CN106347449A - Man and machine driven type electric power steering system and mode switching method - Google Patents
Man and machine driven type electric power steering system and mode switching method Download PDFInfo
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- CN106347449A CN106347449A CN201610839897.6A CN201610839897A CN106347449A CN 106347449 A CN106347449 A CN 106347449A CN 201610839897 A CN201610839897 A CN 201610839897A CN 106347449 A CN106347449 A CN 106347449A
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- torque
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- steering
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- vehicle speed
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Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
Abstract
The invention discloses a man and machine driven type electric power steering system and a mode switching method and belongs to the field of unmanned steering for intelligent cars. The electric power steering system comprises a front torque/angle sensor, a rear torque/angle sensor, a vehicle speed sensor, a man and machine driven type steering controller, a mode switching controller, a steering motor, a steering shaft, a speed reducing mechanism, a pinion and rack mechanism and a yaw velocity sensor. An existing electric power steering system is simply transformed, the rear torque/angle sensor is mounted on the original electric power steering system, torque/angle signals in man driving and machine driving modes are acquired in real time, and great convenience is brought to the work of a steering motor in the two modes; meanwhile, according to signals of the front torque/angle sensor and the rear torque/angle sensor, the steering mode of a current vehicle can be judged simply and quickly, and automatic and safe switching between the two steering modes can be realized.
Description
Technical field
The invention belongs to intelligent automobile unmanned steering field, more particularly, to a kind of man-machine drive type electric boosting steering system altogether
And mode switching method.
Background technology
Intelligent automobile integrates the multi-field new and high technologies such as environment sensing, programmed decision-making, the auxiliary driving of many grades
Complication system, the development of intelligent automobile technology will be experienced and drive function autonomy-oriented to entirely autonomous driving from part, from a high speed
The simple environment automatic Pilot such as highway is to the course of the continuous advance of different kinds of roads automatic Pilot.The intelligence that German Continent Group is released
Automobile plan can be divided into three steps: realized part automatic Pilot by 2016, automobile needs monitoring system, driver will be ready to
Catcher is driven, and target is the automatic Pilot realized within 30km/h；Realize highly automated driving it is not necessary to monitoring is to the year two thousand twenty
System, but driver will take over driving at the appointed time；Realized fully automated driving by 2025 it is not necessary to monitoring system, drive
The person of sailing drives without catcher.The autonomous driving vehicle that 2015 end of the year California, USAs are announced travels management protocol in city, right
The steering of intelligent automobile proposes and clearly requires: must be compatible with auto-steering and the dual steer mode of artificial steering.
Meanwhile, electric boosting steering system (electric power steering system, abbreviation eps) is straight by motor
Offer power-assisted is provided, by suitable integrated control method, can very easily regulating system assist characteristic, obtain in the car
Increasingly it is widely applied, represent the developing direction of current automobile assisted power steering system.Currently American-European-Japanese new car waiting country
More than 40%, wherein Japanese dolly eps entrucking rate has reached 80% to eps entrucking rate.Eps is due in active safety, environmental protection
The aspects such as the integrated control of energy-conservation, electronics, reliability, structural compactness have significant advantage, become intelligent automobile steering people
Work steering manipulation pattern inevitable choice.
Chinese patent cn103895691a discloses a kind of commercial car automated steering compensation device, can be travelled according to vehicle
State, to reduce understeer by forward and reverse compensation or to alleviate ovdersteering, to improve vehicle performance susceptiveness, but simply relate to
And the situation of manually steering, do not consider the realization of auto-steering.
Chinese patent cn101875370a discloses a kind of automotive self-adaptive intelligent steering system, can be automatically and manually
Switch under (comfortable/intelligence/motion) steering pattern, but handoff procedure needs to press manual/auto pole changer and just can enter
Row switching, the process especially switching to manual steering from auto-steering cannot be automatically obtained, and intelligence degree needs further
Improve.
Content of the invention
For solving above-mentioned technical problem, man-machine drive type electric boosting steering system altogether and pattern is cut the invention provides a kind of
Change method, give full play to electric boosting steering system on the basis of artificial steering advantage, by carrying out to original system
Improve, increase auto-steering function, realize the man-machine of intelligent automobile and drive function altogether, and ensure the safe and intelligent between both of which
Switching.
To achieve these goals, the present invention employs the following technical solutions:
A kind of man-machine drive type electric boosting steering system altogether it is characterised in that include preposition torque/rotary angle transmitter, after
Put torque/rotary angle transmitter, vehicle speed sensor, man-machine drive altogether type steering controller, mode switching controller, steer motor, turn
To axle, reducing gear, pinion and rack and yaw-rate sensor；
Described man-machine type steering controller of driving altogether includes Signal-regulated kinase, microprocessor and drive module, described signal
Conditioning module is used for nursing one's health the signal of preposition torque/rotary angle transmitter, rearmounted torque/rotary angle transmitter and vehicle speed sensor, goes
Except larger interference in signal and clutter；Described microprocessor is used for producing the control strategy controlling steer motor；Described driving
Module is the size of current that the pwm signal being sent by microprocessor adjusts in ratio coil, thus driving steer motor to work；
Described mode switching controller includes Signal-regulated kinase, microprocessor and output module, described signal condition mould
Block is used for nursing one's health the signal of preposition torque/rotary angle transmitter, rearmounted torque/rotary angle transmitter and vehicle speed sensor, removes signal
Middle larger interference and clutter；Described microprocessor is used for producing pattern switching control strategy；Described output module is according to micro-
The low and high level signal that processor sends, is transferred to corresponding mode of operation and man-machine drives type steering controller altogether；
Described steering spindle is engaged by gear with pinion and rack, and described steering spindle is sequentially installed with preposition from top to bottom
Torque/rotary angle transmitter, reducing gear and rearmounted torque/rotary angle transmitter, described reducing gear passes through shaft coupling with steer motor
Device connects；Described steer motor is connected by wire with man-machine type steering controller of driving altogether, described man-machine drives type course changing control altogether
Device passes through current control steer motor；Described man-machine drive altogether type steering controller also by wire respectively with vehicle speed sensor, mould
Formula switch controller connects, and is respectively used to produce Controlling Strategy of Electric Power Steering System, judges switching time of man-machine driving model；
Described mode switching controller pass through wire respectively with preposition torque/rotary angle transmitter, rearmounted torque/rotation angular sensing
Device, vehicle speed sensor and yaw-rate sensor are connected, collection torque/corner value, speed and yaw velocity value, are used for
Judge the steering pattern of Current vehicle, and the steering pattern of Current vehicle given people machine by low and high level signal transmission to drive type altogether
Steering controller；
Described man-machine type steering controller of driving altogether passes through wire and preposition torque/rotary angle transmitter, rearmounted torque/corner biography
Sensor and vehicle speed sensor are connected, and described man-machine type steering controller of driving altogether passes through to gather turning of preposition torque/rotary angle transmitter
Square/angular signal is passed with speed with the GES of vehicle speed sensor or the torque/angular signal of rearmounted torque/rotary angle transmitter
Sensor) GES, respectively to steer motor control, realize that people drives pattern course changing control or pattern course changing control driven by machine.
In such scheme, described man-machine type steering controller of driving altogether comprises two kinds of steering patterns, and that is, people drives pattern and machine is driven
Pattern.
In such scheme, under people drives pattern, steer motor serves as assist motor, and auxiliary driver is manually turned to；
Under pattern driven by machine, steer motor serves as motor, realizes the auto-steering operation of non-driver participation.
A kind of man-machine mode switching method driving type electric boosting steering system altogether is it is characterised in that comprise the following steps:
Step 1), preposition torque/rotary angle transmitter, rearmounted torque/rotary angle transmitter are gathered according to mode switching controller
Torque/angular signal and vehicle speed sensor GES, calculate current vehicle speed under preferable yaw velocity value
Step 2), gather the GES of vehicle speed sensor according to mode switching controller, calculate the horizontal stroke under current vehicle speed
The higher limit of pivot angle velocity amplitude
Step 3), by the higher limit of the yaw velocity value under current vehicle speedObtain yaw under current vehicle speed
The safety value of magnitude of angular velocity, obtains system simultaneously and thinks under the current vehicle speed that can carry out switching between two kinds of steering patterns
The security domain of yaw velocity value；
Step 4), slave is driven during pattern switching drives pattern to people, by detect preposition torque/rotary angle transmitter and
The torque value of rearmounted torque/rotary angle transmitter, judges whether torque differences；Judge that yaw-rate sensor detects simultaneously
Current yaw velocity value whether be in yaw velocity security domain, determine whether that can realize machine drives pattern to people
Drive the switching of pattern；
Step 5), drive during pattern switching drives pattern to machine from people, by detecting preposition torque/rotary angle transmitter
Torque value, judges whether torque value；Judge simultaneously preposition torque/rotary angle transmitter torque value whether maintain 3 seconds with
Whether the current yaw velocity value that upper and yaw-rate sensor detects is in yaw velocity security domain, thus
Determine whether to realize people to drive the switching that pattern drives pattern to machine.
Further, described step 3) under current vehicle speed the safety value of yaw velocity value beWherein k
For the safety coefficient of yaw velocity value under current vehicle speed, safety coefficient k is to emulate and test acquisition through a large amount of.
Further, described step 3) under current vehicle speed the security domain of yaw velocity value be
The invention has the benefit that the present invention is by the simple transformation to existing electric boosting steering system, original
Rearmounted torque/rotary angle transmitter is installed additional on electric boosting steering system, realizes people and drive driving under both of which torque corner letter with machine
Number real-time acquisition, for the steer motor under both of which work provide great convenience；Passed according to preposition torque/corner simultaneously
Sensor and the signal of rearmounted torque/rotary angle transmitter, the steering pattern judging Current vehicle that can be simple and quick is it is possible to reality
Automatic, handoff-security between existing two kinds of steering patterns.
Brief description
Fig. 1 is the man-machine structural representation driving type electric boosting steering system altogether；
Fig. 2 is the man-machine flow chart driving type electric boosting steering system mode switching method altogether；
Fig. 3 for machine drive pattern to people drive pattern switching when, the man-machine pattern switching driving type electric boosting steering system altogether is former
Reason block diagram；
Fig. 4 behave pattern of driving to machine drive pattern switching when, the man-machine pattern switching driving type electric boosting steering system altogether is former
Reason block diagram.
Preposition torque/the rotary angle transmitter of in figure: 1-；Rearmounted torque/the rotary angle transmitter of 2-；3- vehicle speed sensor；4- is man-machine
Drive type steering controller altogether；5- mode switching controller；6- steer motor；7- steering spindle；8- reducing gear；9- rack-and-pinion machine
Structure；10- yaw-rate sensor.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated.
As shown in figure 1, a kind of man-machine drive type electric boosting steering system altogether, including preposition torque/rotary angle transmitter 1, after
Put torque/rotary angle transmitter 2, vehicle speed sensor 3, man-machine drive type steering controller 4, mode switching controller 5, steer motor altogether
6th, steering spindle 7, reducing gear 8, pinion and rack 9 and yaw-rate sensor 10；
Man-machine type steering controller 4 of driving altogether includes Signal-regulated kinase, microprocessor and drive module, Signal-regulated kinase
For nursing one's health the signal of preposition torque/rotary angle transmitter 1, rearmounted torque/rotary angle transmitter 2 and vehicle speed sensor 3, remove signal
In larger interference and clutter；Microprocessor is used for producing the control strategy controlling steer motor 6；Drive module is by micro- place
The pwm signal that reason device sends adjusts the size of current in steer motor 6 ratio coil, thus driving steer motor 6 to work；
Mode switching controller 5 includes Signal-regulated kinase, microprocessor and output module, and Signal-regulated kinase is used for adjusting
Manage the signal of preposition torque/rotary angle transmitter 1, rearmounted torque/rotary angle transmitter 2 and vehicle speed sensor 3, remove larger in signal
Interference and clutter；Microprocessor is used for producing pattern switching control strategy；Output module is the height being sent according to microprocessor
Low level signal, is transferred to corresponding mode of operation (people drives or pattern driven by machine) and man-machine drives type steering controller 4 altogether；
Steering spindle 7 is engaged by gear with pinion and rack 9, steering spindle 7 be sequentially installed with from top to bottom preposition torque/
Rotary angle transmitter 1, reducing gear 8 and rearmounted torque/rotary angle transmitter 2, reducing gear 8 is with steer motor 6 by shaft coupling even
Connect；Steer motor 6 is connected by wire with man-machine type steering controller 4 of driving altogether, and man-machine type steering controller 4 of driving altogether passes through electric current
Control steer motor 6；Man-machine drive altogether type steering controller 4 also by wire respectively with vehicle speed sensor 3, mode switching controller
5 connections, are respectively used to produce Controlling Strategy of Electric Power Steering System, judge switching time of man-machine driving model；
Mode switching controller 5 pass through wire respectively with preposition torque/rotary angle transmitter 1, rearmounted torque/rotary angle transmitter
2nd, vehicle speed sensor 3 and yaw-rate sensor 10 are connected, collection torque/corner value, speed and yaw velocity value, use
In the steering pattern judging Current vehicle, and the steering pattern of Current vehicle is given people machine by low and high level signal transmission drive altogether
Type steering controller 4；
Man-machine type steering controller 4 of driving altogether passes through wire and preposition torque/rotary angle transmitter 1, rearmounted torque/rotation angular sensing
Device 2 and vehicle speed sensor 3 are connected, man-machine drive altogether type steering controller 4 pass through to gather the torque of preposition torque/rotary angle transmitter 1/
Angular signal is passed with speed with the GES of vehicle speed sensor 3 or the torque/angular signal of rearmounted torque/rotary angle transmitter 2
The GES of sensor 3, controls to steer motor 6 respectively, realizes that people drives pattern course changing control or pattern course changing control driven by machine.
Man-machine type steering controller 4 of driving altogether comprises two kinds of steering patterns, and that is, people drives pattern (artificial steering) and pattern driven by machine
(auto-steering)；Drive steer motor 6 under pattern (artificial steering) in people and serve as assist motor, auxiliary driver is manually turned
To；Drive under pattern (auto-steering) in machine, steer motor 6 serves as motor, realize the auto-steering behaviour of non-driver participation
Make.
A kind of man-machine drive type electric boosting steering system altogether work process be:
Man-machine type steering controller 4 of driving altogether is by gathering torque/angular signal and the car of preposition torque/rotary angle transmitter 1
The speed letter of the torque/angular signal of the GES of fast sensor 3 or rearmounted torque/rotary angle transmitter 2 and vehicle speed sensor 3
Number；Remove the signal transmission after interference and clutter through Signal-regulated kinase to microprocessor, microprocessor pass through the torque that receives/
Angular signal produces, with GES, the control strategy controlling steer motor 6, and sends pwm signal adjustment steer motor 6 ratio
Size of current in coil, thus drive steer motor 6 to work；Steer motor 6 is through reducing gear 8 output torque to steering spindle
7, drive pinion and rack 9 to work, so that wheel produces divertical motion；
When steering pattern needs switching, mode switching controller 5 pass through to gather preposition torque/rotary angle transmitter 1 and after
Put the yaw angle of the torque of torque/rotary angle transmitter 2/corner value, the speed of vehicle speed sensor 3 and yaw-rate sensor 10
Velocity amplitude, removes through Signal-regulated kinase and is transferred to microprocessor after interference and clutter, and microprocessor produces pattern switching and controls
Strategy simultaneously sends low and high level signal, corresponding steering pattern is transferred to and man-machine drives type steering controller 4 altogether；
Slave is driven during pattern switching drives pattern to people, and mode switching controller 5 passes through to detect preposition torque/corner
Sensor 1 and the torque value of rearmounted torque/rotary angle transmitter 2, judge whether torque differences；Judge that yaw velocity passes simultaneously
Whether the current yaw velocity value that sensor 10 detects is in yaw velocity security domain, determines whether to realize
People drives the switching that pattern drives pattern to machine；If can switch, mode switching controller 5 drives type steering controller 4 altogether to man-machine
Send instruction, thus the switching that pattern drives pattern to people driven by machine of realizing；
Drive during pattern switching drives pattern to machine from people, mode switching controller 5 passes through to detect preposition torque/corner
The torque value of sensor 1, judges whether torque value；Judge whether the torque value of preposition torque/rotary angle transmitter 1 is tieed up simultaneously
Hold more than 3 seconds and whether current yaw velocity value that yaw-rate sensor 10 detects is in yaw velocity peace
In universe, determine whether that can realize people drives the switching that pattern drives pattern to machine；If can switch, pattern switching controls
Device 5 sends instruction to man-machine type steering controller 4 of driving altogether, thus realizing people to drive the switching that pattern drives pattern to machine.
As shown in Fig. 2 a kind of flow chart of the man-machine mode switching method driving type electric boosting steering system altogether, including step
Rapid:
Step 1), preposition torque/rotary angle transmitter 1, rearmounted torque/rotation angular sensing are gathered according to mode switching controller 5
Torque/the angular signal of device 2 and the GES of vehicle speed sensor 3, calculate the preferable yaw velocity value under current vehicle speed
Wherein, v is speed, m/s；δ is wheel turning angle, °；cαf、cαrIt is respectively the lateral rigidity of front and back wheel,
n/rad；M is the gross mass of vehicle, kg；lf、lrBe respectively vehicle centroid to front and rear wheel fore-and-aft distance, m；L is for wheelbase (
Know), m；R is radius of turn (known) m；
Again
Wherein,For steering wheel angle, can be obtained by preposition torque/rotary angle transmitter, wheel be calculated by formula (2) and turns
To angle δ；Speed v obtains according to vehicle speed sensor 3.
Step 2), gather the GES of vehicle speed sensor 3 according to mode switching controller 5, calculate under current vehicle speed
The higher limit of yaw velocity value
Wherein, μ is tire coefficient of road adhesion it is assumed that present tire coefficient of road adhesion is 0.7；G adds for gravity
Speed, m/s2；V is speed, m/s.
Step 3), by the higher limit of the yaw velocity value under current vehicle speedObtain yaw under current vehicle speed
The safety value of magnitude of angular velocity:
Wherein k is the safety coefficient of yaw velocity value under current vehicle speed, and safety coefficient k is to emulate and test through a large amount of
Obtain, safety coefficient k=0.85 that the present invention obtains through a large amount of emulation and test；
Obtain system simultaneously and think yaw angle speed under the current vehicle speed that can carry out switching between two kinds of steering patterns
The security domain of angle value is
Step 4), as shown in figure 3, during automatically forwarding to artificial steering, 1. passing through to detect preposition torque/corner
Sensor 1 and the torque value of rearmounted torque/rotary angle transmitter 2, judge whether torque differences；If there is torque differences it was demonstrated that
Driver attempts control direction disk it is desirable to auto-steering is switched to artificial steering；2. judge yaw-rate sensor simultaneously
Whether the 10 current yaw velocity values detecting are in yaw velocity security domain；Meet simultaneously above-mentioned 1., 2. two bars
Part, you can realize from the automatic switchover automatically forwarding to artificial steering, mode switching controller 5 drives type course changing control altogether to man-machine
Device 4 sends instruction, makes steer motor 6 export power torque；Conversely, as preposition torque/rotary angle transmitter 1 and rearmounted torque/turn
Angle transducer 2 no torque differences or be unsatisfactory for the condition that current yaw velocity value is in yaw velocity security domain, power-assisted turns
Then maintain current steering pattern constant to system.
Step 5), as shown in figure 4, during artificial steering is switched to auto-steering, 1. pass through to detect preposition torque/turn
The torque value of angle transducer 1, judges whether torque value；If there is no torque value and maintain more than 3 seconds it is believed that driver
There is no the wish of control direction disk, do not attempt for artificial steering to be switched to auto-steering；2. judge simultaneously preposition torque/turn
The current yaw angle speed that whether torque value of angle transducer 1 maintains more than 3 seconds and yaw-rate sensor 10 detects
Whether angle value is in yaw velocity security domain；Meet simultaneously above-mentioned 1., 2. two conditions, you can realize from manually redirecting to
The automatic switchover of auto-steering, mode switching controller 5 sends instruction to man-machine type steering controller 4 of driving altogether, makes steer motor 6
Output driving torque；Conversely, such as preposition torque/rotary angle transmitter 1 no torque value or be unsatisfactory for current yaw velocity and be in horizontal stroke
Condition in pivot angle speed security domain, servo steering system then maintains current steering pattern constant.
Above example is merely to illustrate design philosophy and the feature of the present invention, its object is to make technology in the art
Personnel will appreciate that present disclosure and implement according to this, protection scope of the present invention is not limited to above-described embodiment.So, all according to
The equivalent variations made according to disclosed principle, mentality of designing or modification, all within protection scope of the present invention.
Claims (6)
1. a kind of man-machine drive type electric boosting steering system altogether it is characterised in that include preposition torque/rotary angle transmitter (1), after
Put torque/rotary angle transmitter (2), vehicle speed sensor (3), man-machine drive altogether type steering controller (4), mode switching controller (5),
Steer motor (6), steering spindle (7), reducing gear (8), pinion and rack (9) and yaw-rate sensor (10)；
Described man-machine type steering controller (4) of driving altogether includes Signal-regulated kinase, microprocessor and drive module, and described signal is adjusted
Reason module is used for nursing one's health preposition torque/rotary angle transmitter (1), rearmounted torque/rotary angle transmitter (2) and vehicle speed sensor (3)
Signal, removes larger interference and clutter in signal；Described microprocessor is used for producing the control plan controlling steer motor (6)
Slightly；Described drive module is the size of current that the pwm signal being sent by microprocessor adjusts in ratio coil, thus drive turning
To motor (6) work；
Described mode switching controller (5) includes Signal-regulated kinase, microprocessor and output module, described Signal-regulated kinase
For nursing one's health the signal of preposition torque/rotary angle transmitter (1), rearmounted torque/rotary angle transmitter (2) and vehicle speed sensor (3), go
Except larger interference in signal and clutter；Described microprocessor is used for producing pattern switching control strategy；Described output module is
The low and high level signal being sent according to microprocessor, is transferred to corresponding mode of operation and man-machine drives type steering controller (4) altogether；
Described steering spindle (7) is engaged by gear with pinion and rack (9), and described steering spindle (7) is installed from top to bottom successively
There are preposition torque/rotary angle transmitter (1), reducing gear (8) and rearmounted torque/rotary angle transmitter (2), described reducing gear (8)
It is connected by shaft coupling with steer motor (6)；Described steer motor (6) passes through wire with man-machine type steering controller (4) of driving altogether
Connect, described man-machine type steering controller (4) of driving altogether passes through current control steer motor (6)；Described man-machine type of driving altogether turns to control
Device (4) processed is connected with vehicle speed sensor (3), mode switching controller (5) respectively also by wire, is respectively used to produce electronic helping
Power course changing control strategy, judge switching time of man-machine driving model；
Described mode switching controller (5) is passed through wire and is passed with preposition torque/rotary angle transmitter (1), rearmounted torque/corner respectively
Sensor (2), vehicle speed sensor (3) and yaw-rate sensor (10) are connected, collection torque/corner value, speed and yaw
Magnitude of angular velocity, for judging the steering pattern of Current vehicle, and the steering pattern of Current vehicle is passed by low and high level signal
It is defeated by and man-machine drive type steering controller (4) altogether；
Described man-machine type steering controller (4) of driving altogether passes through wire and preposition torque/rotary angle transmitter (1), rearmounted torque/corner
Sensor (2) and vehicle speed sensor (3) are connected, and described man-machine type steering controller (4) of driving altogether passes through to gather preposition torque/corner
Torque/the angular signal of sensor (1) and the GES of vehicle speed sensor (3) or turning of rearmounted torque/rotary angle transmitter (2)
Square/angular signal and the GES of vehicle speed sensor (3), control to steer motor (6) respectively, realize people and drive pattern steering control
Pattern course changing control driven by system or machine.
2. one kind according to claim 1 is man-machine drives type electric boosting steering system altogether it is characterised in that described man-machine common
Drive type steering controller (4) and comprise two kinds of steering patterns, that is, people drives pattern and pattern driven by machine.
3. one kind according to claim 2 is man-machine drives type electric boosting steering system altogether it is characterised in that driving pattern in people
Under, steer motor (6) serves as assist motor, and auxiliary driver is manually turned to；Under pattern driven by machine, steer motor (6) is filled
Work as motor, realize the auto-steering operation of non-driver participation.
4. a kind of man-machine mode switching method driving type electric boosting steering system altogether is it is characterised in that comprise the following steps:
Step 1), preposition torque/rotary angle transmitter (1), rearmounted torque/rotation angular sensing are gathered according to mode switching controller (5)
Torque/the angular signal of device (2) and the GES of vehicle speed sensor (3), calculate the preferable yaw angle speed under current vehicle speed
Angle value
Step 2), gather the GES of vehicle speed sensor (3) according to mode switching controller (5), calculate under current vehicle speed
The higher limit of yaw velocity value
Step 3), by the higher limit of the yaw velocity value under current vehicle speedObtain yaw angle speed under current vehicle speed
The safety value of angle value, obtains system simultaneously and thinks yaw under the current vehicle speed that can carry out switching between two kinds of steering patterns
The security domain of magnitude of angular velocity；
Step 4), slave is driven during pattern switching drives pattern to people, by detect preposition torque/rotary angle transmitter (1) and
The torque value of rearmounted torque/rotary angle transmitter (2), judges whether torque differences；Judge yaw-rate sensor simultaneously
(10) whether the current yaw velocity value detecting is in yaw velocity security domain, determines whether to realize machine
Pattern of driving drives the switching of pattern to people；
Step 5), drive during pattern switching drives pattern to machine from people, by detecting preposition torque/rotary angle transmitter (1)
Torque value, judges whether torque value；Judge whether the torque value of preposition torque/rotary angle transmitter (1) maintains 3 seconds simultaneously
Above and whether the current yaw velocity value that detects of yaw-rate sensor (10) is in yaw velocity security domain
In, determine whether that can realize people drives the switching that pattern drives pattern to machine.
5. a kind of man-machine mode switching method driving type electric boosting steering system altogether according to claim 4, its feature
Be, described step 3) under current vehicle speed the safety value of yaw velocity value beWherein k is current vehicle speed
The safety coefficient of lower yaw velocity value, safety coefficient k is to emulate and test acquisition through a large amount of.
6. a kind of man-machine mode switching method driving type electric boosting steering system altogether according to claim 5, its feature exists
In described step 3) under current vehicle speed the security domain of yaw velocity value be
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| CN201610839897.6A CN106347449B (en) | 2016-09-21 | 2016-09-21 | One kind is man-machine to drive type electric boosting steering system and mode switching method altogether |
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| CN201610839897.6A CN106347449B (en) | 2016-09-21 | 2016-09-21 | One kind is man-machine to drive type electric boosting steering system and mode switching method altogether |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107727417A (en) * | 2017-09-11 | 2018-02-23 | 江苏大学 | One kind is man-machine to drive steering hardware-in-the-loop test platform altogether |
| CN108423059A (en) * | 2017-02-13 | 2018-08-21 | 操纵技术Ip控股公司 | Steering column assembly for autonomous vehicle |
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| CN111688797A (en) * | 2020-05-26 | 2020-09-22 | 上海汽车工业(集团)总公司 | Electric power steering control method and control unit |
| CN114323698A (en) * | 2022-02-11 | 2022-04-12 | 吉林大学 | Real vehicle experiment platform testing method for man-machine driving-together intelligent vehicle |
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| CN108423059A (en) * | 2017-02-13 | 2018-08-21 | 操纵技术Ip控股公司 | Steering column assembly for autonomous vehicle |
| CN108622182A (en) * | 2017-03-17 | 2018-10-09 | 沃尔沃汽车公司 | The steering torque manager of Senior Officer's auxiliary system for road vehicle |
| CN108622182B (en) * | 2017-03-17 | 2020-10-20 | 沃尔沃汽车公司 | Steering torque manager, control module comprising the same, driver assistance system, vehicle and method therein |
| CN107727417A (en) * | 2017-09-11 | 2018-02-23 | 江苏大学 | One kind is man-machine to drive steering hardware-in-the-loop test platform altogether |
| CN109533009A (en) * | 2017-09-22 | 2019-03-29 | 通用汽车环球科技运作有限责任公司 | Fluid flow control mechanism for steering wheel emulator |
| CN109533009B (en) * | 2017-09-22 | 2021-06-15 | 通用汽车环球科技运作有限责任公司 | Fluid flow control mechanism for steering wheel emulator |
| CN108945092A (en) * | 2018-08-02 | 2018-12-07 | 安徽江淮汽车集团股份有限公司 | The man-machine steering exchange method of automatic driving vehicle and system based on highway |
| CN109323867A (en) * | 2018-09-07 | 2019-02-12 | 聊城大学 | A kind of automotive electronics power-assisted steering and braking ability emulation experiment rack |
| CN109507982A (en) * | 2018-10-22 | 2019-03-22 | 清华大学 | A kind of autonomous driving vehicle drive-by-wire chassis is in ring test system |
| CN109493681A (en) * | 2018-11-30 | 2019-03-19 | 吉林大学 | A kind of man-machine test-drive platform driven altogether of intelligent automobile |
| CN109493681B (en) * | 2018-11-30 | 2024-02-20 | 吉林大学 | Driving test platform for intelligent automobile man-machine co-driving |
| US11338848B2 (en) | 2019-02-20 | 2022-05-24 | Caterpillar Inc. | Alignment of steering controller angle and machine steering angle for transitioning between manual and autonomous operating modes |
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| CN111232051A (en) * | 2020-02-25 | 2020-06-05 | 东南大学 | Steering control method for wheeled mobile robot |
| CN111688797A (en) * | 2020-05-26 | 2020-09-22 | 上海汽车工业(集团)总公司 | Electric power steering control method and control unit |
| CN111688797B (en) * | 2020-05-26 | 2022-03-29 | 上海汽车工业(集团)总公司 | Electric power steering control method and control unit |
| CN114323698A (en) * | 2022-02-11 | 2022-04-12 | 吉林大学 | Real vehicle experiment platform testing method for man-machine driving-together intelligent vehicle |
| CN114323698B (en) * | 2022-02-11 | 2023-09-08 | 吉林大学 | Real vehicle experiment platform testing method for man-machine co-driving intelligent vehicle |
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Application publication date: 20170125 Assignee: Jiangsu Gang Yang steering system Co., Ltd Assignor: Jiangsu University Contract record no.: 2018320000243 Denomination of invention: Man and machine driven type electric power steering system and mode switching method License type: Exclusive License Record date: 20181025 |
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