CN106274552B - Automotive control system - Google Patents
Automotive control system Download PDFInfo
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- CN106274552B CN106274552B CN201610755732.0A CN201610755732A CN106274552B CN 106274552 B CN106274552 B CN 106274552B CN 201610755732 A CN201610755732 A CN 201610755732A CN 106274552 B CN106274552 B CN 106274552B
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- control system
- motor
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- 230000033001 locomotion Effects 0.000 claims abstract description 73
- 230000009471 action Effects 0.000 claims abstract description 6
- 238000013480 data collection Methods 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000001133 acceleration Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 5
- 230000008054 signal transmission Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 18
- 238000012545 processing Methods 0.000 abstract description 5
- 238000013439 planning Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 238000010977 unit operation Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 210000004291 uterus Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/02—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including electrically actuated servomechanism including an electric control system or a servomechanism in which the vehicle velocity affecting element is actuated electrically
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/40—Adaptation of control equipment on vehicle for remote actuation from a stationary place
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Steering Mechanism (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The present invention relates to field of automobile control, more particularly, to a kind of automotive control system.It includes controlling terminal, motion controller and execution unit；Motion controller is connect with controlling terminal and execution unit signal respectively, and the signal instruction for sending controlling terminal is converted into the action command of execution unit, and then execution unit is made to carry out corresponding operation；Execution unit includes automobile steering system and vehicle speed control system；Controlling terminal includes handle control system and/or steering wheel control system.The present invention not only meets demand of the people to the various functions of vehicle, but also can be realized simultaneously hand handle manipulation and steering wheel manipulation mode, make us driving more select, also more have enjoyment；Rotating speed functions and turning function have been subjected to unified processing by motion controller, have had reached the purpose of reasonable distribution steering and revolving speed, and then after reasonable distribution, can not only ensure that the driving safety of vehicle, but also resource can greatly be saved.
Description
Technical field
The present invention relates to field of automobile control, more particularly, to a kind of automotive control system.
Background technique
Electric car refers to using vehicle power supply as power, with motor driven wheels travel, meets road traffic, security legislation
The vehicle of requirements.Since effect on environment is smaller with respect to orthodox car.
The electronic control system of present electric car can be divided into following four part:
1, engine and power transmission centralized control system, including Engine integrated controlling sy stem, automation speed Control
System, braking anti-lock and traction control system etc..
2, chassis comprehensively control and security system, including vehicle stability control system, active body gesture control system,
Cruise control system, anti-collision early warning system, driver's intelligent support system etc..
3, intelligent car body electronic system, including power seat system, intelligent front light system, automatic night vision system, electricity
Cervical orifice of uterus lock and burglary-resisting system etc..
4, communication and information/entertainment systems, including intelligent automobile navigation system, speech recognition system, " ON STAR " system
(having the function of automatic calling for help and inquiry etc.), auto repair data transmission system, car audio system, Real-time Traffic Information are seeked advice from
System, dynamic vehicle tracking and management system and information service system (containing network etc.) etc..
Although electric car compared to many functions are increased in the past, the thought of its dynamical system will turn to always
What control and the control of revolving speed carried out respectively.Such set-up mode not can be carried out and timely carry out rationally to steering and revolving speed
Distribution, can not carry out intelligent processing, have reached optimal energy saving purpose.
Summary of the invention
The purpose of the present invention is to provide automotive control systems, to solve the technical problems existing in the prior art.
Automotive control system provided by the invention, including controlling terminal, motion controller and execution unit；
The motion controller is connect with the controlling terminal and the execution unit signal respectively, is used for the control
The signal instruction that terminal is sent is converted into the action command of the execution unit, and then it is corresponding to carry out the execution unit
Operation；
The execution unit includes automobile steering system and vehicle speed control system；
The controlling terminal includes handle control system and steering wheel control system.
Further, it is provided with storage unit in the motion controller, for storing traveling path locus.
Further, automotive control system further includes automobile safety system；
The automobile safety system includes braking system and data collection system；
The data collection system is connect with the motion controller, and being used for will be collected by the data collection system
Various data are transferred to the motion controller；
Motion controller data according to collected by the data collection system analyze when being stopped, hair
Send instruction to the braking system, for controlling unexpected danger.
Further, the automobile steering system includes steering motor and steering gear；
The steering motor is connect with the motion controller, for according to the control of the motion controller to adjust
State the working condition of steering motor；
The steering gear is connect with the steering motor, for passing to the rotary state of the steering motor
The wheel of automobile, and the wheel is driven to be rotated.
Further, the steering motor is linear motor；
The linear motor fixed setting；
The steering gear includes mechanical guide, mandril and drive rod；
The linear motor is arranged in parallel with the mechanical guide；
The mandril is separately positioned on the both ends of the mechanical guide, and connect with the both ends of the linear motor, can
Drive the mechanical guide mobile by the effect of the linear motor；
Side of the mandril far from the mechanical guide is arranged in the drive rod, can be by the fortune of the linear motor
Dynamic state passes to the wheel, makes the wheel steering.
Further, the steering motor is torque motor；
The torque motor fixed setting；
The steering gear includes connecting rod；
The connecting rod is separately positioned on the motor shaft opposite sides of the torque motor, can pass through the motor shaft
Rotation drives the connecting rod mobile, and then drives the wheel steering.
Further, the steering system and the vehicle speed control system are connect with the front-wheel of automobile, for controlling
Steering and the revolving speed of front-wheel are stated to realize the steering to automobile and the control of speed；
Or,
The steering system and the vehicle speed control system are connect with the rear-wheel of automobile, for controlling turning for the rear-wheel
To realizing the steering to automobile and the control of speed with revolving speed；
Or,
The connection of the front-wheel of the steering system and automobile realizes the steering to automobile for controlling the steering of the front-wheel
Control；
The connection of the rear-wheel of the vehicle speed control system and automobile, is realized for controlling the revolving speed of the rear-wheel to automobile
The control of speed；
Or,
The connection of the rear-wheel of the steering system and automobile realizes the steering to automobile for controlling the steering of the rear-wheel
Control；
The connection of the front-wheel of the vehicle speed control system and automobile, is realized for controlling the speed of the front-wheel to automobile
The control of speed.
Further, the vehicle speed control system includes accelerating motor and revolving speed transmission mechanism；
The acceleration motor is connect with the motion controller, for according to the control of the motion controller to adjust
State the revolving speed for accelerating motor；
The revolving speed transmission mechanism is connect with the acceleration motor, for the revolving speed for accelerating motor to be passed to automobile
Wheel.
Further, controlling terminal further includes wireless control terminal；
The wireless control terminal is connect with the motion controller line；
The motion controller is connect with the automobile steering system and the vehicle speed control system line respectively.
Further, the wireless control terminal is remote controler, remote control center, PC terminal or APP terminal；
Or,
By EherCAT, wifi, 4G, 5G, bluetooth, infrared between the wireless control terminal and the motion controller
Or radio station carries out signal transmission.
Automotive control system provided by the invention can not only meet people to vehicle by the operation of controlling terminal
The demand of various functions, but also rotating speed functions and turning function have been subjected to unified processing by motion controller, it has reached
The purpose with revolving speed is turned to reasonable distribution, and then after reasonable distribution, can not only ensure that the driving safety of vehicle, but also
Resource can also be greatly saved.
Detailed description of the invention
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art
Embodiment or attached drawing needed to be used in the description of the prior art be briefly described, it should be apparent that, it is described below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, is also possible to obtain other drawings based on these drawings.
Fig. 1 is the systematic schematic diagram of automotive control system provided by the invention；
Fig. 2 is the structural schematic diagram of the automobile steering system of automotive control system provided by the invention；
Fig. 3 is the structural schematic diagram of another automobile steering system of automotive control system provided by the invention.
Appended drawing reference:
1: wheel 2: drive rod 3: mechanical guide
4: stator 5: rotor 6: mandril
7: controller 8: torque motor 9: connecting rod
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second ", " third " are used for description purposes only, it is not understood to indicate or imply phase
To importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
As illustrated in the accompanying drawings from 1 to 3, the present invention provides a kind of automotive control system, including controlling terminal, motion controller and
Execution unit；
The motion controller is connect with the controlling terminal and the execution unit signal respectively, is used for the control
The signal instruction that terminal is sent is converted into the action command of the execution unit, and then it is corresponding to carry out the execution unit
Operation；
The execution unit includes automobile steering system and vehicle speed control system；
The controlling terminal includes handle control system and steering wheel control system.
The movement control technology of control system of the invention based on robot not only meets people to the various functions of vehicle
It is required that can be realized simultaneously hand handle manipulation and steering wheel manipulation mode, make us driving more select, also more have pleasure
Interest.And can not increase sensor accessory can be directly realized by the intelligent functions such as remote controlled travelling and path planning.
In the present invention, motion controller is controlled using controlling terminal, by the calculating of motion controller, will be controlled
The control instruction of terminal processed is converted to the control signal of straight line units, and then execution unit is made to carry out corresponding operation.
In the present embodiment, execution unit includes automobile steering system and vehicle speed control system, that is to say, that passes through control
Terminal can simultaneously control the steering of automobile and speed, and then can make automobile in the process of moving, can be reasonable
Distribution turns to and the required energy of revolving speed, and then not only ensure that the safety of driving, but also can greatly save
The about energy, improves the utilization rate of the energy.
It, can be with it should be pointed out that execution unit is not limited solely to automobile steering system and vehicle speed control system
Including other control systems, such as on-board air conditioner, car lamp control system, electronic lock and burglary-resisting system, auto-navigation system, joy
Music system etc., as long as can be controlled by motion controller.
Preferred embodiment is to be provided with storage unit in the motion controller, for storing traveling path locus.
The movement control technology of control system of the invention based on robot not only meets people to the various functions of vehicle
It is required that can be realized simultaneously hand handle manipulation and steering wheel manipulation mode, make us driving more select, also more have pleasure
Interest.And can not increase sensor accessory can be directly realized by the intelligent functions such as remote controlled travelling and path planning.
In the present embodiment, storage unit is provided in motion controller, there are two effects.
One, by the routing information reserved in memory cell storage, motion controller reads reserved in storage unit
After routing information, Collaborative Control is carried out to each execution unit of electric car, allow it to reach according to reserved path into
The purpose that every trade is sailed.
Two, during electric automobile during traveling, storage unit will automatically be recorded the path of traveling, in order to
After be called.
Above-mentioned function, we can be referred to as path planning function, the i.e. input of passage path, or track record and come in fact
Now to the storage in path, and then automatic Pilot, Jin Erke are realized by calling of the motion controller to the routing information of storage
Manpower can be freed in the operations such as delivery.
Preferred embodiment is that automotive control system further includes automobile safety system；
The automobile safety system includes braking system and data collection system；
The data collection system is connect with the motion controller, and being used for will be collected by the data collection system
Various data are transferred to the motion controller；
Motion controller data according to collected by the data collection system analyze when being stopped, hair
Send instruction to the braking system, for controlling unexpected danger.
When automobile carries out automatic Pilot, for the safety for guaranteeing automobile, automobile safety system is added on automobile, with
Guarantee security performance when its automatic Pilot.
In the present embodiment, automobile safety system includes braking system and data collection system.
Data collection system is multiple infrared sensors, can incude the distance of surrounding objects and be incuded by heat source
Inanimate object, and then can effectively avoid vehicle and pedestrian, bump against with Adjacent Buildings or other fixed objects, it ensure that vehicle
Safety and surrounding pedestrian safety.
In the presence of data collection system collects someone around or barrier, motion controller receives data acquisition system
It sends and instructs to braking system after the signal of system, braking system work, vehicle stops driving.Later, pass through motion controller
Driver is notified to carry out human intervention or motion controller and carry out corresponding position according to the various chance Fault handling situations of pre-input
Reason operation.
It should be pointed out that in the present embodiment, the priority of automobile safety system is higher than the system of automatic Pilot,
That is automatic Pilot needs to stop when safety problem occurs in automobile, manipulated after being taken over by automobile safety system
Operation.
Preferred embodiment is that the automobile steering system includes steering motor and steering gear；
The steering motor is connect with the motion controller, for according to the control of the motion controller to adjust
State the working condition of steering motor；
The steering gear is connect with the steering motor, for passing to the rotary state of the steering motor
The wheel 1 of automobile, and the wheel 1 is driven to be rotated.
In the present embodiment, steering system includes steering motor and turns to rotating mechanism, is driven and is turned to by steering motor
Transmission mechanism is turned to motor car wheel 1 in turn.
Steering motor is connect with motion controller, and motion controller carries out diversion treatments according to the planning path prestored, this
When, motion controller gives steering motor to send steering order, and steering motor rotate forward according to the instruction of motion controller or anti-
Turn, and then realizes the purpose that vehicle turns left or turns right.
Preferred embodiment is that the steering motor is linear motor；
The linear motor fixed setting；
The steering gear includes mechanical guide 3, mandril 6 and drive rod 2；
The linear motor is arranged in parallel with the mechanical guide 3；
The mandril 6 is separately positioned on the both ends of the mechanical guide 3, and connect with the both ends of the linear motor, energy
Enough drive the mechanical guide 3 mobile by the effect of the linear motor；
Side of the mandril 6 far from the mechanical guide 3 is arranged in the drive rod 2, can be by the linear motor
Motion state pass to the wheel 1, turn to the wheel 1.
In the present embodiment, steering motor is linear motor, and steering gear includes mechanical guide 3, mandril 6 and transmission
Bar 2.
When in use, linear motor is connect with motion controller, is controlled by motion controller, and is led with machinery
Rail 3 is arranged in parallel, and then when motion controller controls linear motor operation, limits straight-line electric by mechanical guide 3
The operation track of machine, meanwhile, replace linear motor to carry out stress, to guarantee the service life of linear motor.
It is connect respectively with the end of two mandrils 6 at the both ends of linear motor, the other end and mechanical guide of two mandrils 6
3 both ends connection, realization linear motor are moved synchronously with mechanical guide 3.
Drive rod 2 is set far from the side of mechanical guide 3 in mandril 6, the movement of mechanical guide 3 is changed as wheel 1
Movement, and then realize the steering of wheel 1.
The center of wheel 1 and its power drive rotation axis are rotatablely connected, and rotate wheel 1 can under the action of rotation axis
Drive vehicle mobile, also can make to generate deflection between wheel 1 and rotation axis under the operation of connecting rod 9, though 1 axis of wheel with
Rotation axis is not coaxial, and then makes Vehicular turn.
For linear motor in operation, stator 4 is motionless on vehicle, the rotor 5 moved in a straight line, i.e. motor shaft and two
Mandril 6 connects, and then mechanical guide 3 is driven to move, and further realizes the steering of vehicle.
It can also be and add controller 7 between motion controller and linear motor, to reach the essence of most linear motor movement
Really control.
Preferred embodiment is that the steering motor is torque motor 8；
The torque motor 8 is fixedly installed；
The steering gear includes connecting rod 9；
The connecting rod 9 is separately positioned on the motor shaft opposite sides of the torque motor 8, can pass through the motor shaft
Rotation, drive the connecting rod 9 mobile, and then the wheel 1 is driven to turn to.
In the present embodiment, steering motor is torque motor 8, and torque motor 8 is at least two, is separately mounted to two
On front-wheel or two rear-wheels, and then when vehicle is turned to, by motion controller respectively to two torque motors 8 into
Row action control makes it while being rotated forward or backwards, and then the connecting rod 9 by being arranged on torque motor 8 is come band
Motor-car deflects in its rotation axis, keeps 1 axis of wheel and rotation axis not coaxial, to achieve the purpose that Vehicular turn.
It should be pointed out that torque motor 8 is used to carry out steering driving in the present embodiment, be also possible to using
Such as the linear motor of previous embodiment, other kinds of motor or other machines can also be, that is to say, that as long as it can be real
Now the steering of wheel 1 is controlled by motion controller.
Preferred embodiment is that the steering system and the vehicle speed control system are connect with the front-wheel of automobile, is used
The steering to automobile and the control of speed are realized in the steering and revolving speed that control the front-wheel；
Or,
The steering system and the vehicle speed control system are connect with the rear-wheel of automobile, for controlling turning for the rear-wheel
To realizing the steering to automobile and the control of speed with revolving speed；
Or,
The connection of the front-wheel of the steering system and automobile realizes the steering to automobile for controlling the steering of the front-wheel
Control；
The connection of the rear-wheel of the vehicle speed control system and automobile, is realized for controlling the revolving speed of the rear-wheel to automobile
The control of speed；
Or,
The connection of the rear-wheel of the steering system and automobile realizes the steering to automobile for controlling the steering of the rear-wheel
Control；
The connection of the front-wheel of the vehicle speed control system and automobile, is realized for controlling the speed of the front-wheel to automobile
The control of speed.
That is, in the present invention, steering system can be separately provided with vehicle speed control system, between the two mutually
Do not interfere, can be both at front-wheel, can be both at rear-wheel, can also be one at one, front-wheel rear
Wheel, installation site can be random, as long as can be realized the turning of wheel 1 and acceleration and deceleration.
Preferred embodiment is that the vehicle speed control system includes accelerating motor and revolving speed transmission mechanism；
The acceleration motor is connect with the motion controller, for according to the control of the motion controller to adjust
State the revolving speed for accelerating motor；
The revolving speed transmission mechanism is connect with the acceleration motor, for the revolving speed for accelerating motor to be passed to automobile
Wheel 1.
Vehicle speed control system includes accelerating motor and revolving speed transmission mechanism, can be to acceleration motor by motion controller
Revolving speed is controlled, and the revolving speed for accelerating motor can be passed to wheel 1 by revolving speed transmission mechanism, and then realize vehicle
Acceleration or deceleration.
Preferred embodiment is that controlling terminal further includes wireless control terminal；
The wireless control terminal and the motion controller are wirelessly connected；
The motion controller is connect with the automobile steering system and the vehicle speed control system line respectively.
When in use, it can be and automobile controlled using handle or steering wheel in the car, and connected using line,
Its stability is relatively high, it is not easy to generate signal interference, and then can be realized to the instant of the various data of motion controller
Processing, ensure that the stability and safety of vehicle driving.
It can also be that passing through wireless control terminal outside vehicle is remotely controlled driving to automobile, and then can be by people out of automobile
It frees, greatly improves the visual field of driving, the safety of driving can greatly be improved, especially moving backward
Or when stopping into parking stall, can guarantee will not be to the scratch of other vehicles.
Preferred embodiment is that the wireless control terminal is remote controler, remote control center, PC terminal or APP whole
End；
Or,
By EherCAT, wifi, 4G, 5G, bluetooth, infrared between the wireless control terminal and the motion controller
Or radio station carries out signal transmission.
There are many kinds of wireless control terminals, is in the present embodiment remote controler, but it can also be remote control center, PC
Terminal or APP terminal, and then remote control can be carried out by remote control center or computer or mobile phone, so that the driving of automobile
Function is more abundant.
There are many kinds of signal transfer protocols between wireless control terminal and motion controller comprising EherCAT,
Wifi, 4G, 5G, bluetooth, infrared or radio station, but above-mentioned several ways are not limited to, it can also be other kinds of, as long as can
Realize wireless signal transmission.
Automotive control system provided by the invention can not only be by personnel from automobile by the operation of wireless control terminal
Inside frees, and is artificially controlled, and can ensure that the safety of vehicle, especially in reversing, parking, Ke Yi
It is operated outside vehicle, convenient for observing vehicle external environment, ensure that vehicle and the safety of pedestrian.
Automotive control system provided by the invention not only meets demand of the people to the various functions of vehicle, but also
Rotating speed functions and turning function have been subjected to unified processing by motion controller, reasonable distribution has been had reached and turns to and revolving speed
Purpose, and then after reasonable distribution, it can not only ensure that the driving safety of vehicle, but also resource can greatly be saved
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of automotive control system, which is characterized in that including controlling terminal, motion controller and execution unit；
The motion controller is connect with the controlling terminal and the execution unit signal respectively, can be turned simultaneously to automobile
It is controlled to speed, and then automobile can be made in the process of moving, reasonable distribution turns to and revolving speed is required
The energy, the signal instruction for sending the controlling terminal are converted into the action command of the execution unit, and then make institute
It states execution unit and carries out corresponding operation；
The execution unit includes automobile steering system and vehicle speed control system；
The controlling terminal includes handle control system and steering wheel control system.
2. automotive control system according to claim 1, which is characterized in that it is single to be provided with storage in the motion controller
Member, for storing traveling path locus.
3. automotive control system according to claim 1, which is characterized in that further include automobile safety system；
The automobile safety system includes braking system and data collection system；
The data collection system is connect with the motion controller, and being used for will be various collected by the data collection system
Data are transferred to the motion controller；
Motion controller data according to collected by the data collection system analyze when being stopped, and transmission refers to
It enables to the braking system, for controlling unexpected danger.
4. automotive control system according to claim 1, which is characterized in that the automobile steering system includes steering motor
And steering gear；
The steering motor is connect with the motion controller, for adjusting described turn according to the control of the motion controller
To the working condition of motor；
The steering gear is connect with the steering motor, for the rotary state of the steering motor to be passed to automobile
Wheel, and the wheel is driven to be rotated.
5. automotive control system according to claim 4, which is characterized in that the steering motor is linear motor；
The linear motor fixed setting；
The steering gear includes mechanical guide, mandril and drive rod；
The linear motor is arranged in parallel with the mechanical guide；
The mandril is separately positioned on the both ends of the mechanical guide, and connect with the both ends of the linear motor, can pass through
The effect of the linear motor drives the mechanical guide mobile；
Side of the mandril far from the mechanical guide is arranged in the drive rod, can be by the movement shape of the linear motor
State passes to the wheel, makes the wheel steering.
6. automotive control system according to claim 4, which is characterized in that the steering motor is torque motor；
The torque motor fixed setting；
The steering gear includes connecting rod；
The connecting rod is separately positioned on the motor shaft opposite sides of the torque motor, can be turned by the motor shaft
It is dynamic, drive the connecting rod mobile, and then drive the wheel steering.
7. automotive control system according to claim 1, which is characterized in that the steering system and speed control system
System is connect with the front-wheel of automobile, realizes the steering to automobile and the control of speed for controlling steering and the revolving speed of the front-wheel
System；
Or,
The steering system and the vehicle speed control system are connect with the rear-wheel of automobile, for control the rear-wheel steering and
Revolving speed realizes the steering to automobile and the control of speed；
Or,
The connection of the front-wheel of the steering system and automobile realizes the control of the steering to automobile for controlling the steering of the front-wheel
System；
The connection of the rear-wheel of the vehicle speed control system and automobile, realizes the speed to automobile for controlling the revolving speed of the rear-wheel
Control；
Or,
The connection of the rear-wheel of the steering system and automobile realizes the control of the steering to automobile for controlling the steering of the rear-wheel
System；
The connection of the front-wheel of the vehicle speed control system and automobile, realizes the speed to automobile for controlling the speed of the front-wheel
Control.
8. automotive control system according to claim 1, which is characterized in that the vehicle speed control system includes accelerating motor
With revolving speed transmission mechanism；
The acceleration motor is connect with the motion controller, for adjusting described add according to the control of the motion controller
The revolving speed of speed motor；
The revolving speed transmission mechanism is connect with the acceleration motor, for the revolving speed for accelerating motor to be passed to the vehicle of automobile
Wheel.
9. automotive control system according to claim 1, which is characterized in that controlling terminal further includes wireless control terminal；
The wireless control terminal is connect with the motion controller line；
The motion controller is connect with the automobile steering system and the vehicle speed control system line respectively.
10. automotive control system according to claim 9, which is characterized in that the wireless control terminal is remote controler, far
Process control center, PC terminal or APP terminal；
Or,
By EherCAT, wifi, 4G, 5G, bluetooth, infrared or electric between the wireless control terminal and the motion controller
Platform carries out signal transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610755732.0A CN106274552B (en) | 2016-08-29 | 2016-08-29 | Automotive control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610755732.0A CN106274552B (en) | 2016-08-29 | 2016-08-29 | Automotive control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106274552A CN106274552A (en) | 2017-01-04 |
| CN106274552B true CN106274552B (en) | 2019-01-25 |
Family
ID=57675387
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610755732.0A Expired - Fee Related CN106274552B (en) | 2016-08-29 | 2016-08-29 | Automotive control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106274552B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107554357A (en) * | 2017-08-23 | 2018-01-09 | 北京新能源汽车股份有限公司 | Vehicle remote control driving method and system and motor controller |
| CN108594826A (en) * | 2018-06-04 | 2018-09-28 | 北京智行者科技有限公司 | Car body interface system |
| WO2020191694A1 (en) * | 2019-03-28 | 2020-10-01 | 深圳市大疆创新科技有限公司 | Control method and control device for movable platform and storage medium |
| DE102020200861B4 (en) * | 2020-01-24 | 2023-10-12 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for operating a steering system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB413641A (en) * | 1933-01-16 | 1934-07-16 | Alexander Dalgety Ferguson | Improvements relating to the control of direct current electric motors |
| CN201154749Y (en) * | 2007-11-16 | 2008-11-26 | 周述光 | Turning banking type automobile |
| CN105270469B (en) * | 2015-11-11 | 2017-07-11 | 同济大学 | A kind of motor-driven steering system based on all-hydraulic steering gear |
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2016
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|---|---|
| CN106274552A (en) | 2017-01-04 |
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