CN106347449B - One kind is man-machine to drive type electric boosting steering system and mode switching method altogether - Google Patents
One kind is man-machine to drive type electric boosting steering system and mode switching method altogether Download PDFInfo
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- CN106347449B CN106347449B CN201610839897.6A CN201610839897A CN106347449B CN 106347449 B CN106347449 B CN 106347449B CN 201610839897 A CN201610839897 A CN 201610839897A CN 106347449 B CN106347449 B CN 106347449B
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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
-
- 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
-
- 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 kind of man-machine type electric boosting steering system and mode switching method are driven altogether, belong to the unmanned steering field of intelligent automobile, electric boosting steering system includes preposition torque/rotary angle transmitter, postposition torque/rotary angle transmitter, vehicle speed sensor, man-machine drives type steering controller, mode switching controller, steering motor, steering shaft, deceleration mechanism, gear and rack teeth mechanism and yaw-rate sensor altogether；Pass through the simple transformation to existing electric boosting steering system, install postposition torque/rotary angle transmitter additional on original electric boosting steering system, realize that people drives the real-time acquisition that torque angular signal under both of which is driven with machine, the work for the steering motor under both of which provides great convenience；Simultaneously according to preposition torque/rotary angle transmitter and postposition torque/rotary angle transmitter signal, can be simple and quick judge the steering pattern of current vehicle, and automatic, the handoff-security between two kinds of steering patterns may be implemented.
Description
Technical field
The invention belongs to the unmanned steering field of intelligent automobile, more particularly to a kind of man-machine type electric boosting steering system is driven altogether
And mode switching method.
Background technique
Intelligent automobile integrates the multi-field new and high technologies such as environment sensing, programmed decision-making, multi-grade auxiliary driving
Complication system, the development of intelligent automobile technology, which will be undergone from part, drives function autonomy-oriented to entirely autonomous driving, from high speed
The course constantly advanced of the simple environment automatic Pilot such as highway to different kinds of roads automatic Pilot.The intelligence that German Continent Group is released
Energy automobile plan is divided into three steps: to realization part automatic Pilot in 2016, automobile needed monitoring system, and driver will be ready to
Catcher drives, and target is the automatic Pilot realized within 30km/h；Highly automated driving is realized to the year two thousand twenty, does not need monitoring system
System, but driver will take over driving at the appointed time；Fully automated driving was realized by 2025, is not needed monitoring system, is driven
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 system of intelligent automobile, which proposes, to be clearly required: be must be compatible with auto-steering and is manually turned to dual steer mode.
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
It is more and more widely used, represents the developing direction of current automobile assisted power steering system.Current American-European-Japanese new car for waiting country
EPS entrucking rate is more than 40%, wherein Japanese trolley EPS entrucking rate has reached 80%.EPS is due in active safety, environmental protection
Energy conservation, electronics integrated control, reliability, structural compactness etc. have significant advantage, become intelligent automobile steering system people
Work steering manipulation mode inevitable choice.
Chinese patent CN103895691A discloses a kind of commercial vehicle automated steering compensation device, can be according to vehicle driving
State is reduced understeer by forward and reverse compensation or alleviates ovdersteering, improved vehicle performance sensitivity, but only relate to
And artificial the case where turning to, there is no the realizations for considering auto-steering.
Chinese patent CN101875370A discloses a kind of automotive self-adaptive intelligent steering system, can be automatically and manually
Switch under (comfortable/intelligence/movement) steering pattern, but handoff procedure need to press manual/auto pole changer just can be into
Row switching, especially can not realize that intelligence degree needs further from the process that auto-steering switches to manual steering automatically
It improves.
Summary of the invention
In order to solve the above technical problems, man-machine driving type electric boosting steering system altogether and mode is cut the present invention provides a kind of
Method is changed, electric boosting steering system is being given full play on the basis for manually turning to advantage, by carrying out to original system
It improves, increases auto-steering function, realize that the man-machine of intelligent automobile drives function altogether, and guarantee the safe and intelligent between both of which
Switching.
To achieve the goals above, the invention adopts the following technical scheme:
It is a kind of man-machine to drive type electric boosting steering system altogether, which is characterized in that including preposition torque/rotary angle transmitter, after
Set torque/rotary angle transmitter, vehicle speed sensor, it is man-machine drive altogether type steering controller, mode switching controller, steering motor, turn
To axis, deceleration mechanism, gear and rack teeth mechanism and yaw-rate sensor；
The man-machine type steering controller of driving altogether includes signal conditioning module, microprocessor and drive module, the signal
Conditioning module is used to improve the signal of preposition torque/rotary angle transmitter, postposition torque/rotary angle transmitter and vehicle speed sensor, goes
Except interference biggish in signal and clutter；The microprocessor is used to generate the control strategy of control steering motor；The driving
Module is the size of current adjusted in ratio coil by the pwm signal that microprocessor issues, so that steering motor be driven to work；
The mode switching controller includes signal conditioning module, microprocessor and output module, the signal condition mould
Block is used to improve the signal of preposition torque/rotary angle transmitter, postposition torque/rotary angle transmitter and vehicle speed sensor, removes signal
Middle larger interference and clutter；The microprocessor is for generating pattern switching control strategy；The output module is according to micro-
The low and high level signal that processor issues is transferred to corresponding operating mode and man-machine drives type steering controller altogether；
The steering shaft is engaged with gear and rack teeth mechanism by gear, and the steering shaft is sequentially installed with preposition from top to bottom
Torque/rotary angle transmitter, deceleration mechanism and postposition torque/rotary angle transmitter, the deceleration mechanism and steering motor pass through shaft coupling
Device connection；The steering motor is driven type steering controller altogether and is connect by conducting wire with man-machine, described man-machine to drive type course changing control altogether
Device passes through current control steering motor；It is described it is man-machine drive altogether type steering controller also pass through conducting wire respectively with vehicle speed sensor, mould
The connection of formula switch controller, is respectively used to the switching time for generating Controlling Strategy of Electric Power Steering System, judging man-machine driving mode；
The mode switching controller by conducting wire respectively with preposition torque/rotary angle transmitter, postposition torque/rotation angular sensing
Device, vehicle speed sensor and yaw-rate sensor are connected, and acquisition 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 is transferred to by low and high level signal and man-machine drives type altogether
Steering controller；
The man-machine type steering controller of driving altogether is passed by conducting wire and preposition torque/rotary angle transmitter, postposition torque/corner
Sensor and vehicle speed sensor are connected, and the man-machine type steering controller of driving altogether is by acquiring turning for preposition torque/rotary angle transmitter
Torque/angular signal of square/angular signal and speed signal or postposition torque/rotary angle transmitter of vehicle speed sensor and speed pass
Sensor) speed signal, steering motor is controlled respectively, realizes that people drives mode course changing control or machine drives mode course changing control.
In above scheme, the man-machine type steering controller of driving altogether includes two kinds of steering patterns, i.e., people drives mode and machine is driven
Mode.
In above scheme, in the case where people drives mode, steering motor serves as assist motor, and auxiliary driver is manually turned to；
In the case where machine drives mode, steering motor serves as driving motor, realizes the auto-steering operation that non-driver participates in.
A kind of man-machine mode switching method for driving type electric boosting steering system altogether, which comprises the following steps:
Step 1) acquires preposition torque/rotary angle transmitter, postposition torque/rotary angle transmitter according to mode switching controller
Torque/angular signal and vehicle speed sensor speed signal, calculate current vehicle speed under ideal yaw velocity value
Step 2) acquires the speed signal of vehicle speed sensor according to mode switching controller, calculates the cross under current vehicle speed
The upper limit value of pivot angle velocity amplitude
Step 3), by the upper limit value of the yaw velocity value under current vehicle speedObtain sideway under current vehicle speed
The safety value of magnitude of angular velocity, while obtaining system and thinking 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 are driven during pattern switching drives mode to people, by detect preposition torque/rotary angle transmitter and
Postposition torque/rotary angle transmitter torque value, judges whether there is torque differences；Judge that yaw-rate sensor detects simultaneously
Current yaw velocity value whether be in yaw velocity security domain, determine whether that machine, which may be implemented, drives mode to people
Drive the switching of mode；
Step 5) drives during pattern switching drives mode to machine from people, passes through the preposition torque/rotary angle transmitter of detection
Torque value judges whether there is torque value；Simultaneously judge the torque value of preposition torque/rotary angle transmitter 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
It determines whether to realize that people drives the switching that mode drives mode to machine.
Further, the safety value of yaw velocity value is under current vehicle speed in the step 3)Wherein k
For the safety coefficient of yaw velocity value under current vehicle speed, safety coefficient k is by largely emulating and testing acquisition.
Further, the security domain of yaw velocity value is under current vehicle speed in the step 3)
The invention has the benefit that the present invention is by the simple transformation to existing electric boosting steering system, original
It installs postposition torque/rotary angle transmitter on electric boosting steering system additional, realizes that people drives and drive torque corner letter under both of which with machine
Number real-time acquisition, the work for the steering motor under both of which provides great convenience；It is passed simultaneously according to preposition torque/corner
Sensor and postposition torque/rotary angle transmitter signal, the steering pattern for judging current vehicle that can be simple and quick, and can be real
Automatic, handoff-security between existing two kinds of steering patterns.
Detailed description of the invention
Fig. 1 is the man-machine structural schematic diagram for driving type electric boosting steering system altogether；
Fig. 2 is the man-machine flow chart for driving type electric boosting steering system mode switching method altogether；
When Fig. 3 is that machine drives mode and drives pattern switching to people, the man-machine pattern switching for driving type electric boosting steering system altogether is former
Manage block diagram；
When Fig. 4 behaviour drives mode and drives pattern switching to machine, the man-machine pattern switching for driving type electric boosting steering system altogether is former
Manage block diagram.
In figure: the preposition torque/rotary angle transmitter of 1-；2- postposition torque/rotary angle transmitter；3- vehicle speed sensor；4- is man-machine
Type steering controller is driven altogether；5- mode switching controller；6- steering motor；7- steering shaft；8- deceleration mechanism；9- rack-and-pinion machine
Structure；10- yaw-rate sensor.
Specific embodiment
With reference to the accompanying drawing and specific embodiment the present invention is further illustrated.
As shown in Figure 1, it is a kind of it is man-machine drive type electric boosting steering system altogether, including preposition torque/rotary angle transmitter 1, after
It sets torque/rotary angle transmitter 2, vehicle speed sensor 3, man-machine drive type steering controller 4, mode switching controller 5, steering motor altogether
6, steering shaft 7, deceleration mechanism 8, gear and rack teeth mechanism 9 and yaw-rate sensor 10；
Man-machine type steering controller 4 of driving altogether includes signal conditioning module, microprocessor and drive module, signal conditioning module
For improving the signal of preposition torque/rotary angle transmitter 1, postposition torque/rotary angle transmitter 2 and vehicle speed sensor 3, signal is removed
In biggish interference and clutter；Microprocessor is used to generate the control strategy of control steering motor 6；Drive module is by micro- place
The size of current in the pwm signal adjustment 6 ratio coil of steering motor that device issues is managed, so that steering motor 6 be driven to work；
Mode switching controller 5 includes signal conditioning module, microprocessor and output module, and signal conditioning module is for adjusting
The signal of preposition torque/rotary angle transmitter 1, postposition torque/rotary angle transmitter 2 and vehicle speed sensor 3 is managed, is removed larger in signal
Interfere and clutter；Microprocessor is for generating pattern switching control strategy；Output module is the height issued according to microprocessor
Low level signal is transferred to corresponding operating mode (people drives or machine drives mode) and man-machine drives type steering controller 4 altogether；
Steering shaft 7 is engaged with gear and rack teeth mechanism 9 by gear, steering shaft 7 be sequentially installed with from top to bottom preposition torque/
Rotary angle transmitter 1, deceleration mechanism 8 and postposition torque/rotary angle transmitter 2, deceleration mechanism 8 and steering motor 6 are connected by shaft coupling
It connects；Steering motor 6 is connect with man-machine type steering controller 4 of driving altogether by conducting wire, and man-machine type steering controller 4 of driving altogether passes through electric current
Control steering motor 6；It is man-machine drive altogether type steering controller 4 also by conducting wire respectively with vehicle speed sensor 3, mode switching controller
5 connections, are respectively used to the switching time for generating Controlling Strategy of Electric Power Steering System, judging man-machine driving mode；
Mode switching controller 5 by conducting wire respectively with preposition torque/rotary angle transmitter 1, postposition torque/rotary angle transmitter
2, vehicle speed sensor 3 and yaw-rate sensor 10 are connected, and acquisition torque/corner value, speed and yaw velocity value are used
In the steering pattern for judging current vehicle, and the steering pattern of current vehicle is transferred to by low and high level signal and man-machine is driven altogether
Type steering controller 4；
Man-machine type steering controller 4 of driving altogether passes through conducting wire and preposition torque/rotary angle transmitter 1, postposition torque/rotation angular sensing
Device 2 and vehicle speed sensor 3 are connected, it is man-machine drive altogether type steering controller 4 by acquire the torque of preposition torque/rotary angle transmitter 1/
The speed signal or postposition torque/rotary angle transmitter 2 torque/angular signal and speed of angular signal and vehicle speed sensor 3 pass
The speed signal of sensor 3 respectively controls steering motor 6, realizes that people drives mode course changing control or machine drives mode course changing control.
Man-machine type steering controller 4 of driving altogether includes two kinds of steering patterns, i.e., people drives mode (artificial to turn to) and machine drives mode
(auto-steering)；In the case where people drives mode (artificial to turn to), steering motor 6 serves as assist motor, and auxiliary driver is manually turned
To；In the case where machine drives mode (auto-steering), steering motor 6 serves as driving motor, realizes the auto-steering behaviour that non-driver participates in
Make.
A kind of man-machine course of work for driving type electric boosting steering system altogether are as follows:
Man-machine type steering controller 4 of driving altogether passes through the torque/angular signal and vehicle of the preposition torque/rotary angle transmitter 1 of acquisition
The speed signal or postposition torque/rotary angle transmitter 2 torque/angular signal of fast sensor 3 and the speed of vehicle speed sensor 3 are believed
Number；Signal after signal conditioning module removal interference and clutter is transferred to microprocessor, microprocessor by received torque/
Angular signal and speed signal generate the control strategy of control steering motor 6, and issue pwm signal adjustment 6 ratio of steering motor
Size of current in coil, so that steering motor 6 be driven to work；Steering motor 6 is by 8 output torque of deceleration mechanism to steering shaft
7, drive gear and rack teeth mechanism 9 to work, so that wheel generates divertical motion；
When steering pattern needs to switch, mode switching controller 5 is by acquiring preposition torque/rotary angle transmitter 1 with after
Set the yaw angle of torque/corner value of torque/rotary angle transmitter 2, the speed of vehicle speed sensor 3 and yaw-rate sensor 10
Velocity amplitude, is transferred to microprocessor after signal conditioning module removal interference and clutter, and microprocessor generates pattern switching control
Strategy simultaneously issues low and high level signal, and corresponding steering pattern is transferred to and man-machine drives type steering controller 4 altogether；
Slave is driven during pattern switching drives mode to people, and mode switching controller 5 is by detecting preposition torque/corner
Sensor 1 and postposition torque/rotary angle transmitter 2 torque value, judge whether there is 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 may be implemented
People drives the switching that mode drives mode to machine；If can switch, mode switching controller 5 drives type steering controller 4 to man-machine altogether
Instruction is issued, to realize that machine drives the switching that mode drives mode to people；
It is driven during pattern switching drives mode to machine from people, mode switching controller 5 is by detecting preposition torque/corner
The torque value of sensor 1, judges whether there is torque value；Judge whether the torque value of preposition torque/rotary angle transmitter 1 is tieed up simultaneously
Hold whether the current yaw velocity value detected 3 seconds or more and yaw-rate sensor 10 is in yaw velocity peace
In universe, determine whether that people, which may be implemented, drives the switching that mode drives mode to machine；If can switch, pattern switching control
Device 5 issues instruction to man-machine type steering controller 4 of driving altogether, to realize that people drives the switching that mode drives mode to machine.
As shown in Fig. 2, a kind of flow chart of the man-machine mode switching method for driving type electric boosting steering system altogether, including step
It is rapid:
Step 1) acquires preposition torque/rotary angle transmitter 1, postposition torque/rotation angular sensing according to mode switching controller 5
Torque/angular signal of device 2 and the speed signal of vehicle speed sensor 3 calculate the ideal yaw velocity value under current vehicle speed
Wherein, V is speed, m/s；δ is wheel turning angle, °；Cαf、CαrThe respectively lateral rigidity of front and back wheel,
N/rad；M is the gross mass of vehicle, kg；lf、lrRespectively fore-and-aft distance of the vehicle centroid to front and rear wheel, m；L be wheelbase (
Know), m；R is turning radius (known) m；
Again
Wherein,It for steering wheel angle, can be obtained by preposition torque/rotary angle transmitter, wheel is calculated by formula (2) and is turned
To angle δ；Vehicle velocity V is obtained according to vehicle speed sensor 3.
Step 2) acquires the speed signal of vehicle speed sensor 3 according to mode switching controller 5, calculates under current vehicle speed
The upper limit value 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 upper limit value of the yaw velocity value under current vehicle speedObtain sideway 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 by largely emulating and testing
It obtains, the safety coefficient k=0.85 that the present invention is obtained by a large amount of emulation and test；
System is obtained simultaneously thinks 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 3,1. passing through the preposition torque/corner of detection during automatically forward to and manually turns to
Sensor 1 and postposition torque/rotary angle transmitter 2 torque value, judge whether there is torque differences；If there is torque differences, it was demonstrated that
Driver attempts to control steering wheel, it is desirable to which auto-steering is switched to artificial steering；2. judging yaw-rate sensor simultaneously
Whether the 10 current yaw velocity values detected are in yaw velocity security domain；Meet simultaneously it is above-mentioned 1., 2. two items
Part can be realized from the automatic switchover manually turned to is automatically forwarded to, and mode switching controller 5 drives type course changing control to man-machine altogether
Device 4 issues instruction, and steering motor 6 is made to export power torque；Conversely, such as preposition torque/rotary angle transmitter 1 and postposition torque/turn
Angle transducer 2 is without torque differences or is unsatisfactory for the condition that current yaw velocity value is in yaw velocity security domain, and power-assisted turns
Then maintain current steering pattern constant to system.
Step 5), as shown in figure 4, during manually turning to and being switched to auto-steering, 1. by detect preposition torque/turn
The torque value of angle transducer 1, judges whether there is torque value；If there is no torque value and maintenance 3 seconds or more, it is believed that driver
The wish of steering wheel is not controlled, i.e., does not attempt artificial steering being switched to auto-steering；2. simultaneously judge preposition torque/turn
The current yaw angle speed that whether torque value of angle transducer 1 maintains 3 seconds or more and yaw-rate sensor 10 detects
Whether angle value is in yaw velocity security domain；Meet simultaneously it is above-mentioned 1., 2. two conditions, can be realized from manually redirecting to
The automatic switchover of auto-steering, mode switching controller 5 issue instruction to man-machine type steering controller 4 of driving altogether, make steering motor 6
Output driving torque；Conversely, as preposition torque/rotary angle transmitter 1 without torque value or is unsatisfactory for current yaw velocity in cross
Condition in pivot angle speed security domain, servo steering system then maintain current steering pattern constant.
Above embodiments are merely to illustrate design philosophy and feature of the invention, and its object is to make technology in the art
Personnel can understand the content of the present invention and implement it accordingly, and protection scope of the present invention is not limited to the above embodiments.So it is all according to
It is within the scope of the present invention according to equivalent variations made by disclosed principle, mentality of designing or modification.
Claims (6)
- Man-machine drive type electric boosting steering system altogether 1. a kind of, which is characterized in that including preposition torque/rotary angle transmitter (1), after Set torque/rotary angle transmitter (2), vehicle speed sensor (3), it is man-machine drive altogether type steering controller (4), mode switching controller (5), Steering motor (6), steering shaft (7), deceleration mechanism (8), gear and rack teeth mechanism (9) and yaw-rate sensor (10)；The man-machine type steering controller (4) of driving altogether includes signal conditioning module, microprocessor and drive module, the signal tune Reason module is for improving preposition torque/rotary angle transmitter (1), postposition torque/rotary angle transmitter (2) and vehicle speed sensor (3) Signal removes biggish interference and clutter in signal；The microprocessor is used to generate the control plan of control steering motor (6) Slightly；The drive module is the size of current adjusted in ratio coil by the pwm signal that microprocessor issues, so that driving turns It works to motor (6)；The mode switching controller (5) includes signal conditioning module, microprocessor and output module, the signal conditioning module For improving the signal of preposition torque/rotary angle transmitter (1), postposition torque/rotary angle transmitter (2) and vehicle speed sensor (3), go Except interference biggish in signal and clutter；The microprocessor is for generating pattern switching control strategy；The output module is According to the low and high level signal that microprocessor issues, corresponding operating mode is transferred to and man-machine drives type steering controller (4) altogether；The steering shaft (7) is engaged with gear and rack teeth mechanism (9) by gear, and the steering shaft (7) is successively installed from top to bottom There are preposition torque/rotary angle transmitter (1), deceleration mechanism (8) and postposition torque/rotary angle transmitter (2), the deceleration mechanism (8) It is connect with steering motor (6) by shaft coupling；The steering motor (6) and man-machine type steering controller (4) of driving altogether pass through conducting wire Connection, described man-machine drive altogether type steering controller (4) pass through current control steering motor (6)；The man-machine type of driving altogether turns to control Device (4) processed is also connect with vehicle speed sensor (3), mode switching controller (5) by conducting wire respectively, is respectively used to generate electronic help Power course changing control strategy, the switching time for judging man-machine driving mode；The mode switching controller (5) is passed with preposition torque/rotary angle transmitter (1), postposition torque/corner respectively by conducting wire Sensor (2), vehicle speed sensor (3) and yaw-rate sensor (10) are connected, acquisition torque/corner value, speed and sideway Magnitude of angular velocity is passed for judging the steering pattern of current vehicle, and by the steering pattern of current vehicle by low and high level signal It is defeated by and man-machine drives type steering controller (4) altogether；Described man-machine drive altogether type steering controller (4) pass through conducting wire and preposition torque/rotary angle transmitter (1), postposition torque/corner Sensor (2) and vehicle speed sensor (3) are connected, and described man-machine drive altogether type steering controller (4) are by acquiring preposition torque/corner Torque/angular signal of sensor (1) and the speed signal of vehicle speed sensor (3) or postposition torque/rotary angle transmitter (2) turn The speed signal of square/angular signal and vehicle speed sensor (3) respectively controls steering motor (6), realizes that people drives mode and turns to control System or machine drive mode course changing control.
- 2. one kind according to claim 1 is man-machine to drive type electric boosting steering system altogether, which is characterized in that described man-machine total Driving type steering controller (4) includes two kinds of steering patterns, i.e., people drives mode and machine drives mode.
- 3. one kind according to claim 2 is man-machine to drive type electric boosting steering system altogether, which is characterized in that drive mode in people Under, steering motor (6) serves as assist motor, and auxiliary driver is manually turned to；In the case where machine drives mode, steering motor (6) is filled Work as driving motor, realizes the auto-steering operation that non-driver participates in.
- 4. a kind of man-machine mode switching method for driving type electric boosting steering system altogether, which comprises the following steps:Step 1) acquires preposition torque/rotary angle transmitter (1), postposition torque/rotation angular sensing according to mode switching controller (5) Torque/angular signal of device (2) and the speed signal of vehicle speed sensor (3) calculate the ideal yaw angle speed under current vehicle speed Angle valueStep 2) acquires the speed signal of vehicle speed sensor (3) according to mode switching controller (5), calculates under current vehicle speed The upper limit value of yaw velocity valueStep 3), by the upper limit value of the yaw velocity value under current vehicle speedObtain yaw angle speed under current vehicle speed The safety value of angle value, while obtaining system and thinking sideway 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 are driven during pattern switching drives mode to people, by detect preposition torque/rotary angle transmitter (1) and Postposition torque/rotary angle transmitter (2) torque value, judges whether there is torque differences；Yaw-rate sensor is judged simultaneously (10) whether the current yaw velocity value detected is in yaw velocity security domain, determines whether that machine may be implemented Drive the switching that mode drives mode to people；Step 5) drives during pattern switching drives mode to machine from people, passes through the preposition torque/rotary angle transmitter (1) of detection Torque value judges whether there is 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 people, which may be implemented, drives the switching that mode drives mode to machine.
- 5. the man-machine mode switching method for driving type electric boosting steering system altogether of one kind according to claim 4, feature It is, the safety value of yaw velocity value is under current vehicle speed in the step 3)Wherein k is current vehicle speed The safety coefficient of lower yaw velocity value, safety coefficient k are by largely emulating and testing acquisition.
- 6. the man-machine mode switching method for driving type electric boosting steering system altogether of one kind according to claim 5, feature It is, the security domain of yaw velocity value is under current vehicle speed in the step 3)
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| Publication number | Priority date | Publication date | Assignee | Title |
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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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