CN102941876A - Unmanned vehicle steering system and control method thereof - Google Patents
Unmanned vehicle steering system and control method thereof Download PDFInfo
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- CN102941876A CN102941876A CN2012104811571A CN201210481157A CN102941876A CN 102941876 A CN102941876 A CN 102941876A CN 2012104811571 A CN2012104811571 A CN 2012104811571A CN 201210481157 A CN201210481157 A CN 201210481157A CN 102941876 A CN102941876 A CN 102941876A
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Abstract
The invention discloses an unmanned vehicle steering system and a control method thereof. The system comprises an execution motor, a steering machine, a motor coder, a non-contact type zero position detection mechanism, a non-contact type left limiting detection mechanism, a non-contact type right limiting detection mechanism, a front wheel absolute corner mechanism and a front wheel corner double closed loop control system. The execution motor is a steering driving mechanism, and the input end of the execution motor is connected with the output end of the steering machine. The motor coder is connected with an output shaft at the back end of the execution motor. The unmanned vehicle steering system is favorable for improving steering control accuracy of unmanned vehicles, adopts a selector switch to switch the control process of manual driving/ automatic driving, facilitates program debugging and ensures vehicle and personnel body safety under the emergency condition.
Description
Technical field
The invention belongs to the Vehicular turn technology, particularly a kind of automatic driving vehicle steering swivel system and control method thereof.
Background technology
Automatic driving vehicle is one of automobile future thrust, estimates that automatic driving vehicle can become the safe vehicle in people's life in the future.Therefore, the Intelligent System of Vehicle control loop also receives much attention in the vehicle technology field.Automatic driving vehicle integrates numerous technology such as automatic control, architecture, artificial intelligence, vision calculating, being the product of computer science, pattern-recognition and intelligent control technology high development, is an important symbol weighing a national scientific research strength and industrial level.Under danger, the harsies environment such as military affairs, exploration and rescue, automatic driving vehicle has broad application prospects, such as present exploration in U.S.'s Marsokhod on Mars; Aspect civilian, it also has broad application prospects and huge market, performance is reliable because it has, safety, facility and efficient performance advantage, be of great immediate significance for improving artificial intellectuality and safety of driving, and following intelligent car can be networked with city traffic command centre, select best route, effectively avoid traffic congestion, as much as possible guarantee the smoothness of traffic.Had automatic driving vehicle to begin to drop into the commercial market such as the present U.S., for example the autonomous land vehicle of not long ago paddy brother company release passes through in the law of California, is about to put into market.Shanghai World's Fair in 2010, the visitor only needs entrance in the park by next button, and all the people present's phaeton that does not have a driver will be opened slowly from afar and stop, and is then carrying the sight spot that the passenger goes to them to think.Therefore, at present world many countries is all being studied the driverless operation technology energetically, with driverless operation as showing its artificial intelligence level, leading the Important Platform of vehicle future development.
The vehicle control technology is one of core technology of intelligent car technology, wherein mainly comprises speed control and direction control.And the steering hardware controller performance of automatic driving vehicle is to weigh one of unmanned vehicle system performance most critical, most important index, and direction handling quality comprises the correctness, stability, real-time, promptness of auto-steering etc.And the steering controlling device of automatic driving vehicle is the key that guarantees the automatic driving vehicle direction handling quality, however present also neither one rounded system structure and perfect control method of the steering controlling device of automatic driving vehicle.
Find through the retrieval to the prior art document, Chinese patent application number is 200510111220.2, open day: on July 19th, 2006, title: the direction control mechanism of automatic driving vehicle, adopt the motor reducer combination to be connected with the input shaft of retarder through magnetic clutch, miniature gears is connected on the output shaft of drop-gear box, big gear wheel directly is connected with the central pitman arm of vehicle through butt flange, the other end of Ackerman steering mechanism pull bar and central pitman arm are hinged, the other end and the steered wheel of Ackerman steering mechanism pull bar are hinged, realize the auto-steering of automatic driving vehicle.But this patent twin-stage gear transmission structure is complicated, take the interior space of driving of car larger, increased the driving error in the motion, increased the difficulty of installing, motor shaft, gear wheel shaft and parallel being difficult to of central pitman arm three axles are guaranteed, moreover, this technical scheme need to be on the central pitman arm of vehicle welded flange, both destroy original mechanism of vehicle, be not easy to simultaneously the disassembly and maintenance of steering hardware.
Chinese patent application number is 201010104800.X, open day: on July 27th, 2011, title: a kind of steering gear of unmanned vehicle and control method thereof, its invention adopts a motor to link to each other with a coder, one intermeshing turbine and worm screw, worm screw directly connects with the output shaft of motor, one magnetic clutch, wherein the drive end of turbine and magnetic clutch is connected, the Partner of magnetic clutch and wheel steering post connect firmly, consist of the driving steering hardware of unmanned vehicle, thereby realize the auto-steering of automatic driving vehicle.But this patent is still reequiped original steering hardware, so do not avoid the error of universal-joint.
Summary of the invention
The object of the present invention is to provide a kind of degree simple in structure, intelligent is high, easy to operate, precision is high steering hardware and rotating direction control method thereof, the existing steering hardware of former car and outward appearance all are not damaged, and newly-increased steering hardware and existing steering hardware can closely cooperate, do not interfere with each other work, and have certain commonality.
The technical solution that realizes the object of the invention is: a kind of automatic driving vehicle steering swivel system, comprise actuating motor, steering wheel, motor encoder, non-contact zero position detecting mechanism, contactless left limit testing agency, contactless right limit testing agency, the absolute rotation angle mechanism of front-wheel, front wheel angle double closed-loop control system, actuating motor is steering driving mechanism, and the input end of actuating motor links to each other with the mouth of steering wheel; Motor encoder is connected on the output shaft of actuating motor rear end;
The non-contact zero position detecting mechanism is made of the zero detector that is fixedly mounted on the zero-bit fixed block above the right-hand rotation movable pendulum arm and be fixedly mounted on the fixing suspension, in the time of under described zero-bit fixed block turns to zero detector, zero detector can be responded to the zero-bit fixed block;
Contactless left limit testing agency is made of the left limit detector that is fixedly mounted on the left limit fixed block above the left-hand rotation movable pendulum arm and be fixedly mounted on the left fixedly suspension, when the near front wheel corner is under the left limit state, the left limit detector can be responded to the left limit fixed block; Contactless right limit testing agency is made of the right limit detector that is fixedly mounted on the right limit fixed block above the right-hand rotation movable pendulum arm and be fixedly mounted on the right fixedly suspension, when the off front wheel corner is under the right limit state, the right limit detector can be responded to the right limit fixed block;
The absolute rotation angle mechanism of front-wheel, formed by front wheel angle sensor and front wheel angle sensor rotation axle, the front wheel angle sensor body is fixedly mounted at the bottom of the car fixedly on the suspension, front wheel angle sensor rotation axle one end is wanted to be connected with the front wheel angle sensor, and the other end is connected by the bar that swings of joint arm with vehicle Ackerman steering mechanism pull bar;
Positioner one end is connected with industrial computer by the CAN cable; Actuating motor, motor encoder and front wheel angle sensor are electrically connected by the corresponding interface of cable and positioner respectively; Left and right spacing detector and zero detector respectively with the electrical connection of the respective digital input end of positioner;
Described front wheel angle double closed-loop control system is made of motor encoder and front wheel angle sensor, motor encoder feedback actuating motor current location is to positioner, the steering angle of front wheel angle sensor direct-detection front-wheel, with corner angle closed loop feedback to positioner, motor encoder is not re-used as the ring feedback simultaneously, but as the speed closed loop feedback, thereby the rotating speed of control actuating motor, final position controller control front-wheel steering angle accurately reaches the order expectation value.
The present invention compared with prior art, its remarkable advantage: (1) the present invention actuating motor afterbody peace motor encoder and at the bottom of car fixing suspension installation front wheel angle sensor, utilize coder that steering hardware is carried out two closed loop controls, directly accurately control the corner of front-wheel, be conducive to improve the control accuracy that turns to of automatic driving vehicle.(2) zero testing of the present invention mechanism adopts contactless null pick-up, does not have friction force in the rotation, has improved driving efficiency and the accuracy rate of device; The present invention adopts left and right stop gear in addition, can fully guarantee plateau and the driving safety of vehicle on the go.(3) the present invention does not destroy original steering hardware, and symmetrical, the parallel Ackerman steering mechanism pull bar that is connected to of newly-increased steering hardware and original steering hardware, avoided the gap error of the original steering hardware universal-joint of vehicle, precision is higher, than existing invention more easily operate, maintenance and dismounting.(4) the present invention adopts change-over switch to switch artificial driving/autonomous driving control process, makes things convenient for program test and assurance vehicle and personnel's health safety in emergency circumstances.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is steering hardware structural representation of the present invention.
Fig. 2 is overall apparatus structural representation of the present invention.
Fig. 3 is system electrical schematic diagram of the present invention.
Fig. 4 is position limiting structure zero-bit schematic diagram of the present invention.
Fig. 5 is right steering end position schematic diagram of the present invention.
Fig. 6 is front wheel angle double closed-loop control system schematic diagram of the present invention.
Fig. 7 is front wheel angle zero-bit initialization flowchart of the present invention.
Fig. 8 is self-steering control flow chart of the present invention.
The specific embodiment
In conjunction with Fig. 1, Fig. 2 and Fig. 3, automatic driving vehicle steering swivel system of the present invention, comprise actuating motor 1, steering wheel 2, motor encoder 3, non-contact zero position detecting mechanism, contactless left limit testing agency, contactless right limit testing agency, the absolute rotation angle mechanism of front-wheel, front wheel angle double closed-loop control system, actuating motor 1 is steering driving mechanism, and the input end of actuating motor 1 links to each other with the mouth of steering wheel 2; Motor encoder 3 is connected on the actuating motor 1 rear end output shaft.
In conjunction with Fig. 4, the non-contact zero position detecting mechanism is made of the zero detector 4 that is fixedly mounted on the zero-bit fixed block 7 above the right-hand rotation movable pendulum arm 12 and be fixedly mounted on the fixing suspension 18, in the time of under described zero-bit fixed block 7 turns to zero detector 4, zero detector 4 can be responded to zero-bit fixed block 7.
Contactless left limit testing agency is made of the left limit detector 6 that is fixedly mounted on the left limit fixed blocks 9 above the left-hand rotation movable pendulum arm 15 and be fixedly mounted on the left fixedly suspension 19, when the near front wheel corner is under the left limit state, left limit detector 6 can be responded to left limit fixed block 9; Contactless right limit testing agency is made of the right limit detector 5 that is fixedly mounted on the right limit fixed blocks 8 above the right-hand rotation movable pendulum arm 12 and be fixedly mounted on the right fixedly suspension 18, when the off front wheel corner is under the right limit state, right limit detector 5 can be responded to right limit fixed block 8, such as Fig. 5.
The absolute rotation angle mechanism of front-wheel, formed by front wheel angle sensor 10 and front wheel angle sensor rotation axle 16, front wheel angle sensor 10 bodies are fixedly mounted at the bottom of the car fixedly on the suspension 17, front wheel angle sensor rotation axle 16 1 ends are wanted to be connected with front wheel angle sensor 10, and the other end is connected by the bar that swings of joint arm 20 with vehicle Ackerman steering mechanism pull bar 13.
Described front wheel angle double closed-loop control system is made of motor encoder 3 and front wheel angle sensor 10, motor encoder 3 feedback actuating motors 1 current location is to positioner 33, the steering angle of front wheel angle sensor 10 direct-detection front-wheels, with corner angle closed loop feedback to positioner 33, motor encoder 3 is not re-used as the ring feedback simultaneously, but feed back as speed closed loop, thereby the rotating speed of control actuating motor 1, controller 33 control front-wheel steering angles in final position accurately reach the order expectation value.Referring to Fig. 6, front wheel angle double closed-loop control system principle of work: the steering angle of front wheel angle sensor 10 direct-detection front-wheels, the angle position closed loop feedback to positioner 33, is circulated thereby form skin, participate in the control of front wheel angle angle closed loop feedback; Motor encoder 3 feedback actuating motors 1 current turned position, but motor encoder 3 is not re-used as the angle ring feedback, participates in the speed closed loop controlled reset this moment, as the rotating speed of speed closed loop control actuating motor; Hall element feedback actuating motor 1 current velocity of rotation, auxiliary speed closed loop feedback as motor, current feedback participates in the electric current of current closed-loop control actuating motor as interior ring.Positioner 33 receives front-wheel planning corner, provide motor tarnsition velocity bid value with front wheel angle sensor 10 by PID control calculating, this tarnsition velocity bid value calculates based on the speed feedback PID control of motor encoder 3 and is converted to current command value, this moment, actuating motor 1 rotated under the current drives effect, actuating motor 1 driving direction machine 2, steering wheel 2 drives front-wheel steering by Ackermann steering gear pull bar 13, realizes two closed loop control processes of front wheel angle.Feed back as outer shroud because front wheel angle sensor 10 direct pick-ups detect the corner of front-wheel, overcome the transmission error of actuating motor, steering wheel and other actuating unit, guaranteed the accurate control of front wheel angle.
Actuating motor 1 of the present invention is fixedly mounted on the mounting bracket 11 with steering wheel 2, makes the axle of actuating motor 1 and steering wheel 2 on horizontal plane.
In conjunction with Fig. 7 and Fig. 8, by the control method that above-mentioned automatic driving vehicle steering swivel system is realized, comprise the control that the control of the initialized control of front wheel angle absolute zero position and vehicle self-steering realizes, the control process step is as follows.The state model that vehicle was in when wherein the autonomous driving pattern was namely used above-mentioned automatic driving vehicle steering swivel system work.The pilot steering pattern namely is the chaufeur steering wheel rotation, realizes turning to of vehicle thereby bearing circle drives original steering hardware.It is a servo switch that people/machine is shared master cock, can determine vehicle pattern of living in by its switching.Control change-over switch when people/machine and be under the manual control state, servo the enabling of steering control system will be cut off, and this moment, the self-steering control setup was no longer worked, and pilot steering is had no effect, but still can obtain current wheel steering angle parameter.Newly-increased steering hardware and original steering hardware parallel connection, the assurance vehicle is realized manually turning to self-steering being independent of each other, and can freely switch simultaneously, makes things convenient for the switching under the emergency state in the debugging situation, assurance personnel and vehicle safety.
At first, the initialized control process of front wheel angle absolute zero position is:
Then, the control process of vehicle self-steering realization is:
Claims (6)
1. automatic driving vehicle steering swivel system, it is characterized in that comprising actuating motor (1), steering wheel (2), motor encoder (3), non-contact zero position detecting mechanism, contactless left limit testing agency, contactless right limit testing agency, the absolute rotation angle mechanism of front-wheel, front wheel angle double closed-loop control system, actuating motor (1) is steering driving mechanism, and the input end of actuating motor (1) links to each other with the mouth of steering wheel (2); Motor encoder (3) is connected on the output shaft of actuating motor (1) rear end;
The non-contact zero position detecting mechanism is by being fixedly mounted on the zero-bit fixed block (7) above the right-hand rotation movable pendulum arm (12) and being fixedly mounted on zero detector (4) formation on the fixing suspension (18), in the time of under described zero-bit fixed block (7) turns to zero detector (4), zero detector (4) can be responded to zero-bit fixed block (7);
Contactless left limit testing agency is by being fixedly mounted on the left limit fixed block (9) above the left-hand rotation movable pendulum arm (15) and being fixedly mounted on left limit detector (6) formation on the left fixedly suspension (19), when the near front wheel corner is under the left limit state, left limit detector (6) can be responded to left limit fixed block (9); Contactless right limit testing agency is by being fixedly mounted on the right limit fixed block (8) above the right-hand rotation movable pendulum arm (12) and being fixedly mounted on right limit detector (5) formation on the right fixedly suspension (18), when the off front wheel corner is under the right limit state, right limit detector (5) can be responded to right limit fixed block (8);
The absolute rotation angle mechanism of front-wheel, formed by front wheel angle sensor (10) and front wheel angle sensor rotation axle (16), front wheel angle sensor (10) body is fixedly mounted at the bottom of the car fixedly on the suspension (17), front wheel angle sensor rotation axle (16) one ends are wanted to be connected with front wheel angle sensor (10), and the other end is connected by the bar that swings of joint arm (20) with vehicle Ackerman steering mechanism pull bar (13);
Positioner (33) one ends are connected with industrial computer (30) by CAN cable (32); Actuating motor (1), motor encoder (3) and front wheel angle sensor (10) are electrically connected by the corresponding interface of cable and positioner (33) respectively; Left and right spacing detector (5,6) and zero detector (4) respectively with the electrical connection of the respective digital input end of positioner (33);
Described front wheel angle double closed-loop control system is made of motor encoder (3) and front wheel angle sensor (10), motor encoder (3) feedback actuating motor (1) current location is to positioner (33), the steering angle of front wheel angle sensor (10) direct-detection front-wheel, with corner angle closed loop feedback to positioner (33), motor encoder (3) is not re-used as the ring feedback simultaneously, but feed back as speed closed loop, thereby the rotating speed of control actuating motor (1), final position controller (33) control front-wheel steering angle accurately reaches the order expectation value.
2. automatic driving vehicle steering swivel system according to claim 1 is characterized in that actuating motor (1) and steering wheel (2) are fixedly mounted on the mounting bracket (11), makes the axle of actuating motor (1) and steering wheel (2) on horizontal plane.
3. a control method that realizes by automatic driving vehicle steering swivel system claimed in claim 1 is characterized in that comprising the control of the initialized control of front wheel angle absolute zero position and vehicle self-steering control realization, and the control process step is as follows:
At first, the initialized control process of front wheel angle absolute zero position is:
Step 1, the people/machine of at first opening is shared master cock, and is allocated to autonomous mode, and servo the enabling of steering control system opened, and vehicle is in the autonomous driving pattern;
Step 2, industrial computer (30) are carried out throttle amplifier, brake amplifier, direction amplifier, gearshift amplifier initialize routine, and positioner (33) beginning is the control front-wheel steering automatically;
Step 3, steering wheel (2) drive the zero-bit fixed block (7) be installed on the fixing suspension (12) and rotate;
Step 4, if zero detector (4) detects zero signal, then the zero offset numerical value driving front vehicle wheel according to the zero detector feedback turns to absolute zero position;
Step 5, if zero detector (4) does not detect zero signal, positioner (33) continues the control front-wheel steering, until receive the limit signal that left limit sensor detector (9) or right limit sensor detector (8) are sent;
Step 6, positioner (33) control front-wheel turns to round about, until zero detector (4) detects zero signal, the zero offset numerical value driving front-wheel that feeds back according to zero detector turns to absolute zero position;
Step 7, front wheel angle absolute zero position initialization step is finished;
Then, the control process of vehicle self-steering realization is:
Step 8, the people/machine of at first opening is shared master cock, and is allocated to the autonomous driving pattern, and servo the enabling of steering control system opened, and vehicle is in the autonomous driving pattern;
Step 9, industrial computer (30) receives instant path planning and other information that another planning industrial computer sends in the vehicle that is placed on by network, and its effect mainly is according to the next path constantly of sensor information planning vehicle; According to the curvature in routing information acquisition approach somewhere, can calculate thus the instantaneous radius of curvature R of vehicle, according to the Ackermam kinematics model, thereby calculate front wheel angle θ, θ=arctan (L/R), wherein L is vehicle wheelbase;
Step 10 plans that with gained the front wheel angle angle is sent to CAN control card (31), is right after by CAN cable (32) and sends angle to positioner (33);
Step 11, positioner (33) begins to control steering swivel system, if system does not carry out the initialization of wheel absolute zero position, and the then at first demarcation of travel direction motor absolute zero position, and make the vehicle front-wheel be in the absolute zero position direction, otherwise directly send diversion order and corner angle;
Step 12, positioner (33) are judged diversion order, if diversion order for not turning to, is then returned and kept current state;
Step 13 when turning to, is carried out front wheel angle pair closed loop controls if positioner (33) is judged diversion order, and actuating motor (1) brings into operation, and driving direction machine (2);
Step 14, steering wheel (2) drives Ackerman steering mechanism pull bar (13) by right-hand rotation movable pendulum arm (12), thereby realizes wheel steering;
Step 15 judges whether right limit detector (5) or left limit detector (6) trigger, and in the steering procedure, if right limit detector (5) or left limit detector (6) are triggered, actuating motor (1) is maintenance current state out of service then;
Step 16, if right limit detector (5) or left limit detector (6) are not triggered, and actuating motor (1) finishes the angle position that drives, motor stops operating;
Step 17, the self-steering task of automatic driving vehicle is finished, and goes to step 9, until stop self-steering control or switch to artificial mode.
4. automatic driving vehicle rotating direction control method according to claim 3, the process that it is characterized in that the two closed loop controls of front wheel angle is: the steering angle of front wheel angle sensor (10) direct-detection front-wheel, with the angle position closed loop feedback to positioner (33), thereby form outer circulation, participate in the control of front wheel angle angle closed loop feedback; The current turned position of motor encoder (3) feedback actuating motor (1), but motor encoder (3) is not re-used as the angle ring feedback, participates in the speed closed loop controlled reset this moment, as the rotating speed of speed closed loop control actuating motor; The current velocity of rotation of Hall element feedback actuating motor (1), auxiliary speed closed loop feedback as motor, current feedback participates in the electric current of current closed-loop control actuating motor as interior ring.
5. positioner (33) receives front-wheel planning corner, provide motor tarnsition velocity bid value with front wheel angle sensor (10) by PID control calculating, this tarnsition velocity bid value calculates based on the speed feedback PID control of motor encoder (3) and is converted to current command value, actuating motor this moment (1) rotates under the current drives effect, actuating motor (1) driving direction machine (2), steering wheel (2) drives front-wheel steering by Ackermann steering gear pull bar (13), realizes two closed loop control processes of front wheel angle.
6. because the corner of front wheel angle sensor (10) direct pick-up detection front-wheel feeds back as outer shroud, overcome the transmission error of actuating motor, steering wheel and other actuating unit, guaranteed the accurate control of front wheel angle.
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