CN107054452A - A kind of automatic driving vehicle autosteerer - Google Patents
A kind of automatic driving vehicle autosteerer Download PDFInfo
- Publication number
- CN107054452A CN107054452A CN201710157593.6A CN201710157593A CN107054452A CN 107054452 A CN107054452 A CN 107054452A CN 201710157593 A CN201710157593 A CN 201710157593A CN 107054452 A CN107054452 A CN 107054452A
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- China
- Prior art keywords
- steering
- steering gear
- autosteerer
- gear
- input shaft
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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
- B62D5/0421—Electric motor acting on or near steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D3/00—Steering gears
- B62D3/02—Steering gears mechanical
- B62D3/04—Steering gears mechanical of worm type
- B62D3/06—Steering gears mechanical of worm type with screw and nut
- B62D3/08—Steering gears mechanical of worm type with screw and nut using intermediate balls or the like
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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
- B62D5/043—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 clutch means between driving element, e.g. motor, and driven element, e.g. steering column or steering gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
- B62D7/20—Links, e.g. track rods
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The invention provides a kind of automatic driving vehicle autosteerer, including artificial knuckle section and auto-steering part；Artificial knuckle section includes operating mechanism, steering gear (101) and transmission mechanism；Auto-steering is partly installed between operating mechanism and steering gear (101) input shaft, and steering gear (101) output end is connected with transmission mechanism；Auto-steering part includes electric motor units, electromagnetic clutch unit, mounting bracket (102), steering gear input shaft component (114), controller unit, damper.The present apparatus can complete pilot steering and the switching of automatic Pilot, set more flexible, position-limit mechanism need not be additionally installed, while ensureing to turn to safe, the mechanical complications of autosteerer are reduced, the portability of platform is improved, it is easy to loading and unloading, only needing to the screw that is connected with steering gear of handling and steering gear input shaft component can be more convenient by autosteerer bulk handling.
Description
Technical field
Field, especially a kind of dress of automatic driving vehicle auto-steering are turned to the present invention relates to automatic driving vehicle
Put.
Background technology
Automatic driving vehicle is one of following important development direction of automobile industry, is enjoyed in recent years in technical field of vehicle
Concern.Automatic driving vehicle integrates the multidisciplinary technology such as visually-perceptible, artificial intelligence, planning control, it not only search and rescue,
Rescue, scout etc. there is in hot mission important application value, and for alleviate it is congested in traffic, improve the side such as traffic safety
There is very big realistic meaning and development potentiality in face.At present, unmanned technology, pole are all being studied energetically by many countries in the world
The earth has promoted the development of unmanned technology.
Autosteerer is the very important part of automatic driving vehicle, and it can independently control Vehicular turn angle,
So that desirably track is travelled vehicle.Although current autosteerer has had kinds of schemes, all exist unavoidably
Some defects.
Existing autosteerer has the disadvantage that：
First, steering mechanism is installed on driver's cabin, and the activity space of driver can be adversely affected；
2nd, the spacing aspect of mechanism, is limited and is protected to steering lock position using the spacing method of mechanism, added
The complexity of mechanism, installation and debugging not enough facilitate.
3rd, steering wheel is additionally installed additional, the requirements of installation space to vehicle engine compartments is very high.
The content of the invention
It is an object of the invention to provide a kind of automatic driving vehicle autosteerer, solve automatic steering system and take sky
Between it is big, complicated the problem of.
Specifically, the invention provides a kind of automatic driving vehicle autosteerer, including artificial knuckle section and from
Dynamic knuckle section；
The artificial knuckle section includes operating mechanism, steering gear (101) and transmission mechanism；
The auto-steering is partly installed between operating mechanism and steering gear (101) input shaft, steering gear (101) output
End is connected with transmission mechanism；
The auto-steering part includes electric motor units, electromagnetic clutch unit, mounting bracket (102), steering gear input
Shaft assembly (114), controller unit and damper；
Mounting bracket (102) is installed on steering gear (101) input, and electric motor units are fixed in mounting bracket (102), electricity
It is internal that magnet clutch unit is located at mounting bracket (102), by steering gear input shaft component (114) respectively with operating mechanism and turn
It is connected to device (101)；Controller unit is connected with electric motor units and electromagnetic clutch unit respectively, and damper one end is hinged
To steering gear (101) housing, the other end is connected on transmission mechanism.
Further, the steering gear input shaft component (114) is by driven gear (301), sunk screw (302) and turns to
Device input shaft connector (303) is constituted, and driven gear (301) and steering gear input shaft connector (303) are by sunk screw (302)
Connection, steering gear input shaft connector (303) one end connection steering gear (101) input shaft, the other end is connected with operating mechanism.
Further, the operating mechanism includes steering wheel, steering spindle；
Steering spindle one end is fixedly connected with steering wheel, and the other end is connected with steering gear input shaft connector (303).
Further, the electromagnetic clutch unit includes bearing I (104), clutch shaft (105), driving gear
(106), electromagnetic clutch (108), bearing I I (109), drive socket (112)；
Electromagnetic clutch (108) drive end is connected by key with clutch shaft (105)；Clutch shaft (105) one end and electricity
Machine (111) is connected by drive socket (112), two keys (113), and is installed on mounting bracket by bearing I I (109)
(102) on, electromagnetic clutch (108) driven end is connected by screw with driving gear (106)；Clutch shaft (105) other end
It is installed on by bearing I (104) in mounting bracket (102)；Driving gear (106) is engaged with driven gear (301).
Further, described clutch shaft (105) one end is stretched into drive socket (112), passes through key (113) and drive sleeve
Cylinder (112) is connected, meanwhile, the output shaft of motor (111) is stretched into drive socket (112), passes through key (113) and drive socket
(112) it is connected.
Further, the electric motor units include encoder (115), motor (111), motor hoop component (110)；
Motor (111) front end face is fixed in mounting bracket (102) by screw, and motor hoop component (110) is installed on
In mounting bracket (102), to support motor (111) rear end；Encoder (115) is installed on motor (111).
Further, the controller unit includes steering controller and relay；
Steering controller is connected with electromagnetic clutch (108) by relay；Steering controller passes through electricity with motor (111)
Cable is connected；Steering controller is connected with encoder (115) by cable.
Further, upper cover plate (107), left dust excluding plate (201), the right side are fixed with by screw on the mounting bracket (102)
Dust excluding plate (202), end cap (103), by mounting bracket (102), upper cover plate (107), left dust excluding plate (201), right dust excluding plate
(202), end cap (103) constitutes a cavity；
The electromagnetic clutch unit is installed in the cavity.
Further, the transmission mechanism includes pitman arm (1), steering drag link (2), knuckle arm (3), tie rod arm
(4), track rod (5)；
Pitman arm (1) one end is connected with steering gear (101), other end connection steering drag link (2), steering drag link
(2) it is connected with knuckle arm (3), tie rod arm (4), track rod (5), damper one end hinge is sequentially connected thereafter
It is connected on steering gear (101) housing, the other end is connected on steering drag link (2).
Especially, a kind of automatic steering control method based on the automatic driving vehicle autosteerer.
The invention provides a kind of automatic driving vehicle autosteerer, cutting for pilot steering and automatic Pilot can be completed
Change, using software limit, set more flexible, it is not necessary to which position-limit mechanism is additionally installed, while ensureing to turn to safe, reduce
The mechanical complications of autosteerer, and space-consuming is few, driver's cabin will not be had any impact, improve platform
Portability, it is easy to loading and unloading, it is only necessary to which that the screw and steering gear input shaft component that handling are connected with steering gear will can turn automatically
It is more convenient to device bulk handling.
Brief description of the drawings
Accompanying drawing is only used for showing the purpose of specific embodiment, and is not considered as limitation of the present invention, in whole accompanying drawing
In, identical reference symbol represents identical part.
Fig. 1 is the transfer transmission mechanism schematic diagram of the present invention；
Fig. 2 is the autosteerer front view of the present invention；
Fig. 3 is the autosteerer top view of the present invention；
Fig. 4 is the autosteerer right view of the present invention；
Fig. 5 is the autosteerer steering gear input shaft component overall structure figure of the present invention；
Fig. 6 is the autosteerer electrical connection schematic diagram of the present invention；
Fig. 7 is the autosteerer control process flow chart of the present invention；
Fig. 8 is the autosteerer control process absolute zero position demarcation flow chart of the present invention；
Fig. 9 is the autosteerer control process software limit demarcation flow chart of the present invention.
In figure：
1- pitman arms, 2- steering drag links, 3- knuckle arms, 4- tie rod arms, 5- track rods；
101- steering gears, 102- mounting brackets, 103- end caps, 104- bearing Is, 105- clutch shafts, 106- driving gears,
107- upper cover plates, 108- electromagnetic clutch, 109- bearing I I, 110- motors hoop component, 111- motors, 112- drive sockets,
113- keys, 114- steering gear input shafts component, 115- encoders；
The left dust excluding plates of 201-, the right dust excluding plates of 202-；
301- driven gears, 302- sunk screws, 303- steering gear input shaft connectors.
Embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
The invention provides a kind of automatic driving vehicle autosteerer, the device includes artificial knuckle section and automatic
Knuckle section.
Artificial knuckle section includes operating mechanism, steering gear (101), transmission mechanism.
Operating mechanism includes steering wheel, steering spindle；Steering spindle passes the handling maneuver torque that driver acts on steering wheel
To steering gear, steering spindle one end is fixedly connected with steering wheel, and the other end is connected with auto-steering part；
Steering gear (101) is recirculating ball-type steering, and its input shaft is connected with auto-steering part, output end and transmission
Mechanism is connected.
As shown in figure 1, transmission mechanism includes pitman arm (1), steering drag link (2), knuckle arm (3), tie rod arm
(4), track rod (5).
Pitman arm (1) one end is connected with steering gear (101) output end, other end connection steering drag link (2), turns to straight
Pull bar (2) is connected with knuckle arm (3), and tie rod arm (4), track rod (5) are sequentially connected thereafter, and track rod (5) is
Contact tie rod arm (4) simultaneously makes the connecting rod of its co-ordination, pulling force and pressure is born repeatedly in vehicle traveling process, for driving
Dynamic deflecting roller is turned to.
Auto-steering is partly installed between operating mechanism and steering gear (101).As in Figure 2-4, auto-steering part
Including electric motor units, electromagnetic clutch unit, mounting bracket (102), steering gear input shaft component (114), controller unit and
Damper.
Electric motor units include encoder (115), motor (111), motor hoop component (110)；
Electromagnetic clutch unit includes bearing I (104), clutch shaft (105), driving gear (106), electromagnetic clutch
(108), bearing I I (109), drive socket (112)；
Upper cover plate (107), left dust excluding plate (201), right dust excluding plate (202), end are fixed with by screw in mounting bracket (102)
Cover (103), be made up of mounting bracket (102), upper cover plate (107), left dust excluding plate (201), right dust excluding plate (202), end cap (103)
One cavity；
Mounting bracket (102) is installed on steering gear (101) input, its act on be install Motionless electromagnetic clutch unit and
Electric motor units.
As shown in figure 5, the output torque of electric motor units is transferred to steering gear (101) by steering gear input shaft component (114),
Mainly it is made up of driven gear (301), sunk screw (302) and steering gear input shaft connector (303), driven gear (301)
Connected with steering gear input shaft connector (303) by sunk screw (302) so that driven gear (301) and steering gear input shaft
Connector (303) is realized and is synchronized with the movement, when ensure that auto-steering, and steering wheel is corresponding with the angle holding of deflecting roller to close
System, so as to allow driver more clearly to perceive the position of current steering wheel angle, grasps rapidly during to be in an emergency
Situation is simultaneously taken over, and pilot steering is transformed to by automatic Pilot.Steering gear input shaft connector (303) splined end connects steering gear
(101) input shaft, universal joint fork is connected with steering spindle.
Electric motor units are fixed in mounting bracket (102), and motor (111) front end face is fixed on mounting bracket by screw
(102) on, motor hoop component (110) is installed in mounting bracket (102), to support motor (111) rear end, reduces motor
(111) load of front end face screw, raising screw service life, and guarantee motor (111) are coaxial with drive socket (112)
Degree；Encoder (115) is installed on motor (111), to the output shaft actual steering angle of measurement motor (111), is used as closed loop
The feedback signal of control, the integrated level of system, handling are improved as feedback using the output shaft actual steering angle of motor (111)
It is convenient, simultaneously because installation site is between operating mechanism and steering gear (101), therefore operating mechanism portion gap can be eliminated
Caused error.
Electromagnetic clutch unit is located in the cavity of mounting bracket (102), plays not only fixed but also dust-proof effect.Electromagnetism from
Clutch (108) drive end is connected by key with clutch shaft (105)；Clutch shaft (105) one end passes through transmission with motor (111)
Sleeve (112) is connected with two keys (113), and is installed on by bearing I I (109) in mounting bracket (102), further,
Clutch shaft (105) one end is stretched into drive socket (112), is connected by key (113) with drive socket (112), meanwhile, electricity
The output shaft of machine (111) is stretched into drive socket (112), is connected by key (113) with drive socket (112), is realized electricity
The output torque of machine (111) is transferred to electromagnetic clutch unit, and the structure can preferably match different model electromagnetic clutch
(108) and motor (111) size for connection, possess preferably design versatility；Electromagnetic clutch (108) driven end passes through screw
It is connected with driving gear (106) so that electromagnetic clutch (108) is realized with driving gear (106) and is synchronized with the movement；Clutch shaft
(105) other end is installed in mounting bracket (102) by bearing I (104)；Driving gear (106) is nibbled with driven gear (301)
Close, type of belt drive is transferred to driven gear (301) by driving gear (106).
As shown in fig. 6, controller unit includes steering controller and relay, steering controller and electromagnetic clutch
(108) it is connected by relay, steering controller drives relay on-off by I/O logical values, and then controls electromagnetic clutch
(108) drive end with the adhesive of driven end with separating.When the drive end of electromagnetic clutch (108) is combined with driven end, electromagnetism from
The kinetic energy of motor (111) can be transferred to steering gear (101) by clutch (108), be now automatic driving mode；Work as electromagnetic clutch
(108) when drive end and driven end is separated, electromagnetic clutch (108) disconnects, it is impossible to is transferred to the kinetic energy of motor (111) and turns
It is now artificial driving model to device (101).Meanwhile, steering controller is connected with motor (111) by cable, for controlling
The output axle steering angle of motor (111)；Steering controller is connected with encoder (115) by cable, and encoder (115) will be measured
The output shaft actual steering angle of obtained motor (111) is as the feedback signal transmission of closed-loop control to steering controller.
Damper one end is hinged on steering gear (101) housing, and the other end is connected on steering drag link (2), is prevented
Only deflecting roller occurs self-excitation or is forced to shimmy.
During pilot steering, operating torque is reached steering gear input shaft connector by manual rotation's steering wheel, steering spindle
(303), the torque is reached steering gear (101) by steering gear input shaft connector (303), and steering gear (101) changes the transmission of power
Direction, pitman arm (1) is reached by the type of belt drive, pitman arm (1) by the transmission be transferred to successively steering drag link (2),
Knuckle arm (3), tie rod arm (4), track rod (5), track rod (5) driving deflecting roller are turned to.
During automatic driving mode, motor (118) is transmitted output torque to drive socket (112), drive sleeve by output shaft
The moment of torsion is reached clutch shaft (105) by cylinder (112), and clutch shaft (105) drives electromagnetic clutch (108) and driving gear
(106) rotate, driven gear (301) and steering gear input shaft connector (303) are driven by driving gear (106), by steering gear
Input shaft connector (303) transmits the rotation to steering gear (101), and steering gear (101) changes the transmission direction of power, this is passed
Dynamic form reaches pitman arm (1), pitman arm (1) by the transmission be transferred to successively steering drag link (2), knuckle arm (3),
Tie rod arm (4), track rod (5), track rod (5) driving deflecting roller are turned to.
Specifically, present invention also offers a kind of automatic steering control based on the automatic driving vehicle autosteerer
Method, as shown in fig. 7, comprises following steps：
S301：Demarcate absolute zero position.
S302：Whether the current automatic Pilot enabler flags of steering controller inspection are 1, if so, then entering automatic Pilot mould
Formula, otherwise into pilot steering pattern.If system current state is artificial driving model, steering controller is connect by I/O
Mouthful control relay goes off state, the power supply of cut-out electromagnetic clutch (108), electromagnetic clutch (108) drive end with from
Moved end is disconnected, and step S302 is performed again；If system current state is automatic driving mode, steering controller passes through
I/O Interface Controller relays are changed into closure state, the power supply of electromagnetic clutch (108) are connected, into step S303.
Automatic Pilot enabler flags include 0 and 1, wherein 0 represents pilot steering, 1 represents automatic Pilot.The mark is by upper
Machine is sent to steering controller, and the automatic Pilot enabler flags on steering controller are defaulted as 0, the automatic Pilot that host computer is sent
If enabler flags 0, then the automatic Pilot enabler flags on steering controller keep constant, if the automatic Pilot that host computer is sent
Enabler flags are 1, then the automatic Pilot enabler flags on steering controller will be changed into 1.
S303：Steering controller receives the steering spindle expectation steering angle that host computer is sent, if the steering angle exceedes
Software limit limiting value, then be revised as software limit limiting value by the value of the expectation steering angle, otherwise, to it is expected that steering angle is not done
Change.After being finished, into step S304.
S304：Steering controller is obtained the actual steering angle of the output shaft of current motor (111) by encoder (115), is entered
Enter step S305.
S305：Steering controller calculates the algebraically difference for expecting steering angle and actual steering angle, if the difference is in setting
In threshold range, then it is assumed that current steering has arrived at desired locations, motor (111) is not controlled, return to step
S302, into next circulation；If the difference exceedes given threshold, then it is assumed that current steering not yet reaches expectation position
Put, motor (111) turns to expectation steering angle, and return to step S302, into next circulation.
In above-mentioned steps, the communication between host computer and steering controller can be serial communication or CAN communication；Turn to
Controller drives relay on-off by I/O logical values, and then controls the adhesive of electromagnetic clutch (108) with separating.
Due to switching artificial/automatic driving mode using electromagnetic clutch (108), therefore enter automatic Pilot mould each time
During formula, the staking-out work of absolute zero position will be carried out.Specifically included as shown in figure 8, demarcating absolute zero position in above-mentioned steps S301
Following steps：
S101：Electromagnetic clutch (108) is powered off.
S102：Under vehicle running state, manual rotation's steering wheel so that vehicle is in straight travel state.
S103：Steering controller power-up initializing, electromagnetic clutch (108) is powered, and now encoder feedback value is for setting
Absolute zero position.
The present invention protects steering mechanism by the way of software limit, as shown in figure 9, in above-mentioned steps S303, software limit
Position limiting value is obtained by following steps：
S201：Absolute zero position is demarcated, its calibration process is identical with the process that absolute zero position is demarcated in step S301.
S202：Keep under electromagnetic clutch (108) adhesive, vehicle stationary state, manual rotation's steering wheel, demarcate steering system
Encoder numerical value when system is in Derivative limit on the left or on the right, is used as software limit limiting value.
In summary, the invention provides a kind of automatic driving vehicle autosteerer, pilot steering and oneself can be completed
The dynamic switching driven, using software limit, is set more flexible, it is not necessary to additionally install position-limit mechanism, is ensureing to turn to safety
While, the mechanical complications of autosteerer are reduced, and space-consuming is few, and driver's cabin will not be had any impact,
The portability of platform is improved, it is easy to loading and unloading, it is only necessary to screw and steering gear input shaft component that handling are connected with steering gear
Can be more convenient by autosteerer bulk handling.
Although combined preferred embodiment is described in detail to the present invention, those skilled in the art should
What it is when understanding is that various amendments are all allowed, and they both fall within this hair in the case of without prejudice to spirit of the invention and essence
Among bright scope of the claims.
Claims (10)
1. a kind of automatic driving vehicle autosteerer, it is characterised in that including artificial knuckle section and auto-steering part；
The artificial knuckle section includes operating mechanism, steering gear (101) and transmission mechanism；
The auto-steering is partly installed between operating mechanism and steering gear (101) input shaft, steering gear (101) output end with
Transmission mechanism is connected；
The auto-steering part includes electric motor units, electromagnetic clutch unit, mounting bracket (102), steering gear input shaft group
Part (114), controller unit, damper；
Mounting bracket (102) is installed on steering gear (101) input, and electric motor units are fixed in mounting bracket (102), electromagnetism from
It is internal that clutch unit is located at mounting bracket (102), by steering gear input shaft component (114) respectively with operating mechanism and steering gear
(101) it is connected；Controller unit is connected with electric motor units and electromagnetic clutch unit respectively, and damper one end, which is hinged to, to be turned
To on device (101) housing, the other end is connected on transmission mechanism.
2. a kind of automatic driving vehicle autosteerer according to claim 1, it is characterised in that the steering gear is defeated
Enter shaft assembly (114) to be made up of driven gear (301), sunk screw (302) and steering gear input shaft connector (303), it is driven
Gear (301) and steering gear input shaft connector (303) are connected by sunk screw (302), steering gear input shaft connector (303)
One end connects steering gear (101) input shaft, and the other end is connected with operating mechanism.
3. a kind of automatic driving vehicle autosteerer according to claim 2, it is characterised in that the operating mechanism
Including steering wheel, steering spindle；
Steering spindle one end is fixedly connected with steering wheel, and the other end is connected with steering gear input shaft connector (303).
4. a kind of automatic driving vehicle autosteerer according to Claims 2 or 3, it is characterised in that the electromagnetism
Clutch unit includes bearing I (104), clutch shaft (105), driving gear (106), electromagnetic clutch (108), bearing I I
(109), drive socket (112)；
Electromagnetic clutch (108) drive end is connected by key with clutch shaft (105)；Clutch shaft (105) one end and motor
(111) it is connected by drive socket (112), two keys (113), and mounting bracket (102) is installed on by bearing I I (109)
On, electromagnetic clutch (108) driven end is connected by screw with driving gear (106)；Clutch shaft (105) other end passes through axle
I (104) is held to be installed in mounting bracket (102)；Driving gear (106) is engaged with driven gear (301).
5. a kind of automatic driving vehicle autosteerer according to claim 4, it is characterised in that the clutch shaft
(105) one end is stretched into drive socket (112), is connected by key (113) with drive socket (112), meanwhile, motor (111)
Output shaft stretch into drive socket (112), be connected by key (113) with drive socket (112).
6. a kind of automatic driving vehicle autosteerer according to claim 5, it is characterised in that the electric motor units
Including encoder (115), motor (111), motor hoop component (110)；
Motor (111) front end face is fixed in mounting bracket (102) by screw, and motor hoop component (110) is installed on installation
On support (102), to support motor (111) rear end；Encoder (115) is installed on motor (111).
7. a kind of automatic driving vehicle autosteerer according to claim 6, it is characterised in that the controller list
Member includes steering controller and relay；
Steering controller is connected with electromagnetic clutch (108) by relay；Steering controller passes through cable phase with motor (111)
Even；Steering controller is connected with encoder (115) by cable.
8. according to a kind of any described automatic driving vehicle autosteerers of claim 5-7, it is characterised in that the peace
Upper cover plate (107), left dust excluding plate (201), right dust excluding plate (202), end cap (103) are fixed with by screw on dress support (102), by
Mounting bracket (102), upper cover plate (107), left dust excluding plate (201), right dust excluding plate (202), end cap (103) constitute a cavity；
The electromagnetic clutch unit is installed in the cavity.
9. a kind of automatic driving vehicle autosteerer according to claim 8, it is characterised in that the transmission mechanism
Including pitman arm (1), steering drag link (2), knuckle arm (3), tie rod arm (4), track rod (5)；
Pitman arm (1) one end is connected with steering gear (101), the other end connection steering drag link (2), steering drag link (2) with
Knuckle arm (3) is connected, and tie rod arm (4), track rod (5) is sequentially connected thereafter, described damper one end is hinged to
On steering gear (101) housing, the other end is connected on steering drag link (2).
10. a kind of automatic steering control method based on automatic driving vehicle autosteerer described in claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710157593.6A CN107054452B (en) | 2017-03-16 | 2017-03-16 | A kind of automatic driving vehicle autosteerer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710157593.6A CN107054452B (en) | 2017-03-16 | 2017-03-16 | A kind of automatic driving vehicle autosteerer |
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| CN107054452A true CN107054452A (en) | 2017-08-18 |
| CN107054452B CN107054452B (en) | 2019-01-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109017973A (en) * | 2018-08-15 | 2018-12-18 | 武汉理工大学 | A kind of unmanned engineering truck steering wheel repacking mechanism |
| CN111267942A (en) * | 2020-02-25 | 2020-06-12 | 广东工业大学 | Steering clutch mechanism of unmanned racing car |
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| CN109017973A (en) * | 2018-08-15 | 2018-12-18 | 武汉理工大学 | A kind of unmanned engineering truck steering wheel repacking mechanism |
| CN111267942A (en) * | 2020-02-25 | 2020-06-12 | 广东工业大学 | Steering clutch mechanism of unmanned racing car |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107054452B (en) | 2019-01-29 |
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