10, and the steering transmission device 10 is combined with the steering system of the vehicle, so that the steering transmission device 10 is indirectly connected to the steering wheel 32 through the first steering rod 31, when the motor 12 of the steering transmission device 10 vibrates, the steering wheel 32 also vibrates, so that a driver holding the steering wheel 32 can feel alert directly by the vibration of the steering wheel 32, and further driving behavior can be quickly guided, and driving safety can be ensured.

The present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof, and it should be understood that various changes and modifications can be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A vehicle auxiliary steering system with vibration function is applied to a steering system of a vehicle, the steering system is provided with a first steering rod and a second steering rod, and the vehicle auxiliary steering system with vibration function comprises:

the electronic control unit is electrically connected with the motor, generates a vibration driving current when receiving an alarm instruction, generates a motor control current by combining a steering driving current and the vibration driving current, and outputs the motor control current to the motor of the steering speed change device;

wherein the motor control current has a current component of the vibration driving current in addition to a current component of the steering driving current; when the steering driving current generated by the electronic control unit is zero, the motor control current only has the current component of the vibration driving current.

2. The vehicular auxiliary steering system with vibration function according to claim 1, wherein the duration of the vibration driving current generated by the electronic control unit is set at a preset value of the electronic control unit.

3. The vehicular auxiliary steering system with a vibrating function according to claim 1 or 2, wherein the amplitude of the vibrating drive current is smaller than the magnitude of the steering drive current, and the frequency of the vibrating drive current is higher than the frequency of the steering drive current.

4. The vehicular auxiliary steering system with vibration function according to claim 3, wherein the DC level of the vibration driving current is a high level or a low level of the steering driving current.

5. The vehicular auxiliary steering system with a vibrating function according to claim 4, characterized in that the vibrating drive current is a sine wave current.

6. The vehicular auxiliary steering system with vibration function according to claim 1 or 2, wherein the electronic control unit is electrically connected to an advanced driving assistance system to receive the warning command from the advanced driving assistance system.

7. The vehicle auxiliary steering system with vibration function as claimed in claim 1 or 2, wherein the steering gear comprises a fixed frame, the motor, a worm and a worm gear: it is characterized in that the preparation method is characterized in that,

a connecting seat of the fixing frame is fixedly connected with the first steering rod;

the motor is arranged on the fixed frame and is provided with a rotating shaft, and the axial direction of the rotating shaft is parallel to a first axial direction;

the worm is fixedly connected to a rotating shaft of the motor, and the axial direction of the worm is parallel to the first axial direction;

the worm gear piece is pivoted on a bearing in the fixing frame and comprises a worm gear body and a connecting rod body, the worm gear body is meshed with the worm, the connecting rod body is connected with the worm gear body along a second axial direction, and the connecting rod body is fixedly connected with the second steering rod.

8. A control method of a vehicle auxiliary steering system with a vibration function is executed by an electronic control unit of the vehicle auxiliary steering system with the vibration function, the electronic control unit is electrically connected with a motor of a steering speed changing device, and the steering speed changing device is connected between a first steering rod and a second steering rod of a steering system of a vehicle, and the control method is characterized by comprising the following steps of:

receiving an alarm instruction;

generating a vibration driving current according to the warning instruction;

combining a steering driving current and the vibration driving current to generate a motor control current; wherein the motor control current has a current component of the vibration driving current in addition to a current component of the steering driving current; when the steering driving current generated by the electronic control unit is zero, the motor control current only has the current component of the vibration driving current;

9. The method as claimed in claim 8, wherein in the step of generating the vibration driving current according to the warning command, the duration of the vibration driving current generated by the ecu is set to a preset value of the ecu.

10. The method as claimed in claim 8 or 9, wherein the amplitude of the vibration driving current is smaller than the magnitude of the steering driving current, the frequency of the vibration driving current is higher than the frequency of the steering driving current, and the dc level of the vibration driving current is the high level or the low level of the steering driving current.